Doo Jin Choi PooGyeon Park Guaranteed cost controller design for discrete-time switching fuzzy systems. 110-119 2004 34 IEEE Transactions on Systems, Man, and Cybernetics, Part B 1 http://doi.ieeecomputersociety.org/10.1109/TSMCB.2003.809172 db/journals/tsmc/tsmcb34.html#ChoiP04