Abdelaziz Hamzaoui Najib Essounbouli Khier Benmahammed Janan Zaytoon State observer based robust adaptive fuzzy controller for nonlinear uncertain and perturbed systems. 942-950 2004 34 IEEE Transactions on Systems, Man, and Cybernetics, Part B 2 http://doi.ieeecomputersociety.org/10.1109/TSMCB.2003.818562 db/journals/tsmc/tsmcb34.html#HamzaouiEBZ04