Nohé R. Cázarez-Castro Luis T. Aguilar Oscar Castillo Selene Cardenas Fuzzy Control for Output Regulation of a Servomechanism with Backlash. 19-28 2008 Soft Computing for Hybrid Intelligent Systems http://dx.doi.org/10.1007/978-3-540-70812-4_2 series/sci/2008-154 db/series/sci/sci154.html#Cazarez-CastroACC08