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H. X. Li, L. Zhang, K. Y. Cai and G. Chen, “An Improved Robust Fuzzy-PID Controller with Optimal Fuzzy Reasoning,” IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, Vol. 35, No. 6, 2005, pp. 1283-1294. doi:10.1109/TSMCB.2005.851538

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