Alma Y. Alanis Edgar N. Sánchez Alexander G. Loukianov Real-Time Output Trajectory Tracking using a Discrete Neural Backstepping Controller. 1289-1294 2008 ISIC https://doi.org/10.1109/ISIC.2008.4635939 conf/IEEEisic/2008 db/conf/IEEEisic/isic2008.html#AlanisSL08