Ya-Fu Peng Ming-Hung Lin Chao-Ming Chong Design of Output Recurrent CMAC Backstepping Control System for Tracking Periodic Trajectories. 3108-3113 2006 IJCNN https://doi.org/10.1109/IJCNN.2006.247292 conf/ijcnn/2006 db/conf/ijcnn/ijcnn2006.html#PengLC06