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@BOOK{Michels2006,
     author = {Michels, K. and Klawonn, Frank and Kruse, Rudolf and N{\"{u}}rnberger, Andreas},
      title = {Fuzzy Control: Fundamentals, Stability and Design of Fuzzy Controllers},
       year = {2006},
  publisher = {Springer},
    address = {Heidelberg},
        url = {http://www.springer.com/engineering/book/978-3-540-31765-4}
}