Three topologies are under assessment, including the state-input recurrent neuro-fuzzy
system, the series-parallel recurrent neuro-fuzzy system and the parallel recurrent neuro-
fuzzy system. Moreover, the underlying generalised state-space Takagi–Sugeno system is
proven to be a universal approximator, and some stability conditions derived for this system.
The online training is carried out based on a constrained unscented Kalman filter, where …