Interval Type-2 Recurrent Fuzzy Neural System for Nonlinear Systems Control Using Stable Simultaneous Perturbation Stochastic Approximation Algorithm

Table 3

Comparison results of using optimal learning step length (number of epochs that MSE decreases in 100 epochs, 10 independent runs).

Number of epochs	IT2RFNS-A	IT2RFNS-A with optimal 𝑎^∗𝐼𝑘
Worst	38	68
Average	36	89
Best	55	98
Total epochs	100