I. Introduction
Based on the available knowledge about system models, there are two basic types of systems: model-known systems and model-unknown systems. The model-known systems are those whose models can be obtained from some scientific laws (e.g., physical laws) whereas, the model-unknown systems are those whose real models are impossible or difficult to obtain. A lot of real life systems are model-unknown, especially for social, economic, and marketing fields as the mechanism of these systems are too complicated to be known. In these situations, we face the model-unknown systems. In recent years, fuzzy systems have been proved one of the most powerful methodologies to model the model-unknown systems. The fundamental reason that fuzzy systems can be used as models of model-unknown systems is that fuzzy systems are universal approximators [1], [2], [12], [27], [34]–[37]. That is, for any given system whose mathematical model is unknown but continuous, a fuzzy system that can approximate the given system to the required accuracy can be obtained by choosing the parameters of the fuzzy system properly. For modeling a given model-unknown system by a fuzzy system model, the main task is to find or identify the parameters of the fuzzy model based on the available information such that the resulting fuzzy estimator can represent the given system as good as possible.