I. Introduction
Since the publication of Zadeh's seminal paper on fuzzy sets [64], fuzzy set theory and its descendant, fuzzy logic, have evolved into powerful tools for managing uncertainties inherent in complex systems. In the recent twenty years, fuzzy methodology has been successfully applied to a variety of areas including control and system identification [27], [30], [48], [57], [65], signal and image processing [36], [39], [47], pattern classification [1], [17], [20], [26], and information retrieval [8], [34]. In general, building a fuzzy system consists of three basic steps [61]: structure identification (variable selection, partitioning input and output spaces, specifying the number of fuzzy rules, and choosing a parametric/nonparametric form of membership functions), parameter estimation (obtaining unknown parameters in fuzzy rules via optimizing a given criterion), and model validation (performance evaluation and model simplification). There are numerous studies on all these subjects. Space limitation precludes the possibility of a comprehensive survey. Instead, we only review some of those results that are most related to ours.