I. Introduction
During the past 30 years, fuzzy systems have been successfully used in many fields, such as in control systems [1]–[4], decision making, and signal processing. It is well known that fuzzy systems can approximate any continuous function to any desired accuracy (see [5]–[7]). However, a large rule base is required usually to achieve high accuracy. In many situations, the problem of rule explosion has become a major drawback which hinders the successful application of fuzzy systems.