Chong Liu 0004 Huaguang Zhang Yanhong Luo Hanguang Su Dual Heuristic Programming for Optimal Control of Continuous-Time Nonlinear Systems Using Single Echo State Network. 1701-1712 2022 52 IEEE Trans. Cybern. 3 https://doi.org/10.1109/TCYB.2020.2984952 https://www.wikidata.org/entity/Q94584658 db/journals/tcyb/tcyb52.html#LiuZLS22