An Introspective Learning Algorithm that Achieves Robust Adaptive Control of a Quadrotor Helicopter. - Khalid Masaud; Chris J. B. Macnab (Infotech@Aerospace, 2012)

Discrete-time weight updates in neural-adaptive control. - Dean Richert; Khalid Masaud; C. J. B. Macnab (Soft Comput., 2013)

Preventing bursting in adaptive control using an introspective neural network algorithm. - Khalid Masaud; C. J. B. Macnab (Neurocomputing, 2014)