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This book is an extension of the Ph.D. dissertationentitled Design of Intelligent Control System Basedon Soft Computing. Three soft computing approachesbased lifelong learning control systems are presentedin this book. These systems can adapt variousenvironments through adjusting their own rule bases,such as fuzzy rule base or symbolic rule base,online. The adaptive mechanism emulates humanadaptive behaviors, and has capacities forintrospection, self-criticism and exploration. Thefirst two systems, i.e., SEICS (Self-Explorationprocess based Intelligent Control System) and mSEICS(multi-objective Self-Exploration process basedIntelligent Control System), are devoted to theadaptability with lifelong learning by means ofautomatically adjusting their fuzzy control rules.The third system, i.e., SCICS (Self- Creation processbased Intelligent Control System), concentrates onmimicking creative procedure of human via the fourstages: creative objectives, creative process,creativity measurement and knowledge transformation.