Fuzzy Control

(continued)

Only four rules yield a result (they fire), and we overlap them into one single result.

As shown on the previous page the result yielded by the rule
if angle is zero and angular velocity is zero then speed is zero
is:

The result yielded by the rule
if angle is zero and angular velocity is negative low then speed is negative low
is:

The result yielded by the rule
if angle is positive low and angular velocity is zero then speed is positive low
is:

The result yielded by the rule
if angle is positive low and angular velocity is negative low then speed is zero
is:

These four results overlapped yield the overall result:



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