| Figure 4 |
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| A fuzzy PD+I controller uses two rulebases, one for the P (proportional) and D (derivative) inputs, and a second for the I (integral) input. The amplified outputs of the two rulebases are summed and applied as the input to the controlled system. The input domains of all three terms (P, D, and, I) are normalized to ñ1 units, thereby requiring both scaling gains on the inputs and drive gains on the outputs. |
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