| FIGURE 2 |
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| Fig 2—The plot in (a) shows the input membership functions used for both the P and D inputs. Both domains range between ±1.0, with appropriate scaling performed by scaling gains. Input membership functions are standard, with functions nearer to zero being somewhat more narrow than functions farther from zero. The plot in (b) shows the output singletons used for the PD drive, VIN. |
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