Table 1 Rule bases of the FOFPID controller to be adjusted.
E/DE | NL | NM | NS | ZR | PS | PM | PL |
|---|---|---|---|---|---|---|---|
NL | NL | NL | NL | NL | NM | NS | ZR |
NM | NL | NL | NL | NM | NS | ZR | PS |
NS | NL | NL | NM | NS | ZR | PS | PM |
ZR | NL | NM | NS | ZR | PS | PM | PL |
PS | NM | NS | ZR | PS | PM | PL | PL |
PM | NS | ZR | PS | PM | PL | PL | PL |
PL | ZR | PS | PM | PL | PL | PL | PL |