pen_pos.m

来自「FISMAT accommodates different arithmetic」· M 代码 · 共 41 行

function yk = pen_pos(e,x,Ts)

% yk = pen_pos(e,x,Ts)
%
% Fuzzy controller for the inverted pendulum, to control the cart position.
%
%
% FSTB - Fuzzy Systems Toolbox for MATLAB
% Copyright (c) 1993-1996 by Olaf Wolkenhauer
% Control Systems Centre at UMIST
% Manchester M60 1QD, UK
%
% 24-April-1994

global E ERROR R RATE MOMENTS AREAS

% Fuzzification:
Ae  =match(E,e(1),ERROR);
Ade =match(R,e(2),RATE);

N=1; Z=2; P=3;
% The following nine rules desribing the controller:
% R1:(N,N;P) R2:(N,Z;P) R3:(N,P;Z) 
% R4:(Z,N;P) R5:(Z,Z;Z) R6:(Z,P;N)
% R7:(P,N;Z) R8:(P,Z;N) R9:(P,P;N)
% can be ordered in a matrix:
% e ->   N Z P  
FAMbank=[N N Z ;  % N  | rate
         N Z P ;  % Z  V
         Z P P];  % P

aggop='t2ap';  % algebraic-product

A=aggregat(Ae,Ade,FAMbank,aggop);
% A = [a1, a2,...,aj,...,am] with aj=aggop(aj1,aj2,...,aji,...,ajn).

% Using the algebraic-product for the inference and a summation of the 
% outputs. Center Of Gravity method:

yk = apsumcog(FAMbank,A,MOMENTS,AREAS);