ftab.m

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function U = ftab(X,F)
% function U = ftab(X,F)
%
% Fuzzy table controller
%
% X    Error E and change in error CE as a vector
% F    controller lookup table
% U    control signal
%
% The controller uses normal universes [-100:10:100].
% Control signal is interpolated.

%  Jantzen 940417
%  Hordur Kvaran 20.10.97, changed from table2 to interp2.  Table2 is obsolete in Matlab 5.

   Q = 10 ;
   Uni = -100:Q:100 ;
   X1 = max(min(X(:,1),100),-100) ;      % Limit within Uni ;
   X2 = max(min(X(:,2),100),-100) ;      % Limit within Uni ;
   U = interp2(Uni,Uni',F, X2, X1,'linear') ;     % Bilinear interpolation ;

%  The old code with table2()
%   F = [Uni;F] ;
%   F = [[0, Uni]', F] ;
%   U = X1*0 ;
%   for j = 1:length(U),
%     U(j) = table2(F, X1(j), X2(j)) ;    % Bilinear interpolation ;
%   end ;