carttabl.m

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function T1 = carttabl(CartRules)
%CARTTABL Calculate the control table for the cart controller
%  function T1 = carttabl(CartRules)
%
%  Rule base to table conversion
%
%  Input:   CartRules   1x9 binary vector indicating which rules are active
%  Output:  T1          Fuzzy control table for cart
%
%  In T1 row indices correspond to the
%  first variable, e.g., error.
%
%  Jantzen 941122
%  Revised Hordur Kvaran, 20.10.97

uni = cart(-100:10:100,-100:10:100) ;

T1(1:441)   = cartbase(uni(1:441,:),CartRules) ;
T1 = reshape(T1,21,21)';
T1 = (abs(T1)>1e-3).*T1 ;