genb_fis.m

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function PI=genb_fis(x)
% Build a system from scratch
% gena_fis.m
% THIS PROGRAM SHOWS YOU TO GENERATE A FIS PROGRAM FROM NOTHING.
global Kp Ki Kd wn zeta pidfuzz Emin main_loop tippa MIN_offset

Kp=round4dp(x(1));
Ki=round4dp(x(2));
Kd=round4dp(x(3));
if main_loop==1
    if exist('gena_data.mat')
        load gena_data
    end
end    
%Kp=97.29;Ki=1.17;Kd=30.1863;
%Kp=176.43; Ki=  2.67; Kd= 42.97;
% Given tippa
a=tippa;
a=rmmf(a,'output',1,'tight','mf',2);
a=addmf(a,'output',1,'tight','linear',[0 Kp Ki Kd 0]);

% APPEND RULES to tipp
rule_List=[...
1 1 1 1 1 1 1
2 1 1 1 2 1 1
];
a=addrule(a,rule_List);
writefis(a,'tippa');  % SAVE to tipp.fis
tippa=readfis('pidfuzz'); % READ it BACK for fuzzy GUI use.

%IN=[1 1 1 1]   % evaluate FIS
%evalfis(IN,tippa)
[t,x,Y]=sim('pidb_fuzzy',[0 10]); ERR=Y(:,1);
N=length(ERR); ERR=ERR(N);
PI=MIN_offset-ERR;
if Emin>=ERR
    Emin=ERR; save gena_data Kp Ki Kd Emin 
    fprintf('\nKp=%5.2f; Ki=%6.2f; Kd=%6.2f; Emin=%10.4f;\n',Kp,Ki,Kd,Emin);
else
    fprintf('>');
end;