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n
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m
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u
t
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t
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s
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ated
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y
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ig
u
r
e
2
.
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h
e
i
n
p
u
t
b
lo
c
k
co
n
v
er
t
s
i
n
p
u
t
s
i
g
n
als
in
t
o
ap
p
r
o
p
r
iate
w
a
y
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er
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en
ce
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u
n
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n
s
.
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h
e
p
r
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ce
s
s
i
n
g
b
lo
ck
in
v
o
k
e
s
ap
p
r
o
p
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iate
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u
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en
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ate
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r
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l
t
f
o
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a
n
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m
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i
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th
e
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es
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lt
s
o
f
t
h
o
s
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les.
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n
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y
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t
h
e
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u
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t
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an
s
f
o
r
m
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t
h
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m
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in
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a
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n
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o
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ig
n
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[
9
]
,
[
1
0
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.
Rule
Base
Fuzzi
fi
ca
t
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Defuz
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ie
r
Input
S
igna
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Output
signal
Inte
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Membe
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on
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f
uz
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Membe
rship f
unc
ti
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f
uz
z
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set
Fig
u
r
e
2
.
Fu
zz
y
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o
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tr
o
l
s
y
s
te
m
T
h
e
f
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g
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I
co
n
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o
ller
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illu
s
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ated
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u
r
e
3
,
in
w
h
ich
KP
=
Ku
R
(
Kd
e)
an
d
KI
=
Ku
R
(
Ke)
ar
e
th
e
co
n
tr
o
ller
p
r
o
p
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d
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f
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n
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n
tr
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ller
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as
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h
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s
u
m
m
ar
ized
in
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ab
le
1
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I
n
itially
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e
f
u
zz
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t
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s
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ld
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ee
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its
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ad
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7
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:
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rr
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(
t
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(
6
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4
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zz
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t
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zz
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u
r
e
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h
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ar
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5
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ig
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ig
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d
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h
e
s
a
m
e
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ar
e
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s
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t
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zz
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et
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u
r
e
6
.
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f
(
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n
p
u
t1
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ND
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n
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u
t2
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HE
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t
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ule
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ase
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u
Z
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e
de
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1
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or
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on
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ol
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Fig
u
r
e
3
.
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zz
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o
g
ic
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c
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n
tr
o
ller
A
lo
o
k
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u
p
tab
le
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ir
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elo
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th
e
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et
o
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r
u
les,
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e
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elatio
n
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th
e
in
p
u
t
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ar
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e
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t
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d
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e
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e
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ef
in
ed
an
d
th
e
o
u
tp
u
t
v
ar
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le
o
f
f
u
zz
y
lo
g
ic
co
n
tr
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ller
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n
b
e
o
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tain
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T
h
e
lo
o
k
-
u
p
tab
le
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s
ed
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th
e
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im
u
latio
n
p
r
o
g
r
am
is
g
iv
en
in
T
ab
le
1
.
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h
e
o
u
tp
u
t
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ep
en
d
s
o
n
th
e
f
u
zz
y
r
u
le
ex
p
r
ess
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as
f
o
llo
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le
1
.
Fu
zz
y
r
u
le
Er
r
o
r
PS
PB
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NB
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r
o
r
r
a
t
e
o
f
c
h
a
n
g
e
ZE
NP
NS
NS
NS
NS
PB
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NS
NS
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PS
PB
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NS
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PS
PS
PB
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NB
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PS
PS
PB
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PS
I
n
th
is
s
ec
tio
n
,
th
e
F
L
C
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n
tr
o
ller
is
co
n
s
id
er
ed
w
h
ic
h
h
as
t
w
o
-
in
p
u
t a
n
d
o
n
e
-
o
u
tp
u
t.
I
F
-
T
HE
N
r
u
le
s
u
s
ed
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th
e
f
o
r
m
u
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h
e
k
n
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e
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ase,
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e
s
e
I
F
-
T
HE
N
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u
les
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e
t
h
e
f
o
llo
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in
g
f
o
r
m
s
h
o
w
n
i
n
Fig
u
r
e
4
an
d
Fig
u
r
e
5
,
r
esp
ec
tiv
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y
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h
e
f
u
zz
y
s
y
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n
s
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as f
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if
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n
s
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lar
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e
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er
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ip
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n
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n
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t,
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n
d
f
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r
th
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u
r
e
4
.
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r
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r
Me
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ip
s
Fig
u
r
e
5
.
R
ate
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f
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h
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f
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r
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Evaluation Warning : The document was created with Spire.PDF for Python.
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r
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6
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e
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ip
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h
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r
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e
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h
e
w
i
n
d
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e
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f
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h
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n
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e
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ase
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3
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Fi
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1
4
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1
5
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1
7
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F
ig
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9
[
1
8
]
.
PI
Control
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K
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sured
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Volta
ge
Speed
Err
or
Ref
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Fig
u
r
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.
B
lo
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Diag
r
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Sp
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Evaluation Warning : The document was created with Spire.PDF for Python.
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th
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h
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:
1
1
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ip
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d
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m
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eq
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22
(
)
(
)
(
)
r
q
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2
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Hen
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as f
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:
22
[
(
)
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)
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/
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)
r
r
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