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c 

   

@  
  

       
   
        

          
     

  

Too slow
Just right
Too fast

    

Less voltage (Slow down)


No change
More voltage (Speed up)

 
      
     
!      

            
Figure 1. Membership Functions

"      # $  #!%# & 
      

Figure 2. Speed above set point


&    $#$!'  
   
     ! 
    

Figure 3. Motor voltage


(  )(  * $$$+ )"  * 
$$ 
&  '!, - 
   
       
&
$$$+./$$ . ,-
0 /$$#, -
" ,-, -   

/$$ #
 /$$1
& 2   #$$$ #/ !%13
$#
$!
4 5 
&
)66
*5    
        
Figure 4. Input Membership Function

Figure 5. Output Membership Function


(  ! 

Figure 6. Rule Base



"  ) *
( 
      
/,7 7-8
/  , #!%#-
99 /
!%1,"  -
@       
Figure 7. Inverted Pendulum

     
      

(  



 






@  

Figure 8. Memberships for angle and velocity



    
  
 # 
 6   
6  6 
 6   
( (
! :  
6  :
# :  
( 6 
(       
/$!;(
  5        
Figure 9. Inputs and one output

Figure 10. Rule base



<    
/,7 7-8
/  ,=1;$>-
99 /
$!;%$,  -

  6   66

  
) ,-*


 
Figure 11. Output surface of the fuzzy system