theta_fuzzy.fis

[System]
Name='phi_fuzzy'
Type='mamdani'
Version=2.0
NumInputs=2
NumOutputs=1
NumRules=25
AndMethod='min'
OrMethod='max'
ImpMethod='min'
AggMethod='max'
DefuzzMethod='centroid'

[Input1]
Name='phi_error'
Range=[-0.2 0.2]
NumMFs=5
MF1='phi_ll':'trimf',[-0.3 -0.2 -0.1]
MF2='phi_lm':'trimf',[-0.2 -0.1 0]
MF3='phi_mm':'trimf',[-0.1 0 0.1]
MF4='phi_mh':'trimf',[0 0.1 0.2]
MF5='phi_hh':'trimf',[0.1 0.2 0.3]

[Input2]
Name='dphi_error'
Range=[-1 1]
NumMFs=5
MF1='dphi_ll':'trimf',[-1.5 -1 -0.5]
MF2='dphi_lm':'trimf',[-1 -0.5 0]
MF3='dphi_mm':'trimf',[-0.5 0 0.5]
MF4='dphi_mh':'trimf',[0 0.5 1]
MF5='dphi_hh':'trimf',[0.5 1 1.5]

[Output1]
Name='phi_out'
Range=[-3 3]
NumMFs=5
MF1='phiout_ll':'trimf',[-4.5 -3 -1.5]
MF2='phiout_lm':'trimf',[-3 -1.5 0]
MF3='phiout_mm':'trimf',[-1.5 0 1.5]
MF4='phiout_mh':'trimf',[0 1.5 3]
MF5='phiout_hh':'trimf',[1.5 3 4.503]

[Rules]
5 1, 5 (1) : 1
5 2, 5 (1) : 1
5 3, 5 (1) : 1
5 4, 5 (1) : 1
5 5, 4 (1) : 1
4 1, 5 (1) : 1
4 2, 5 (1) : 1
4 3, 5 (1) : 1
4 4, 4 (1) : 1
4 5, 3 (1) : 1
3 1, 5 (1) : 1
3 2, 4 (1) : 1
3 3, 3 (1) : 1
3 4, 2 (1) : 1
3 5, 1 (1) : 1
2 1, 3 (1) : 1
2 2, 2 (1) : 1
2 3, 1 (1) : 1
2 4, 1 (1) : 1
2 5, 1 (1) : 1
1 1, 2 (1) : 1
1 2, 1 (1) : 1
1 3, 1 (1) : 1
1 4, 1 (1) : 1
1 5, 1 (1) : 1