“…e(k)=ddesired(k)-dactual(k) (6) Δe(k)=e(k)-e(k-1) (7) The fuzzy control rules can be represented as a mapping from input linguistic variables e, Δe. They all are decomposed into seven fuzzy partitions,such as: negative big (NB), negative medium (NM), negative small (NS), zero (ZE), positive small (PS), positive medium (PM), and positive big Advanced Materials Research Vols.…”