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This begins be comparing the bucket height to find the membership for bucket is full at 0.75, bucket is half full at 1.0 and bucket is empty at 0. Rule 3 is ignored because the membership was 0. The result for rule 1 is 0.75, so the 0.75 membership value is found on the stop filling and a value of a1 is found for the valve angle. For rule 2 the result was 1.0, so the fill slowly set is examined to find a value. In this case there is a range where fill slowly is 1.0, so the center point is chosen to get angle a2. These two results can then be combined with a weighted average to get

()+ 1.0 a2

0.75 a1()

angle = ----------------------------------------------.

0.75 + 1.0

plc fuzzy -26.3

1. If (bucket is full) then (stop filling) 1

1 bucket is full

0 height

angle

2. If (bucket is half full) then (fill slowly) 1

bucket is half full

fill slowly

height

a2 angle

3. If (bucket is empty) then (fill quickly) 1

fill quickly

Figure 26.3 Fuzzy Rule Solving

An example of a fuzzy logic controller for controlling a servomotor is shown in Figure 26.4 [Lee and Lau, 1988]. This controller rules examines the system error, and the rate of error change to select a motor voltage. In this example the set memberships are defined with straight lines, but this will have a minimal effect on the controller performance.

plc fuzzy -26.4

The rules for the fuzzy logic controller are;

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