Research Article

Control of Flexible Joint Manipulator via Reduced Rule-Based Fuzzy Control with Experimental Validation

Table 2

Rule base of fuzzy controller.

𝑒 1
𝑒 2
N Z P

N Z P P
Z N Z P
P N N Z

̇ 𝑒 1
̇ 𝑒 2
N Z P

N Z P P
Z N Z P
P N N Z