Switched Two-Level <svg     style="vertical-align:-4.47127pt;width:36.412498px;" id="M1" height="20.262501" version="1.1" viewBox="0 0 36.412498 20.262501" width="36.412498"  xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg">
	
		
			<g transform="matrix(.022,-0,0,-.022,.062,14.638)"><path id="x1D43B" d="M865 650q-1 -4 -4 -14t-4 -14q-62 -5 -77 -19.5t-29 -82.5l-74 -394q-12 -61 -0.5 -77t75.5 -21l-6 -28h-273l8 28q64 5 82 21t29 76l36 198h-380l-37 -197q-11 -64 0.5 -78.5t79.5 -19.5l-6 -28h-268l6 28q60 6 75.5 21.5t26.5 76.5l75 394q13 66 2 81.5t-77 20.5l8 28
h263l-6 -28q-58 -5 -75.5 -21t-30.5 -81l-26 -153h377l29 153q12 67 2 81t-74 21l5 28h268z" /></g>

			<g transform="matrix(.016,-0,0,-.016,19.725,20.012)"><path id="x221E" d="M983 225q0 -112 -67 -174.5t-150 -62.5q-91 0 -154.5 43.5t-113.5 129.5q-49 -85 -104 -129t-138 -44q-98 0 -158.5 66t-60.5 154q0 59 21 106.5t54.5 75.5t70.5 43t73 15q90 0 152.5 -43.5t112.5 -128.5q48 84 104.5 128t140.5 44q93 0 155 -65t62 -158zM478 196
q-27 49 -47 80t-50 67t-64 54t-73 18q-48 0 -81.5 -47t-33.5 -128q0 -96 37.5 -157.5t99.5 -61.5q68 0 117.5 47t94.5 128zM889 204q0 91 -35.5 151t-99.5 60q-68 0 -119 -47t-95 -127q27 -49 47 -80.5t50 -67.5t65 -54t74 -18q113 0 113 183z" /></g>

		
	
</svg> and Robust Fuzzy Learning Control of an Overhead Crane

<table>The antecedent membership functions, <svg height="15.25" id="M206" style="vertical-align:-3.27605pt" version="1.1" viewbox="0 0 29.525 15.25" width="29.525" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.112)"><path d="M998 650l-8 -28q-71 -4 -86 -16t-22 -69l-50 -397q-3 -28 -4.5 -44t2 -29t6.5 -18.5t17 -10.5t24.5 -6.5t37.5 -3.5l-8 -28h-271l7 28q63 6 78 22t25 90l60 415h-2l-353 -552h-23l-130 536h-2l-70 -254q-44 -158 -47 -188q-5 -38 9 -51t71 -18l-6 -28h-241l8 28
q45 4 67 18.5t35 45.5q16 38 74 233l52 173q24 79 11.5 98t-89.5 26l6 28h177l136 -508l337 508h172z" id="x1D440"></path></g>
<g transform="matrix(.012,-0,0,-.012,17.412,15.187)"><path d="M384 0h-275v27q67 5 81.5 18.5t14.5 68.5v385q0 38 -7.5 47.5t-40.5 10.5l-48 2v24q85 15 178 52v-521q0 -55 14.5 -68.5t82.5 -18.5v-27z" id="x31"></path></g><g transform="matrix(.012,-0,0,-.012,23.124,15.187)"><path d="M384 0h-275v27q67 5 81.5 18.5t14.5 68.5v385q0 38 -7.5 47.5t-40.5 10.5l-48 2v24q85 15 178 52v-521q0 -55 14.5 -68.5t82.5 -18.5v-27z" id="x31"></path></g>
</svg> and <svg height="15.25" id="M207" style="vertical-align:-3.27605pt" version="1.1" viewbox="0 0 29.525 15.25" width="29.525" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.112)"><path d="M998 650l-8 -28q-71 -4 -86 -16t-22 -69l-50 -397q-3 -28 -4.5 -44t2 -29t6.5 -18.5t17 -10.5t24.5 -6.5t37.5 -3.5l-8 -28h-271l7 28q63 6 78 22t25 90l60 415h-2l-353 -552h-23l-130 536h-2l-70 -254q-44 -158 -47 -188q-5 -38 9 -51t71 -18l-6 -28h-241l8 28
q45 4 67 18.5t35 45.5q16 38 74 233l52 173q24 79 11.5 98t-89.5 26l6 28h177l136 -508l337 508h172z" id="x1D440"></path></g>
<g transform="matrix(.012,-0,0,-.012,17.412,15.187)"><path d="M412 140l28 -9q0 -2 -35 -131h-373v23q112 112 161 170q59 70 92 127t33 115q0 63 -31 98t-86 35q-75 0 -137 -93l-22 20l57 81q55 59 135 59q69 0 118.5 -46.5t49.5 -122.5q0 -62 -29.5 -114t-102.5 -130l-141 -149h186q42 0 58.5 10.5t38.5 56.5z" id="x32"></path></g><g transform="matrix(.012,-0,0,-.012,23.124,15.187)"><path d="M384 0h-275v27q67 5 81.5 18.5t14.5 68.5v385q0 38 -7.5 47.5t-40.5 10.5l-48 2v24q85 15 178 52v-521q0 -55 14.5 -68.5t82.5 -18.5v-27z" id="x31"></path></g>
</svg>, of the fuzzy control law <svg height="14.925" id="M208" style="vertical-align:-5.76988pt" version="1.1" viewbox="0 0 17.5375 14.925" width="17.5375" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,7.675)"><path d="M515 96q-37 -44 -84.5 -76t-71.5 -32q-12 0 -18 7t-6 34t10 75l19 89h-2q-87 -113 -181 -176q-43 -29 -83 -29q-46 0 -46 63q0 31 9 67l52 222q7 36 -1 36q-10 0 -76 -50l-13 24q47 45 92 71.5t67 26.5q18 0 21 -16.5t-8 -65.5l-56 -242q-16 -67 13 -67q41 0 114 74
t114 146l32 145l74 26h11q-52 -199 -80 -347q-8 -39 6 -39q7 0 32 17.5t47 39.5z" id="x1D462"></path></g>
<g transform="matrix(.012,-0,0,-.012,9.213,11.762)"><path d="M619 670q0 -13 -9 -26t-18 -19q-13 -10 -25 2q-36 38 -66 38q-31 0 -54.5 -50t-45.5 -185h120l-20 -31l-107 -12q-23 -138 -57 -293q-27 -122 -55 -184.5t-75 -109.5q-60 -61 -114 -61q-25 0 -47.5 15t-22.5 31q0 17 31 44q11 8 20 -1q10 -11 31 -19t35 -8q26 0 47 19
q34 34 71 253l54 315h-90l-3 12l31 30h70q28 138 90 204q35 37 75 57.5t70 20.5q26 0 45 -14t19 -28z" id="x1D453"></path></g>
</svg>.</table>

Mathematical Problems in Engineering

fig5

Figure 5

Figure 5: Switched Two-Level <svg     style="vertical-align:-4.47127pt;width:36.412498px;" id="M1" height="20.262501" version="1.1" viewBox="0 0 36.412498 20.262501" width="36.412498"  xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg">
	
		
			<g transform="matrix(.022,-0,0,-.022,.062,14.638)"><path id="x1D43B" d="M865 650q-1 -4 -4 -14t-4 -14q-62 -5 -77 -19.5t-29 -82.5l-74 -394q-12 -61 -0.5 -77t75.5 -21l-6 -28h-273l8 28q64 5 82 21t29 76l36 198h-380l-37 -197q-11 -64 0.5 -78.5t79.5 -19.5l-6 -28h-268l6 28q60 6 75.5 21.5t26.5 76.5l75 394q13 66 2 81.5t-77 20.5l8 28
h263l-6 -28q-58 -5 -75.5 -21t-30.5 -81l-26 -153h377l29 153q12 67 2 81t-74 21l5 28h268z" /></g>

			<g transform="matrix(.016,-0,0,-.016,19.725,20.012)"><path id="x221E" d="M983 225q0 -112 -67 -174.5t-150 -62.5q-91 0 -154.5 43.5t-113.5 129.5q-49 -85 -104 -129t-138 -44q-98 0 -158.5 66t-60.5 154q0 59 21 106.5t54.5 75.5t70.5 43t73 15q90 0 152.5 -43.5t112.5 -128.5q48 84 104.5 128t140.5 44q93 0 155 -65t62 -158zM478 196
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</svg> and Robust Fuzzy Learning Control of an Overhead Crane 

Mathematical Problems in Engineering

Switched Two-Level and Robust Fuzzy Learning Control of an Overhead Crane

Figure 5