Fuzzy Logic Control of a Ball on Sphere System

Table 2

Fuzzy rules relation.

	Angular velocity error
Angular position error		NB	NM	NS	ZR	PS	PM	PB
	PB	ZR	ZR	PS	PS	PM	PB	PB
	PM	NS	ZR	ZR	PS	PM	PM	PB
	PS	NS	NS	ZR	ZR	PS	PM	PB
	ZR	NB	NM	NS	ZR	PS	PM	PB
	NS	NB	NM	NS	ZR	ZR	PS	PM
	NM	NB	NM	NM	NS	ZR	ZR	PS
	NB	NB	NB	NM	NS	NS	ZR	ZR