Dynamic Takagi-Sugeno Model for the Control of Ultrasonic Motor

Table 2

Fuzzy rules.

	Ri	R 1	R 2	R 3	R 4	R 5
Premise part	𝑢(𝑘−1)	A 1	A 2	A 3	A 4	A 5
	𝑢(𝑘)	A 1	A 2	A 3	A 4	A 5
	𝑓(𝑘−1)	B 1	B 2	B 3	B 4	B 5
	𝑓(𝑘)	B 1	B 2	B 3	B 4	B 5
	𝑛(𝑘−1)	C 1	C 2	C 3	C 4	C 5
Conclusion part	a 0	654.5	386.7	187.0	−40.24	7.896
	a 1	−0.0298	−0.1323	−0.0321	0.0062	−0.0855
	a 2	0.0535	0.1561	0.0522	−0.0274	0.1099
	a 3	38.94	29.29	5.856	9.296	−0.8417
	a 4	−54.12	−38.35	−10.23	−8.257	0.5271
	a 5	0.7883	0.9124	0.9308	1.011	0.9904