Research Article
Dynamic Takagi-Sugeno Model for the Control of Ultrasonic Motor
Table 3
Final fuzzy rules.
| | Ri | R 1 | R 2 | R 3 | R 4 | R 5 | R 6 | R 7 | R 8 | R 9 | R 10 |
| | Premise part | | A 1 | A 2 | A 3 | A 4 | A 5 | A 6 | A 7 | A 8 | A 9 | A 10 | | A 1 | A 2 | A 3 | A 4 | A 5 | A 6 | A 7 | A 8 | A 9 | A 10 | | A 1 | A 2 | A 3 | A 4 | A 5 | A 6 | A 7 | A 8 | A 9 | A 10 | | A 1 | A 2 | A 3 | A 4 | A 5 | A 6 | A 7 | A 8 | A 9 | A 10 | | B 1 | B 2 | B 3 | B 4 | B 5 | B 6 | B 7 | B 8 | B 9 | B 10 | | B 1 | B 2 | B 3 | B 4 | B 5 | B 6 | B 7 | B 8 | B 9 | B 10 | | B 1 | B 2 | B 3 | B 4 | B 5 | B 6 | B 7 | B 8 | B 9 | B 10 | | B 1 | B 2 | B 3 | B 4 | B 5 | B 6 | B 7 | B 8 | B 9 | B 10 | | C 1 | C 2 | C 3 | C 4 | C 5 | C 6 | C 7 | C 8 | C 9 | C 10 | | C 1 | C 2 | C 3 | C 4 | C 5 | C 6 | C 7 | C 8 | C 9 | C 10 |
| | Conclusion part | a 0 | 180.9 | 1249 | 145.2 | 255.8 | 169.2 | 130.1 | 13.5 | 30.78 | 59.04 | 38.81 | | a 1 | 0.0937 | −0.04148 | 0.2 | 0.1259 | 0.4378 | 0.3607 | 0.1464 | 0.2738 | 0.8669 | 1.252 | | a 2 | −0.517 | −0.009459 | −0.7707 | −0.273 | −1.328 | −1.252 | −0.5266 | −1.185 | −2.115 | −5.656 | | a 3 | 0.6663 | 0.007595 | 0.7137 | 0.1353 | 1.266 | 1.416 | 0.6314 | 1.586 | 1.617 | 7.234 | | a 4 | −0.2366 | 0.08016 | −0.1412 | 0.0179 | −0.38 | −0.5232 | −0.247 | −0.6777 | −0.3582 | −2.806 | | a 5 | 32.89 | 37.2 | 155.9 | 49.56 | 88.89 | 18.67 | 0.8444 | 22.93 | 134.8 | 22.62 | | a 6 | −7.497 | −108.4 | −342.1 | −96.72 | −87.43 | 44.22 | −21.45 | −6.138 | −163.2 | −9.541 | | a 7 | −20.24 | 173.1 | 275.5 | 53.49 | −70.97 | −129.3 | 51.14 | −44.23 | −64.11 | −42.66 | | a 8 | −9.343 | −130.9 | −92.69 | −12.25 | 65.63 | 63.41 | −30.86 | 26.74 | 91.09 | 28.54 | | a 9 | 0.153 | 0.428 | 0.4712 | −0.5714 | −0.1322 | 0.0339 | 0.8306 | 0.3826 | 0.1745 | −0.0896 | | a 10 | 0.7901 | 0.1586 | 0.486 | 1.49 | 1.079 | 0.9205 | 0.1608 | 0.6079 | 0.807 | 1.076 |
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