Time Domain Simulation of a Target Tracking System with Backlash Compensation

Table 3

Rule-base for the FLC with three inputs ($\mathrm{\Delta }\text{,}$$\dot{\mathrm{\Delta }}$, and u) and one output ($u_{\text{compensation}}$).

			$\mathrm{\Delta }$
			PM	PS	Z	NS	NM
$\dot{\mathrm{\Delta }}$	u = P	PL	PH	PH	PH	PM	PM
		PM	PH	PM	PM	PM	PS
		PS	PH	PS	PS	PS	PS
		Z	PM	PS	PS	PS	Z
		NS	PM	PS	PS	Z	NM
		NM	PS	PS	Z	NM	NH
		NL	PS	Z	NM	NH	NH
	u = Z	PL	Z	Z	Z	Z	Z
		PM	Z	Z	Z	Z	Z
		PS	Z	Z	Z	Z	Z
		Z	Z	Z	Z	Z	Z
		NS	Z	Z	Z	Z	Z
		NM	Z	Z	Z	Z	Z
		NL	Z	Z	Z	Z	Z
	u = N	PL	PH	PH	PM	Z	NS
		PM	PH	PM	Z	NS	NS
		PS	PM	Z	NS	NS	NM
		Z	Z	NS	NS	NS	NM
		NS	NS	NS	NS	NS	NH
		NM	NS	NM	NM	NM	NH
		NL	NM	NM	NH	NH	NH