Fuzzy Controllers for a Gantry Crane System with Experimental Verifications

Table 2

Fuzzy tuning rules for the proportional gains and .

		NB	NM	NS	ZO	PS	PM	PB
	NB	B	B	B	B	B	B	B
	NM	S	B	B	B	B	B	S
	NS	S	S	B	B	B	S	S
	ZO	S	S	S	B	S	S	S
	PS	S	S	B	B	B	S	S
	PM	S	B	B	B	B	B	S
	PB	B	B	B	B	B	B	B

Note that when tuning , and when tuning .