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Mathematical Problems in Engineering
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Special Issues
Mathematical Problems in Engineering
/
2016
/
Article
/
Tab 3
/
Research Article
Fuzzy Controllers for a Gantry Crane System with Experimental Verifications
Table 3
Fuzzy tuning rules for the derivative gains
and
.
NB
NM
NS
ZO
PS
PM
PB
NB
S
S
S
S
S
S
S
NM
B
B
S
S
S
B
B
NS
B
B
B
S
B
B
B
ZO
B
B
B
B
B
B
B
PS
B
B
B
S
B
B
B
PM
B
B
S
S
S
B
B
PB
S
S
S
S
S
S
S
Note that
when tuning
, and
when tuning
.