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 .