Table 1: Fuzzy control rules.

ec
NBNMNSZOPSPMPB

eNBPBPBPBNSNSNSNS
NMPBPBPMNSNMNMNS
NSPBPMPSNSNSNMNM
ZOPMPSZOZONSNMNM
PSPSPMPMPSNMNMNB
PMPSPMPBPSNMNBNB
PBPMPMPBPSNBNBNB