Table 4.

Fuzzy control rules table.

$\mathit{\delta }\left(\mathit{k}\right)/{\mathit{v}}_{\mathbf{rel}}\left(\mathit{k}\right)$	NB	NS	ZO	PS	PB
NB	PB	PB	PB	PB	PM
NS	PB	PB	PB	PM	PS
ZO	PM	PM	PS	PS	ZO
PS	PM	PS	ZO	ZO	ZO
PB	PS	PS	ZO	ZO	ZO