Table 3.

Modified rule base after tuning the fuzzy PI controller.

Error (ε)	Change-of-error (Δε)
	NL	NM	NS	ZR	PS	PM	PL/%)
PL	NS	NS	NS	PL	PL	PL	PL
PM	NS	ZR	PS	PM	PL	PL	PL
PS	NM	NS	ZR	PS	PM	PL	PM
ZR	NL	NM	NS	ZR	PS	PM	PL
PS	NL	NL	NM	NS	ZR	PS	PS
NM	NL	NL	NL	NM	NS	ZR	ZR
NL	NL	NL	NL	NL	NM	NS	ZR