Table 5. dK_d fuzzy rule table.

ce	NB	NM	NS	ZO	PS	PM	PB
e
NB	PB	PS	NB	NB	NB	NM	PB
NM	PB	NM	NB	NB	NM	NM	ZO
NS	PM	PB	NM	NB	NS	PS	PS
ZO	ZO	NS	NS	ZO	NS	NS	ZO
PS	ZO	ZO	ZO	ZO	ZO	ZO	ZO
PM	PS	NB	PB	PB	NM	NS	NB
PB	PB	NS	NB	NB	NB	NM	PB