Table 2.

Fuzzy control rules of ΔK_p.

ΔKp	E
	NB	NM	NS	Z	PS	PM	PB
EC
NB	− 50	− 50	− 50	− 33.4	− 33.4	0	0
NM	− 50	− 50	− 33.4	− 33.4	− 16.7	0	0
NS	− 33.4	− 33.4	− 16.7	− 16.7	0	16.7	16.7
Z	− 33.4	− 16.7	− 16.7	0	16.7	16.7	33.4
PS	− 16.7	− 16.7	0	16.7	16.7	33.4	33.4
PM	0	0	33.4	33.4	33.4	50	50
PB	0	0	16.7	33.4	50	50	50