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(R7) IF ( P IS negative) AND ( D IS positive) THEN (PD,,, IS negative)
(R3) IF (P IS positive) .b%D ( D IS negative) THEN (PD,,, IS positive)
(R4) IF (P IS positive) A I D ( D IS positive) THEN (PD,,; IS zero)
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( R 5 j IF ( I , IS negative) AVD ( I , IS negative) THEN (I,,, IS negative)
( R 6 ) IF ( I , IS negative) AWD ( I 2 IS positive) THEN (I,,, IS zero)
(R71 IF ( I , IS ositive) A I D ( I 2 IS negative) THEN (I,,, IS zero)
(RS) IF (I! IS positive) iLC'D (I, IS positive) THEN (I,,, IS positive)
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L

[lj G Chrn. 'C=nvent~onaland Cum PID conrroile:: ,%T ove,?iieu', 1nt.J. Inte!]. Contr.
Syst.. vol. 1. no. 2. p?. 235-246. 1996.

[ 2 ] H..4 513iki and G. Chen. " S e w design and stability analysis ot' fuzzy
pruportional-derivative control systems", IEEE Trans. Fuz; Syst.. vol. 2, pp. 245-254,
1994.
[3j W. Tang and G. Chen, "A robust f u z n PI iontroler for a flexibir-joint robot arm with

uncertainties", in Proc. FCZZ-IEEE'94. Orlando. FL..pp. 1554-1559,June 1994.

[ 4 ] H.4. hialh and et.. "Fuzzy PID of rlexibie-joint robot a m " , IEEE Trans. control SF.
tech.. voi. 5. no. 3. pp. 371-378, May 1996.
[ 5 ] C.T. Chen. .k,alog and digital control systems design. New York. Sandes, 1993.

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