s). Membership function layout and rule base for both PI and PD parts are shown in Fig. 1 and Fig. 2 respectively. The only exception is in increment mand which is realized as shown in Fig. 11. Simulation results can be seen in Fig. 10. Fig. 12 shows the time responses with three different settings. Solid line uses the same adjustment as previously described simulation but inference method is Prod-Max. Dash-dot dot line represents the simulation with 3 membership functions, inference Min-Max and defuzzification using triangular membership functions with COG method. Dash-and-dot line shows simulation results with 3 membership functions, inference Min-Max and defuzzification using singletons. When the singletons are used they are placed into the vertex of original fuzzy membership functions.
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