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RS5_0 Standard

RS5_1 Balanced

RS5_2 Bal.Narrow

RS5_3 "Bal.Flat"

RS5_4 "AND"

RS5_5 "Extremes"

RS5_6 "OR"

RS5_7 "XOR"

RS5_8 "Average"

Shape

5x5

Rule Set

6

Balanced OR

Balanced OR

V2 \ V1

Very Low

Low

Medium

High

Very High

Very Low

1

2

3

4

5

Low

2

2

3

4

5

Medium

3

3

3

4

5

High

4

4

4

4

5

Very High

5

5

5

5

5

Legend

1

Very Low

2

Low

3

Medium

4

High

5

Very High

NOTE

Each
shape is illustrated as per generic FL controllers

Variables
can be inverted, so semantics for each variable

is
independent on the rule set, for which we here

only
consider the general shape

Shape

5x5

Rule Set

0

Standard

Typical
FLC response (see Seattle Robotics tutorial)

One
must take into account that such FLC do use a "Deviation" variable
as Var1

and
a error.dot i.e. a gradient of Var1 as Var2

This
is different from typical 'trading' type FL controllers

However,
this is only a matter of inverting variables.

Standard

V2 \ V1

Very Low

Low

Medium

High

Very High

Very Low

1

2

4

5

5

Low

1

2

4

4

5

Medium

1

2

3

4

5

High

1

2

2

4

5

Very High

1

1

2

4

5

Legend

1

Very Low

2

Low

3

Medium

4

High

5

Very High

NOTE

Each
shape is illustrated as per generic FL controllers

Variables
can be inverted, so semantics for each variable

is
independent on the rule set, for which we here

only
consider the general shape

Shape

5x5

Rule Set

1

Balanced

Balanced

V2 \ V1

Very Low

Low

Medium

High

Very High

Very Low

3

4

4

5

5

Low

2

3

4

4

5

Medium

2

2

3

4

4

High

1

2

2

3

4

Very High

1

1

2

2

3

Legend

1

Very Low

2

Low

3

Medium

4

High

5

Very High

NOTE

Each
shape is illustrated as per generic FL controllers

Variables
can be inverted, so semantics for each variable

is
independent on the rule set, for which we here

only
consider the general shape

Shape

5x5

Rule Set

2

Bal.Narrow

Bal.Narrow

V2 \ V1

Very Low

Low

Medium

High

Very High

Very Low

1

2

2

3

3

Low

2

2

3

3

3

Medium

2

3

3

3

4

High

3

3

3

4

4

Very High

3

3

4

4

5

Legend

1

Very Low

2

Low

3

Medium

4

High

5

Very High

NOTE

Each
shape is illustrated as per generic FL controllers

Variables
can be inverted, so semantics for each variable

is
independent on the rule set, for which we here

only
consider the general shape

Shape

5x5

Rule Set

3

Balanced 3

Balanced 3

V2 \ V1

Very Low

Low

Medium

High

Very High

Very Low

1

1

2

3

3

Low

1

2

3

3

3

Medium

2

3

3

3

3

High

3

3

3

3

5

Very High

3

3

3

5

5

Legend

1

Very Low

2

Low

3

Medium

4

High

5

Very High

NOTE

Each
shape is illustrated as per generic FL controllers

Variables
can be inverted, so semantics for each variable

is
independent on the rule set, for which we here

only
consider the general shape

Shape

5x5

Rule Set

4

"AND"

"AND"

V2 \ V1

Very Low

Low

Medium

High

Very High

Very Low

1

2

3

4

5

Low

2

3

4

4

4

Medium

3

4

4

4

3

High

2

2

4

3

2

Very High

1

2

3

2

1

Legend

1

Very Low

2

Low

3

Medium

4

High

5

Very High

NOTE

Each
shape is illustrated as per generic FL controllers

Variables
can be inverted, so semantics for each variable

is
independent on the rule set, for which we here

only
consider the general shape

Shape

5x5

Rule Set

5

"Extremes"

"Extremes"

V2 \ V1

Very Low

Low

Medium

High

Very High

Very Low

5

4

3

4

5

Low

4

3

2

3

4

Medium

3

2

1

2

3

High

4

3

2

3

4

Very High

5

4

3

4

5

Legend

1

Very Low

2

Low

3

Medium

4

High

5

Very High

NOTE

Each
shape is illustrated as per generic FL controllers

Variables
can be inverted, so semantics for each variable

is
independent on the rule set, for which we here

only
consider the general shape