Research Article
Fuzzy Logic Control of a Ball on Sphere System
Table 2
Fuzzy rules relation.
| ā | Angular velocity error |
| Angular position error | ā | NB | NM | NS | ZR | PS | PM | PB | PB | ZR | ZR | PS | PS | PM | PB | PB | PM | NS | ZR | ZR | PS | PM | PM | PB | PS | NS | NS | ZR | ZR | PS | PM | PB | ZR | NB | NM | NS | ZR | PS | PM | PB | NS | NB | NM | NS | ZR | ZR | PS | PM | NM | NB | NM | NM | NS | ZR | ZR | PS | NB | NB | NB | NM | NS | NS | ZR | ZR |
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