function o = fuzzy_pi(e,x,T)% o = fuzzy_pi(e,x,T)% % Fuzzy PI controller used by fuzdemo2%% FSTB - Fuzzy Systems Toolbox for MATLAB% Copyright (c) 1993-1996 by Olaf Wolkenhauer% Control Systems Centre at UMIST% Manchester M60 1QD, UK%% 21-April-1994 global eset oset% Fuzzification :enT=fuzzsiyi(eset,e(1));       % e(1) corresponds to the error rnT=fuzzsiyi(eset,e(2));       % e(2) corresponds to the rate of error% horizontal direction corresponds to enT.% vertical direction corresponds to rnT.NB=1; NS=2; NZ=3; PS=4; PB=5;rt=[NB NS NZ ;    NS NZ PS ;    NZ PS PB];% Using of Zadeh AND-Minimum operator and the Lukasiewicz OR=bounded sum:rb=rtinf(rt,enT,rnT,'t3mi','s3ma'); % Defuzzification:o=oset*rb;