function dy = pi_class(e,x,ts)% dy = pi_class(e,x,ts)%% "classical PI controller".%% FSTB - Fuzzy Systems Toolbox for MATLAB% Copyright (c) 1993-1996 by Olaf Wolkenhauer% Control Systems Centre at UMIST% Manchester M60 1QD, UK%% 25-Feb-1994 % dy = (de+e)/2dy = 0.5.*(e(1)+e(2));