function o = pi_fuz(e,x,T)% o = pi_fuz(e,x,T)% % Fuzzy PI controller using continuous piecewise linear sets.%% FSTB - Fuzzy Systems Toolbox for MATLAB% Copyright (c) 1993-1996 by Olaf Wolkenhauer% Control Systems Centre at UMIST% Manchester M60 1QD, UK%% 29-May-1994 global eset rset oset% Fuzzification :enT=fuzzsiyi(eset,e(1));       % e(1) corresponds to the error rnT=fuzzsiyi(rset,e(2));       % e(2) corresponds to the rate of error% horizontal direction corresponds to enT.% vertical direction corresponds to rnT.NB=1; NM=2; NL=3; NS=4; NZ=5; PS=6; PL=7; PM=8; PB=9;rt=[NB NM NL NS NZ ;    NM NL NS NZ PS ;    NL NS NZ PS PL ;    NS NZ PS PL PM ;    NZ PS PL PM PB];% Using of Zadeh AND-Minimum operator and the Lukasiewicz OR=bounded sum:rb=rtinf(rt,enT,rnT,'t3mi','s1bs'); % Defuzzification:o=oset*rb;