%Fuzzy logic ball balancing simulator
%   pendulum    - Initialization of workspace
%   pendul2     - Sets up the main window
%   doevent     - Handles all input from the user
%   simulate    - Contains the control loops of the simulator
%   ftab        - Table based controller lookup function
%   setctrlr    - Sets the controller type used   
%   editsets    - Dialog for editing the fuzzy sets
%   editbase    - Dialog for editing the either rulebase
%   ballbase    - Applies the ball rules to a input(s)
%   cartbase    - Applies the cart rules to a input(s)
%   readrule    - Reads the rulebase from a file
%   savebase    - Saves the rulebase to a file
%   balltabl    - Builds a control table for the ball controller
%   carttabl    - Builds a control table for the cart controller
%   buildtbl    - Builds a control table for both controllers
%
%Fuzzy logic methods and support function
%   coa         - Center Of Area of fuzzy sets.
%   quant       - Quantization
%   fand        - Fuzzy AND
%   or          - Fuzzy OR
%   not         - Fuzzy NOT
%   is          - Evaluates membership of X in set
%   flsset      - Basic equation for FL Smidth's fuzzy sets
%   picurve     - Fuzzy PI curve
%   scurve      - Fuzzy s-curve
%   zcurve      - Fuzzy z-curve
%   cart        - Cartesian product
%   outer       - Outer product generalized
%   first       - Find first item in a vector
%   firstmax    - Find first maximum in transient response
%
%   high, low, zero, ok         - Fuzzy sets from FL Smidth
%   neg, lneg, mneg, sneg, zneg - Fuzzy sets from FL Smidth
%   pos, lpos, mpos,spos, zpos  - Fuzzy sets from FL Smidth
%
%GUI and graphical functions 
%   pendmenu    - Set up the simulator menus
%   dispinfo    - Update information labels on the display
%   draw        - Draw the cart and ball correctly
%   plotsets    - Plots the sets describing a universe
%   plotset     - Plots a single set
%   frontpts    - Move points toward (or away from) the viewer.
%   whitebg     - Change background color of figure.
%   button      - Make a new button (uicontrol shortcut)
%   window      - Make a new figure (uicontrol shortcut)
%   dropdown    - Make a drop-down menu (uicontrol shortcut)
%   editbox     - Make an editbox (uicontrol shortcut)
%   frame       - Make a frame (uicontrol shortcut)
%   inputbox    - Make a question dialog box (uicontrol shortcut)
%   label       - Make a text label (uicontrol shortcut)
%   menuitem    - Put an item in the menu (uicontrol shortcut)
%   setmenu     - Put multiple items into the menu (uicontrol shortcut)
%   describe    - Describing function for Cart-Ball controllers
%   df          - Describing function
%
%Support files.
%   convert        - Convert the .mat files from Matlab 5 to Matlab 4 format
%   ballbase.txt   - Rulebase string for ball controller
%   cartbase.txt   - Rulebase string for cart controller
%   ballsets.mat   - Current fuzzy sets for ball controller
%   cartsets.mat   - Current fuzzy sets for cart controller
%   setsball.mat   - Saved fuzzy sets for ball controller
%   setscart.mat   - Saved fuzzy sets for ball controller
%   debalset.mat   - Default fuzzy sets for ball controller
%   decarset.mat   - Default fuzzy sets for cart controller 
%   fzytable.mat   - Control table for both controllers
%   settings.mat   - Saved settings
%   history.mat    - Results of last simulation