FUZZYCONTROL:PROCEDURE;
DECLARE(GE,GEC) BYTE;
DECLARE EE1 INTEGER;
declare pwm_temp INTEGER;
DISABLE;
/*E0 前次誤差 E1 本次誤差 EC 本次誤差的變化率*/
    pwm_temp=SIGNED(pwm_width);
    E1=SIGNED(AIM_SPD-RUN_SPD);
    EE1=E1;
    IF IABS(EE1)>42 THEN DO;
      IF AIM_SPD>RUN_SPD THEN EE1=42;
      ELSE EE1=-42;
    END;
    GE=UNSIGN(EE1/6+7);
    EC=E1-E0;
    IF IABS(EC)>7 THEN DO;
      IF E1>E0 THEN EC=7;
      ELSE EC=-7;
    END;
    GEC=UNSIGN(EC+7);
    PWM_WIDTH=PWM_WIDTH+FUZZY(GE*15+GEC);
    PWM_WIDTH=PWM_WIDTH-7;
    EE1=SIGNED(PWM_WIDTH);
    GE=UNSIGN(EE1+PWM_TEMP);
    GEC=GE/2;
    IF IABS(SIGNED(GEC)-PWM_TEMP)<1 THEN PWM_WIDTH=UNSIGN(PWM_TEMP);
    ELSE PWM_WIDTH=UNSIGN(EE1);    
    E0=E1;
ENABLE;
END FUZZYCONTROL;

方法為用兩次計算得出的pwmwidth值平均，若大于一取本次計算值，若小于一取上次計算值


/*另一種方法可以用一個三維數組先排序，若前兩值一樣用前值后兩值一樣用后值，均不一樣用中間值，避免了pwmwidth的抖動*/