自己写的一个用于实时网络工具箱（TRUETIME）下的模糊控制程序，事件驱动，用于模糊调整PID控制器的增益-A fuzzy control program used in truetime toolbox on matlab platform, event-driven is employed, the gain values of the PID controller is tuned online.

利用模糊控制做巡航速度控制利用e, dot_e，當作兩個輸入，取交集在對輸出值u做砍頭的動作，再用重心法求解，再用Runge-Kutta做疊代更改增益值將會得到不一樣的結果。-Using fuzzy control to do cruise speed control using e, dot_e, as the two inputs, the output value of taking the intersection of the decapitation of the movement

利用fuzzy做倒單擺!!利用e, dot_e，當作兩個輸入，取交集在對輸出值u做砍頭的動作，現做出控制器看輸出有無正確，再用重心法求解，再用Runge-Kutta做疊代更改增益值將會得到不一樣的結果。-Inverted pendulum using fuzzy do!! Use of e, dot_e, as the two inputs, the output value of taking the intersection of the decapitation of the moveme

a gain-adjusted fuzzy PI/PD (GFPIPD) adaptive controller is proposed. The proposed controller first constructs fuzzy rules for fuzzy PD/PI controller with the fixed weighting. Then the fuzzy rules, which self-learning their parameters for a desired