[System]
Name='CARF2'
Type='mamdani'
NumInputs=2
NumOutputs=1
NumRules=15
AndMethod='min'
OrMethod='max'
ImpMethod='min'
AggMethod='max'
DefuzzMethod='centroid'

[Input1]
Name='r'
Range=[0 1]
NumMFs=3
MF1='nb':'trimf',[-0.5 0 0.1]
MF2='ze':'trimf',[0 0.1 0.4]
MF3='pb':'trapmf',[0.1 1 10.05 21.45]

[Input2]
Name='th'
Range=[-3.14159265358979 3.14159265358979]
NumMFs=5
MF1='nb':'trimf',[-4.712 -3.142 -1.571]
MF2='nm':'trimf',[-3.142 -1.571 0]
MF3='ze':'trimf',[-1.571 1.388e-017 1.571]
MF4='pm':'trimf',[2.22e-016 1.571 3.142]
MF5='pb':'trimf',[1.571 3.142 4.712]

[Output1]
Name='y'
Range=[-1 1]
NumMFs=5
MF1='nb':'trimf',[-1.5 -1 -0.5]
MF2='nm':'trimf',[-1 -0.5 0]
MF3='ze':'trimf',[-0.5 0 0.5]
MF4='pm':'trimf',[0 0.5 1]
MF5='pb':'trimf',[0.5 1 1.5]

[Rules]
3 5, 1 (1) : 1 
3 4, 5 (1) : 1 
3 3, 5 (1) : 1 
3 2, 1 (1) : 1 
3 1, 1 (1) : 1 
2 5, 2 (1) : 1 
2 4, 4 (1) : 1 
2 3, 4 (1) : 1 
2 2, 2 (1) : 1 
2 1, 2 (1) : 1 
1 5, 3 (1) : 1 
1 4, 3 (1) : 1 
1 3, 3 (1) : 1 
1 2, 3 (1) : 1 
1 1, 3 (1) : 1