%                 FUZZY.M
%--------------------------------------------------------------
%       This is Fuzzy Control Low function
%             Main program of this function is "flcli.m"
%--------------------------------------------------------------

function c_crisp=fuzzy(Y,r)

dt=0.01;                            % sampling period

leng=length(Y);                     
y0=Y(leng,1);                       % output  y(k)

if leng==1; y1=y0;                  % output  y(k-1)
else y1=Y(leng-1,1); end;

e0=r-y0;                            % error e(k)=(k)-y(k)
e1=r-y1;                            % error e(k-1)=r(k-1)-y(k-1)
e=e0;                               % signal(E)
de=3*(e0-e1);                       % signal(DE)

 %---------------------------------------------------------------
 %    first step    -->  Fuzzification    (FI)
 %                          by use of "FI.M"   file
 %---------------------------------------------------------------
membership_E=fi(e);                pbe=membership_E(1,1);
pme=membership_E(2,1);             pse=membership_E(3,1);
zee=membership_E(4,1);             nse=membership_E(5,1);
nme=membership_E(6,1);             nbe=membership_E(7,1);

membership_DE=fi(de);               pbde=membership_DE(1,1);  
pmde=membership_DE(2,1);            psde=membership_DE(3,1);
zede=membership_DE(4,1);            nsde=membership_DE(5,1);
nmde=membership_DE(6,1);            nbde=membership_DE(7,1);
 %---------------------------------------------------------------
 %   second step     --> Decision Making Logic
 %                          by use of  "dml.m"   file
 %---------------------------------------------------------------
membership_C=dml(membership_E,membership_DE);
pbc=membership_C(1,1);              pmc=membership_C(2,1);
psc=membership_C(3,1);              zec=membership_C(4,1);
nsc=membership_C(5,1);              nmc=membership_C(6,1);
nbc=membership_C(7,1);

  %--------------------------------------------------------------
  %    third step    --> DeFuzzification  Interface
  %--------------------------------------------------------------

c=[1;2/3;1/3;0;-1/3;-2/3;-1];
c_max=2;
pT=pbc+pmc+psc+zec+nsc+nmc+nbc;
c_crisp=c_max*(pbc*c(1)+pmc*c(2)+psc*c(3)+zec*c(4)+nsc*c(5)+nmc*c(6)+nbc*c(7))/pT;