Thanx Peter
I was quite sure it was ultimately a PI algo, but the fact that it is a velocity algorithm and used rule-based decisions made it a bit confusing

I've been visiting a lot of sites lately on Fuzzy logic and all I can say is that I'm getting more and more confused :D

The basic rule that all sources agree on is that Fuzzy logic is of the type:

IF (condition) THEN (action)

Condition belongs to a Rule Matrix.

The problem comes in what is the CRUX of fuzzy logic. One source maintains that it is the theory of "fuzzy (as opposed to crisp)sets" that is most important, whereas others say that it is POPULATING this fuzzy set thru' a sort of learning mechanism that is the core issue.

That leads me to draw a distinction between "fuzzy Logic" and "fuzzy control" ...

Seems to me 'fuzzy logic' is used to GENERATE the rule matrix thru a learning process,whereas 'fuzzy control' uses a fuzzy rule matrix to achieve control. The rule matix in the latter case is generally "expert" knowledge about the process that has been programmed into or 'learnt' by the system...

Boy am I Confused, huh? :D

Please clarify
Kundi