CONFIGURATION PLOT_DURATION = 5.0; ! seconds SIM_SCHEDULE_RATE = 0.06; ! second SIM_INC_RA

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CONFIGURATION PLOT_DURATION = 5.0; ! seconds SIM_SCHEDULE_RATE = 0.06; ! second SIM_INC_RATE = 0.005; ! second END_CONFIGURATION; SEGMENT Control CYCLE_TIME 0.06 ! Name MIN MAX IN Position (0.0, 70.0) IN Movement (-50.0, 50.0) IN Pos_error(-70.0, 70.0) OUT Current (-1.0, 1.0) Initialization Current = 0; END; ! Name Below Low High Above Truth Symbol Very_low OF Position ( 0.0, 0.0, 25.0, 30.0, 1.0) Symbol Medium_low OF Position ( 25.0, 30.0, 30.0, 34.9, 1.0) Symbol Medium OF Position ( 30.0, 35.0, 35.0, 40.0, 1.0) Symbol Medium_high OF Position ( 35.1, 40.0, 40.0, 45.0, 1.0) Symbol Very_High OF Position ( 40.0, 45.0, 70.0, 70.0, 1.0) Symbol Neg_large OF Pos_error(-70.0, -70.0, -15.0, -05.0, 1.0) Symbol Neg_small OF Pos_error(-15.0, -05.0, -05.0, 0.0, 1.0) Symbol Zero OF Pos_error( -5.0, 0.0, 0.0, 5.0, 1.0) Symbol Pos_small OF Pos_error( 0.0, 5.0, 5.0, 15.0, 1.0) Symbol Pos_large OF Pos_error( 5.0, 15.0, 70.0, 70.0, 1.0) Symbol Down_large OF Movement (-50.0, -50.0, -20.0, -10.0, 1.0) Symbol Down_small OF Movement (-20.0, -10.0, -10.0, 0.0, 1.0) Symbol Zero OF Movement (-10.0, 0.0, 0.0, 10.0, 1.0) Symbol Up_small OF Movement ( 0.0, 10.0, 10.0, 20.0, 1.0) Symbol Up_large OF Movement ( 10.0, 20.0, 50.0, 50.0, 1.0) ! Name Below Low High Above Truth Center Symbol Neg_large OF Current ( -1.0, -1.0, -0.4, -0.2, 1.0, -1.0) Symbol Neg_small OF Current ( -0.4, -0.2, -0.2, 0.0, 1.0) Symbol Zero_value OF Current ( -0.2, 0.0, 0.0, 0.2, 1.0) Symbol Pos_small OF Current ( 0.0, 0.2, 0.2, 0.4, 1.0) Symbol Pos_large OF Current ( 0.2, 0.4, 1.0, 1.0, 1.0, 1.0) !!!!!!!! Rules for looper regulator (Current) ! Pos Pos Neg Neg ! Large Small Zero Small Large !-------------------------------------------- ! UL +L +S -L -S -L ! US +L ZERO/+S -S -S -L ! Z +L +S ZERO -S -L ! DS +L +S +S ZERO/-S -L ! DL +L +S +L -S -L ! ! IF Pos_error IS Neg_large THEN Current IS Neg_large IF Pos_error IS Neg_small THEN Current IS Neg_small IF Pos_error IS Neg_small AND Movement IS Down_small THEN Current IS Zero_value IF Pos_error IS Zero AND Movement IS Up_large THEN Current IS Neg_small IF Pos_error IS Zero AND Movement IS Up_small THEN Current IS Neg_small IF Pos_error IS Zero AND Movement IS Zero THEN Current IS Zero_value IF Pos_error IS Zero AND Movement IS Down_small THEN Current IS Pos_small IF Pos_error IS Zero AND Movement IS Down_large THEN Current IS Pos_large IF Pos_error IS Pos_small THEN Current IS Pos_large IF Pos_error IS Pos_small AND Movement IS Up_large THEN Current IS Neg_large IF Pos_error IS Pos_large THEN Current IS Pos_large END Control;

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