### Membership Functions

The membership function is a graphical representation of the magnitude of participation of each input. It associates a weighting with each of the inputs that are processed, define functional overlap between inputs, and ultimately determines an output response. The rules use the input membership values as weighting factors to determine their influence on the fuzzy output sets of the final output conclusion. Once the functions are inferred, scaled, and combined, they are defuzzified into a crisp output which drives the system. There are different membership functions associated with each input and output response. Some features to note are:

SHAPE - triangular is common, but bell, trapezoidal, haversine and, exponential have been used. More complex functions are possible but require greater computing overhead to implement.. HEIGHT or magnitude (usually normalized to 1) WIDTH (of the base of function), SHOULDERING (locks height at maximum if an outer function. Shouldered functions evaluate as 1.0 past their center) CENTER points (center of the member function shape) OVERLAP (N&Z, Z&P, typically about 50% of width but can be less).

- Figure 5 - The features of a membership function
- Figure 5 illustrates the features of the triangular membership function which is used in this example because of its mathematical simplicity. Other shapes can be used but the triangular shape lends itself to this illustration.
The degree of membership (DOM) is determined by plugging the selected input parameter (error or error-dot) into the horizontal axis and projecting vertically to the upper boundary of the membership function(s).

- Figure 6 - A sample case
- In Figure 6, consider an "error" of -1.0 and an "error-dot" of +2.5. These particular input conditions indicate that the feedback has exceeded the command and is still increasing.
ERROR & ERROR-DOT FUNCTION MEMBERSHIP

The degree of membership for an "error" of -1.0 projects up to the middle of the overlapping part of the "negative" and "zero" function so the result is "negative" membership = 0.5 and "zero" membership = 0.5. Only rules associated with "negative" & "zero" error will actually apply to the output response. This selects only the left and middle columns of the rule matrix.

For an "error-dot" of +2.5, a "zero" and "positive" membership of 0.5 is indicated. This selects the middle and bottom rows of the rule matrix. By overlaying the two regions of the rule matrix, it can be seen that only the rules in the 2-by-2 square in the lower left corner (rules 4,5,7,8) of the rules matrix will generate non-zero output conclusions. The others have a zero weighting due to the logical AND in the rules.

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