🚀 go-pugleaf

This system has been implemented *so many* times in fuzzy logic that
it's starting to drive those of us in the field nuts.  I could send
you the entire fuzzy control system, in source code, and you'd only
need to tune it for your exact hardware.

Unfortunately, that would be *slightly* unethical.

Since the point is probably that you *learn something* about fuzzy
control :-), you could try some of these books:


    Klir, George J. and Folger, Tina A., Fuzzy Sets, Uncertainty, and
    Information, Englewood Cliffs, NJ: Prentice Hall, 1988.

    Kosko, Bart A., Neural Networks and Fuzzy Systems, Prentice-Hall,
    1990.

    Zimmermann, Hans J., Fuzzy Set Theory and its Applications, 
    Boston MA: Kluwer-Nijhoff Publishing, 1985.

I prefer Klir and Zimmermann's books to Kosko's, but a lot of other
people have exactly opposite preferences.  You probably want to
also look into the proceedings of the conferences held by NAFIPS
(the North American Fuzzy Information Processing Society), IFSA
(the International Fuzzy Systems Association), and FUZZ-IEEE.

Send me email if you'd like a PC-readable diskette containing the
full source code for a *simulated* inverted pendulum.  It requires
a VGA display to execute.  It's for a system that is different
enough from what you're doing that I wouldn't have any ethical
problems with it.
-- 
Erik Horstkotte, Togai InfraLogic, Inc.
The World's Source for Fuzzy Logic Solutions (The company, not me!)
erik@til.til.com, uunet!til!erik - (714) 975-8522
Standard disclaimer: the preceding are my opinions, not TIL's.