[System]
Name='ControladorPDlinear'
Type='mamdani'
Version=2.0
NumInputs=2
NumOutputs=1
NumRules=9
AndMethod='prod'
OrMethod='max'
ImpMethod='min'
AggMethod='probor'
DefuzzMethod='centroid'

[Input1]
Name='Erro'
Range=[-1 1]
NumMFs=3
MF1='negativo':'trimf',[-1 -1 0]
MF2='zero':'trimf',[-1 0 1]
MF3='positivo':'trimf',[0 1 1]

[Input2]
Name='DErro'
Range=[-1 1]
NumMFs=3
MF1='negativo':'trimf',[-1 -1 0]
MF2='zero':'trimf',[-1 0 1]
MF3='positivo':'trimf',[0 1 1]

[Output1]
Name='u'
Range=[-1 1]
NumMFs=5
MF1='diminuimuitoTorque':'trimf',[-1 -1 -1]
MF2='aumentauitoTorque':'trimf',[1 1 1]
MF3='naofaznada':'trimf',[0 0 0]
MF4='diminuipouco':'trimf',[-0.5 -0.5 -0.5]
MF5='aumentapouco':'trimf',[0.5 0.5 0.5]

[Rules]
1 1, 1 (1) : 1
1 3, 3 (1) : 1
1 2, 4 (1) : 1
2 1, 4 (1) : 1
2 3, 5 (1) : 1
2 2, 3 (1) : 1
3 1, 3 (1) : 1
3 3, 2 (1) : 1
3 2, 5 (1) : 1