Another approach that has been used in problems like this is to create linguistic variables based on the the input crisp numbers and then define rules that manipulate the linguistic variables. The biggest advantage if you are using a PIC is all of the
area's of interest are normalized to a common data type that depends on the resolution requirements of the outputs usually a byte or word sized. A PID controller implemented with this approach is capable of handling non linear systems and requires about a
half dozen rules and half a K of code.

w..

Denny Esterline wrote:

> Like I said before, the math is complex and unspecified. A large part of
> this project is developing a reasonable way for non-software folks to
> interract with that math. That particular aspect needs to be alot further
> along before I build any hardware.


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