Consider the knowledge base given in the bullet list below for tuning a proportional-integral-derivative (PID) controller. n If the error response is not oscillatory then do not change the...

Consider the knowledge base given in the bullet list below for tuning a proportional-integral-derivative (PID) controller. n If the error response is not oscillatory then do not change the proportional and derivative control parameters; or if the error response is moderately oscillatory then make a small decrease in the proportional gain and a small increase in the derivative time constant; or if the error response is highly oscillatory then make a large decrease in the proportional gain and a large increase in the derivative time constant. n If the error response is fast enough then do not change the proportional and derivative control parameters; or if the error response is not fast enough then make a small increase in the proportional gain and a small increase in the derivative time constant. n If the error response does not steadily diverge then do not change the proportional and integral and derivative control parameters; or if the error response steadily diverges then slightly decrease the proportional gain and slightly decrease the integral rate and make a large increase in the derivative time constant.n If the error response does not have an offset then do not change the proportional and integral control parameters; or if the error response has an offset then slightly increase the proportional gain and make a large increase in the integral rate. It may be condensed to the form given below, with the notation that follows. Suppose that the membership functions (discrete) of the condition variables in the rule base are as given in Table P3.15(a), and the membership functions of the action variables are as given in Table P3.15(b). Develop a decision table for on line fuzzy tuning of the PID controller.