Implement a fuzzy logic controller for a simulated robot with a sensor that determines its displacement from the center of a hallway and drives the robot back to the center of the hallway. Refine the...

Implement a fuzzy logic controller for a simulated robot with a sensor that determines its displacement from the center of a hallway and drives the robot back to the center of the hallway. Refine the controller so that the robot does not oscillate about the center of the hallway (do not under damp the controller). How did you define the fuzzy states of the system, and how did you convert the fuzzy state back to control of the vehicle?