MIN

FUNCTION_BLOCK FuzzyChase
VAR_INPUT
distance : REAL;
speed : REAL;
END_VAR
VAR_OUTPUT
acceleration : REAL;
END_VAR
FUZZIFY distance
    TERM krotki := (10,1) (30,0);
    TERM dlugi := (10,0) (30,1);
END_FUZZIFY
FUZZIFY speed
    TERM mala := (0,1) (200,0);
    TERM duza := (0,0) (200,1);
END_FUZZIFY
DEFUZZIFY acceleration
    TERM redukuj := (-30,1) (0,0);
    //TERM utrzymuj := (-10,0) (0,1) (10,0);
    TERM zwiekszaj := (0,0) (30,1);
    METHOD : COG;
    DEFAULT := 0;
END_DEFUZZIFY
RULEBLOCK No1
    AND : MIN;
    ACT : MIN;
    ACCU : MAX;
    //RULE 1 : IF distance IS krotki AND speed IS mala THEN acceleration IS utrzymuj;
    RULE 2 : IF distance IS krotki AND speed IS duza THEN acceleration IS redukuj;
    RULE 3 : IF distance IS dlugi AND speed IS mala THEN acceleration IS zwiekszaj;
    //RULE 4 : IF distance IS dlugi AND speed IS duza THEN acceleration IS utrzymuj;

END_RULEBLOCK
END_FUNCTION_BLOCK