id	author	title	date	pages	extension	mime	words	sentence	flesch	summary	cache	txt
ap-354	Šulc, B.; Jan, J. A.	Non Linear Modelling and Control of Hydraulic Actuators	2002	7	.pdf	application/pdf	3893	177	66	Fuzzy controllers have the disadvantage that it is difficult to tune the large number of parameters, in contrast to the proportional derivative (PD) controller, which can be expres- sed by the equation: u K e K ePD P D� � � (11) where uPD is the control signal, e the control error, and the constants KP, KD represent proportional and derivate constants. We used the logical operator OR with max function as given below: �y x x� �max , ,1 2 In our case we had one output and five rules.	cache/ap-354.pdf	txt/ap-354.txt