clear		%?Clear?all?variables?in?memory
eold=0;?	%?Intial?condition?used?to?calculate?c
rold=0;?	%?Intial?condition?used?to?calculate?r
yeold=0;?	%?Intial?condition?used?to?calculate?yc
ymold=0;?	%?Initial?condition?for?the?first?order?reference?model

%?Next?initialize?parameters?for?the?fuzzy?controller

nume=11;?	%?Number?of?input?membership?functions?for?the?e
			%?universe?of?discourse
numc=11;?	%?Number?of?input?membership?functions?for?the?c
			%?universe?of?discourse

ge=1/2;gc=1/2;gu=5;
		%?Scaling?gains?for?tuning?membership?functions?for
		%?universes?of?discourse?for?e?c?and?u?respectively
		%?These?are?tuned?to?improve?the?performance?of?the?FMRLC
we=0.2*（1/ge）;
	%?we?is?half?the?width?of?the?triangular?input?membership
	%?function?bases?（note?that?if?you?change?ge?the?base?width
	%?will?correspondingly?change?so?that?we?always?end
	%?up?with?uniformly?distributed?input?membership?functions）
	%?Note?that?if?you?change?nume?you?will?need?to?adjust?the
	%?“0.2“?factor?if?you?want?membership?functions?that
	%?overlap?in?the?same?way.
wc=0.2*（1/gc）;
	%?Similar?to?we?but?for?the?c?universe?of?discourse
base=0.4*gu;
	%?base?width?of?output?membership?fuctions?of?the?fuzzy
	%?controller

%?Place?centers?of?membership?functions?of?the?fuzzy?controller:

%??Centers?of?input?membership?functions?for?the?e?universe?of
%?discourse?for??of?fuzzy?controller?（a?vector?of?centers）
ce=[-1?-0.8?-0.6?-0.4?-0.2?0?0.2?0.4?0.6?0.8?1]*（1/ge）;

%?Centers?of?input?membership?functions?for?the?c?universe?of
%?discourse?for??of?fuzzy?controller?（a?vector?of?centers）
cc=[-1?-0.8?-0.6?-0.4?-0.2?0?0.2?0.4?0.6?0.8?1]*（1/gc）;
gf=0;

fuzzyrules=[-1??-1???-1???-1??-1????-1??-0.8?-0.6?-0.4?-0.2??0;
	????-1??-1???-1???-1??-1???-0.8?-0.6?-0.4?-0.2???0??0.2;
	????-1??-1???-1???-1??-0.8?-0.6?-0.4?-0.2???0???0.2?0.4;
	????-1??-1???-1??-0.8?-0.6?-0.4?-0.2???0???0.2??0.4?0.6;
	????-1??-1??-0.8?-0.6?-0.4?-0.2???0???0.2??0.4??0.6?0.8;
	????-1?-0.8?-0.6?-0.4?-0.2???0???0.2??0.4??0.6??0.8??1;
	??-0.8?-0.6?-0.4?-0.2???0???0.2??0.4??0.6??0.8???1???1;
	??-0.6?-0.4?-0.2???0???0.2??0.4??0.6??0.8???1????1???1;
	??-0.4?-0.2???0???0.2??0.4??0.6??0.8???1????1????1???1;
	??-0.2??0????0.2??0.4??0.6??0.8???1????1????1????1???1;
	???0???0.2???0.4??0.6??0.8???1????1????1????1????1???1]*gu*gf;

%?Next?we?define?some?parameters?for?the?fuzzy?inverse?model

gye=1/2;gyc=1/2;
	%?Scaling?gains?for?the?error?and?change?in?error?for
	%?the?inverse?model
	%?These?are?tuned?to?improve?the?performance?of?the?FMRLC
gp=0.2;

numye=11;?	%?Number?of?input?membership?functions?for?the?ye
			%?universe?of?discourse
numyc=11;?	%?Number?of?input?membership?functions?for?the?yc
			%?universe?of?discourse

wye=0.2*（1/gye）;	%?Sets?the?width?of?the?membership?functions?for
					%?ye?from?center?to?extremes
wyc=0.2*（1/gyc）;	%?Sets?the?width?of?the?membership?functions?for
					%?yc?from?center?to?extremes
invbase=0.4*gp;?%?Sets?the?base?of?