These variables are them separated

These variables are them separated as fuzzy sets. These sets were taken based on the knowledge of a group of common drivers. These can be observed on figures 3 to 7 for the input variables and 8 to 11 for the output variables. One more variable was added as a control flag in order to cascade the fuzzy control systems correctly, and announces the end of the decision and positioning procedure. This variable along with the procedure variable are used to maintain this first controller quiet when another controller is doing its procedure. Once these variables were set up the cases were reviewed in terms of these, and then obtained the necessary rules. Since our objective was to maintain the system as simple as possible, some cases were trimmed down in order to avoid rule inconsistency. The chosen rules are the following: