In this section we seek to provide a philosophy of how to approach the design of fuzzy controllers. The fuzzy controller block diagram is given in Figure 2.1, where we show a fuzzy controller embedded in a closed-loop control system. The plant outputs are denoted by y(t), its inputs are denoted by u(, and the reference input to the fuzzy controller is denoted by r(t8 In this section we seek to provide a philosophy of how to approach the design of fuzzy controllers. The fuzzy controller block diagram is given in Figure 2.1, where we show a fuzzy controller embedded in a closed-loop control system. The plant outputs are denoted by y(t), its inputs are denoted by u (t), and the reference input to the fuzzy controller is denoted by r (t)