function uout = URUL1(u,x)
%
% URUL1 is a sample rule-base function for fuzzy control
%    simulation using the command FLSIM (and FLTITR).
%    The input u is the current value of the input.  The 
%    input x is the current state of the system.  Note that
%    since only current values are used and that time itself
%    is not an available variable, the simulation an still
%    be said to be "Time-Invariant."  In this way, it differs
%    from simulations like ODESIM.
%

%   URUL1, a sample rule function follows.

%    Suppose we have a second order system such that x is
%    a 2-D vector and u is 1-D.

uout = u;

e1 = u(1)-x(1);
e1dot = (x(2)-x(1))/60;
if abs(e1) >0 ,
    uout =2*e1;
    if abs(e1) > .05,
       uout = 20*e1+30*e1dot;
       if abs(e1) >.25,
         uout = 20*e1+40*e1dot;
         if abs(e1) > .65,
           uout = 20*e1+ 90*e1dot;
         end
       end
    end
end
uout = 1;