66 6. ROLLOVER CONTROL STRATEGIES AND ALGORITHMS
(a)
e
pr
d Negative e
pr
d Positive
e
pr
d
1
0
0.5
0.5
-4 4 10
degree
-10
e
v
,∆y Negative e
v
,∆y Positive
e
v
, ∆y
1
0-8 208
degree/s
-20
(b)
Figure 6.4: Membership functions: (a) for roll angle error (e
p
) and average change of roll angle
(d ) and (b) for rate of change of roll angle error (e
v
) and roll rate (y).
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