From: New Smith predictive fuzzy immune PID control algorithm for MIMO networked control systems
 | u | ||||||
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 | FD | FZ | FX | L | ZX | ZZ | ZD |
FD | ZD/FD/ZX | ZD/FD/ZX | ZZ/FD/Z | ZZ/FZ/L | ZX/FZ/L | ZX/L/ZD | L/L/ZD |
FZ | ZD/FD/FX | ZD/FD/FX | ZZ/FZ/FX | ZZ/FZ/FX | ZX/FX/L | L/L/ZX | L/L/ZZ |
FX | ZZ/FZ/FD | ZZ/FZ/FD | ZZ/FX/FZ | ZX/FX/FX | L/L/L | FX/ZX/ZX | FZ/ZX/ZZ |
Δu L | ZZ/FZ/FD | ZX/FX/FZ | ZX/FX/FZ | L/L/FX | FX /ZX/L | FZ/ZX/ZX | FZ/ZZ/ZZ |
ZX | ZX/FX/FD | ZX/FX/FZ | L/L/FX | FX/ZX/FX | FX/ZX/L | FZ/ZZ/ZX | FZ/ZZ/ZX |
ZZ | L/L/FZ | L/L/FX | FX/ZX/FX | FZ/ZZ/FX | FZ/ZZ/L | FZ/ZD/ZX | FD/ZD/ZX |
ZD | L/L/ZX | FX/L/L | FX/ZX/L | FZ/ZZ/Z | FZ/ZD/L | FD/ZD/ZD | FD/ZD/ZD |