*1.3.1.2. The structure of adaptive fuzzy controller*

The adaptive fuzzy controller is based on the basic fuzzy controller, and an adaptive mechanism is added. Its structure is shown in **Figure 7**. The adaptive mechanism in the dashed box in the figure includes three functional blocks, which are:


#### **Figure 5.** *Block diagram of fuzzy control system structure of direct adaptive control.*

**Figure 6.** *Structure of indirect adaptive control.*

**Figure 7.** *Structure of the adaptive fuzzy controller.*

3.Modification of control rules-correction of control amount is achieved by modifying control rules.
