Fuzzy Logic is an increase of Boolean logic dealing with the concept of partial truth . When classical logic to claim that everything can be expressed in binary terms ( 0 or 1 , black or white , yes or no ) , fuzzy logic replaces Boolean truth with a level of truth . ( Wikipedia ) .

Fuzzy Logic has several stages:

1. Normalization with Delta Gain Error and error

2. fuzzification

3. Fuzzy Inference

4. Defuzifikasi

5. Gain control u

**1. Gain Error and Delta Error**

Gain error is the gain for error where error = ref - aktual_output

while the gain for the gain changes delta_error error de = e ( k ) - e ( k - 1 )

**2. fuzzification**

is the process of changing the delta error value and error into crisp value mf , there are several types of fuzzification are:

- Triangle

- Gaussian

- Generalized Bell

- Sigmoid

- Z

**3. Fuzzy Inference**

Fuzzy inference is a process of formulating the mapping inputs to outputs using fuzzy logic and the rules of If Then. In this task used the rule that one is rulenya

**4. defuzzification**

It is the process of turning into a crisp control signal values that can be used to control the plant .

**5. Gain control u**

this is optional , if needed then use this to multiply the output defuzifikasi to fit the plant work .

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