NGT × PST λ = NGT if λ f (0)). If one is as positive but the other one is negative, the multiplication returns zero (
PST × NGT = 0). So whenever theta and rate are of different signs, the control is zero.

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The mnesor control U is calculated as follows: 
U = Ξ× Ω
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Then it is converted back to real values (see below).

![0_image_0.png](0_image_0.png)

$$\begin{array}{l}{{\mathrm{If~}U=P S T\lambda_{u}}}\\ {{\mathrm{If~}U=N G T\lambda_{u}}}\end{array}$$
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U-tou converter FIGURE 6.

The error, rate and control signals are pictured below:

![0_image_1.png](0_image_1.png)

CONCLUSION
One can notice the similarity to fuzzy control. But here the theory is completely axiomatized. Fuzzification (what we call real-to-mnesor conversion) seems more natural and defuzzification much more simple.

REFERENCES