KIndly if you send me the answer of James F Peters
The beginning of an answer to this question can be found in chapter 4 (Fuzzy Control) of the following Ph.D. thesis: R. Jager, Fuzzy logic in control, Ph.D. thesis http://www.ohio.edu/people/starzykj/network/Class/ee690/Machine%20Self-organization%20and%20Learning/Reasearch%20Papers/Fuzzy%20Logic%20Jager%20Professorship.pdf
Kindly send me the R. Jager, Fuzzy logic in control, Ph.D. thesis