In the first stage the system is decomposed into uncoupled subsystems by using a controller based on fuzzy logic.The decoupling fuzzy logic is derived based upon the classical linear system theory.

• 在第一阶段中，首先藉由建立在古典的线性系统理论上之模糊控制器将一个耦合之系统分解为互相独立之两个次系统。