int OldError,SumError;
 int process(void);

 LINGUISTIC Error  TYPE int  MIN -90  MAX 90
  {
  MEMBER LNegative   { -90, -90, -20,  0  }
  MEMBER normal      { -20,   0,  20      }
  MEMBER close       {  -3,   0,   3      }
  MEMBER LPositive   {   0,  20,  90,  90 }
  }

 LINGUISTIC DeltaError  TYPE int  MIN -90  MAX 90
  {
  MEMBER Negative    { -90, -90, -10,  0  }
  MEMBER Positive    {   0,  10,  90,  90 }
  }

 LINGUISTIC SumError  TYPE int  MIN -90  MAX 90
  {
  MEMBER LNeg    { -90, -90,  -5,  0  }
  MEMBER LPos    {   0,   5,  90,  90 }
  }

 CONSEQUENCE  ManVar TYPE int   MIN -20  MAX 20 DEFUZZ cg
 {
     MEMBER  LNegative  {  -18 }
     MEMBER  SNegative  {   -6 }
     MEMBER  SPositive  {    6 }
     MEMBER  LPositive  {   18 }
 }

 FUZZY pid
   {
    IF Error IS LNegative THEN ManVar IS LPositive

    IF Error IS LPositive THEN ManVar IS LNegative

    IF Error IS normal AND DeltaError IS Positive
      THEN ManVar IS SNegative

    IF Error IS normal AND DeltaError IS Negative
      THEN ManVar IS SPositive

    IF Error IS close AND SumError IS LPos
      THEN ManVar IS SNegative

    IF Error IS close AND SumError IS LNeg
      THEN ManVar IS SPositive

   }

 void main (void)
   {
    while(1)
      {
        OldError = Error;
        Error = Setpoint - Process();
        DeltaError = Error - OldError;
        SumError = SumError + Error;
        pid();
       }
    }