Algorithm Takagi-Sugeno PI control

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#pz1 := MIN(IN1 := #sp_M_e, IN2 := #sp_M_ie);
#pz2 := MIN(IN1 := #sp_S_e, IN2 := #sp_M_ie);
#pz3 := MIN(IN1 := #sp_D_e, IN2 := #sp_M_ie);
#pz4 := MIN(IN1 := #sp_M_e, IN2 := #sp_S_ie);
#pz5 := MIN(IN1 := #sp_S_e, IN2 := #sp_S_ie);
#pz6 := MIN(IN1 := #sp_D_e, IN2 := #sp_S_ie);
#pz7 := MIN(IN1 := #sp_M_e, IN2 := #sp_D_ie);
#pz8 := MIN(IN1 := #sp_S_e, IN2 := #sp_D_ie);
#pz9 := MIN(IN1 := #sp_D_e, IN2 := #sp_D_ie);

#u := (#pz1 * 0.0 + #pz2 * 0.0 + #pz3 * 5.0 + #pz4 * 0.0 + #pz5 * 5.0

• #pz6 * 10.0 + #pz7 * 5.0 + + #pz8 * 10.0 + + #pz9 * 10.0)
  / (#pz1 + #pz2 + #pz3 + #pz4 + #pz5 + #pz6 + #pz7 + #pz8 + #pz9);