Fuzzy controller for beam rider guidance

A beam rider guidance system for directing a steerable object, such as a torpedo. The guidance system senses the bearing between a first site and a second site and determines the bearing between the first site and the steerable object as it moves toward the second site. Various error signals are then generated and classified into sensed linguistic variables based on membership functions of different sensed variable membership function sets to become fuzzy inputs to a controller that produces fuzzy control output linguistic variables and associated membership functions from a control output membership function set based upon logical manipulation of the fuzzy inputs. These fuzzy control output membership functions are converted into an output having an appropriate form for control, subject to optional constraint to prevent unwanted effects.