Exercise 2.11 (Graphical Depiction of Fuzzy Decision Decision Making): Develop a graphical depiction of the operation of the fuzzy controller for the inverted pendulum similar to the one given in Figure2.19 on page 46. For this, choose  and , which will result in four rules being on. Be sure to show all parts of the graphical depiction, including an indication of your choices for  and , the implied fuzzy sets, and the final defuzzified value. Use minimum for the premise and implication and COG defuzzification. Use product for the premise and implication and center-averge defuzzification. Exercise2-11 (a)  (b)