Hi!!How are you??Last year, i design a stabilization system for a 3d helicopter, using neuro-fuzzy systems, it worked great!!!now, im designing a quadcopter, just like everyone else, hehehe, but with the same difference, its going to use fuzzy logic to stabilize itself...My hardware is the next:- Leaflabs Maple, Arm Cortex @ 72 mhz- IMU razor 9DOF with the onboard atmega- Hobbyking motors 30amps- Hobbyking ESC 30amps- Xbee pro 900mhz- Aluminum for the chasisMy plan is to first stabilize one axis, and then go the other, thats why in the picture you can see "something" that is holding down the quad, in the other pic you can see the proud owner, heheheheIm using a sugeno inference system, because it requires less computation power than a mandami.I got 5 membership functions, gaussians for more precise control.Its a simple one input (angle) two outputs (motors) system.Yesterday i started to test the stabilization system, but its not working nice... its oscillating, when i move the quad to angles more than -20 or 20 degrees, the control cant stabilize and the system oscillates...Im using the Maple analogwrite feature for writing the pwm to the 2 motors, also im using the 400hz update rate, so it supose to be very fast and smooth...You can see the videos in the next page:http://vargasmoreno.com/aldo/Quad/You can see how it oscilates...Im a little stuck, im thinking to implement a PID system to check is not the maple or the 400hz or another stuff, when i discart the hardware, then i will know that the problem is the fuzzy system, but im almost sure that the 5membership functions of the system is more than capable to do the stabilization task with no problems... so i dont really know what im doing wrong...Anyone has a idea???thanks!!!cheers!!