Nonlinear control involves a nonlinear relationship between the controller's inputs and outputs and is more complicated than linear control; however, it is able to achieve better performance than linear control for many real-world control applications. Nonlinear control theory requires more challenging mathematical analysis and design than does linear control theory. An FLC is a nonlinear controller, that is, the function f(x) is nonlinear. What distinguishes an FLC, T1 or T2, from other nonlinear controllers is that it generates its nonlinear mapping function f(x) through linguistic if-then rules and linguistic terms for the antecedents and consequents of the rules (e.g., Low Speed, High Speed). Such rules can be (easily) obtained from a human operator or can be postulated and learned from data. According to Kosko [1], an FLC is unique in that it ties vague words like Low and High, and common sense rules, to state-space geometry [2]. Fuzzy logic controllers have two important advantages over other classes of nonlinear controllers.