Hello, I am trying to implement a simple adaptive PID controller paper. However, I am having some problems which I could not find out due to what.. Paper is the following; http://www.aedie.org/9CHLIE-paper-send/337_CHAINHO.pdf Quite simple. Using the Tagaki-Sugeno fuzzy system, in accordance with the error percentage, P and I parameters are adjusted. I implemented everything conforming to the paper. However, my control signal blows up immediately. I have been looking for days where I am doing wrong but could not find any mistake. I would really appreciate if you check the simulation files and make comments. Attached the simulation files. P.S. initialize.m must be run before running the simulink model. Thank you.