Fuzzy controller design

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Hello everyone, I'm new here and I'm working on designing a fuzzy controller, okay so i have a transfer function of a prosthetic hand (23s^2+ 12s+.. / 10s^3 + s^2 + ...) per say, so i have 3 outputs and 2 inputs. How can I use only the transfer function and use it with a fuzzy controller?
 

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