Hung T. Nguyen & Nadipuram R. Prasad 
First Course in Fuzzy and Neural Control [PDF ebook] 

Although the use of fuzzy control methods has grown nearly to the level of classical control, the true understanding of fuzzy control lags seriously behind. Moreover, most engineers are well versed in either traditional control or in fuzzy control-rarely both. Each has applications for which it is better suited, but without a good understanding of