// linguistic labels (fuzzy sets) that compose the distances
FuzzySet fsNear = new FuzzySet( "Near",
    new TrapezoidalFunction( 15, 50, TrapezoidalFunction.EdgeType.Right ) );
FuzzySet fsMedium = new FuzzySet( "Medium",
    new TrapezoidalFunction( 15, 50, 60, 100 ) );
FuzzySet fsFar = new FuzzySet( "Far",
    new TrapezoidalFunction( 60, 100, TrapezoidalFunction.EdgeType.Left ) );

// front distance (input)
LinguisticVariable lvFront = new LinguisticVariable( "FrontalDistance", 0, 120 );
lvFront.AddLabel( fsNear );
lvFront.AddLabel( fsMedium );
lvFront.AddLabel( fsFar );

// linguistic labels (fuzzy sets) that compose the angle
FuzzySet fsZero = new FuzzySet( "Zero",
    new TrapezoidalFunction( -10, 5, 5, 10 ) );
FuzzySet fsLP = new FuzzySet( "LittlePositive",
    new TrapezoidalFunction( 5, 10, 20, 25 ) );
FuzzySet fsP = new FuzzySet( "Positive",
    new TrapezoidalFunction( 20, 25, 35, 40 ) );
FuzzySet fsVP = new FuzzySet( "VeryPositive",
    new TrapezoidalFunction( 35, 40, TrapezoidalFunction.EdgeType.Left ) );

// angle
LinguisticVariable lvAngle = new LinguisticVariable( "Angle", -10, 50 );
lvAngle.AddLabel( fsZero );
lvAngle.AddLabel( fsLP );
lvAngle.AddLabel( fsP );
lvAngle.AddLabel( fsVP );

// the database
Database fuzzyDB = new Database( );
fuzzyDB.AddVariable( lvFront );
fuzzyDB.AddVariable( lvAngle );

// creating the inference system
InferenceSystem IS = new InferenceSystem( fuzzyDB, new CentroidDefuzzifier( 1000 ) );

// going straight
IS.NewRule( "Rule 1", "IF FrontalDistance IS Far THEN Angle IS Zero" );
// turning left
IS.NewRule( "Rule 2", "IF FrontalDistance IS Near THEN Angle IS Positive" );

...
// inference section

// setting inputs
IS.SetInput( "FrontalDistance", 20 );

// getting outputs
try
{
    FuzzyOutput fuzzyOutput = IS.ExecuteInference ( "Angle" );

    // showing the fuzzy output
    foreach ( FuzzyOutput.OutputConstraint oc in fuzzyOutput.OutputList )
    {
        Console.WriteLine( oc.Label + " - " + oc.FiringStrength.ToString( ) );
    }
}
catch ( Exception )
{
   ...
}