Mamdani fuzzy inference is the most commonly seen fuzzy methodology and was among the first control systems built using fuzzy set theory. It was proposed in 1975 by Ebrahim Mamdani  as an attempt to control a steam engine and boiler combination by synthesizing a set of linguistic control rules obtained from experienced human operators. Mamdani's effort was based on Lotfi Zadeh's 1973 paper on fuzzy algorithms for complex systems and decision processes . Although the inference process described in the next few sections differs somewhat from the methods described in the original paper, the basic idea is much the same.
Mamdani-type inference, as defined for the toolbox, expects the output membership functions to be fuzzy sets. After the aggregation process, there is a fuzzy set for each output variable that needs defuzzification.
 Mamdani, E.H. and S. Assilian, "An experiment in linguistic synthesis with a fuzzy logic controller," International Journal of Man-Machine Studies, Vol. 7, No. 1, pp. 1-13, 1975.
 Zadeh, L.A., "Outline of a new approach to the analysis of complex systems and decision processes," IEEE Transactions on Systems, Man, and Cybernetics, Vol. 3, No. 1, pp. 28-44, Jan. 1973.