Abstract: The present invention is a control system for controlling movement of a work implement from a dig location to a dump location. The work implement has at least four degrees of freedom defined by a swing joint angle &thgr;swing, a boom joint angle &thgr;boom, a stick joint angle &thgr;stick, and a bucket joint angle &thgr;bucket. In one embodiment, the control system comprises a central processing unit and a memory device. The control system further comprises an initialization module stored on the memory device and adapted to determine specified initial and final joint angles for an initial cycle of the work implement indicative of the specified dig and dump locations, respectively. The control system further comprises a hydraulic valve connected to the central processing unit and to the work implement. The control system further comprises a fuzzy control module stored on the memory device.