Cylinder Position Servo Control Based on Fuzzy PID

Table 3

Fuzzy logic rule for Δ𝐾_𝐷.

ec	e
	NB	NM	NS	ZO	PS	PM	PB
NB	PS	NS	NB	NB	NM	NM	PS
NM	PS	NB	NB	NM	NM	NS	ZO
NS	ZO	NS	NM	NM	NS	NS	ZO
ZO	ZO	NS	NS	NS	NS	ZO	NS
PS	ZO	PM	PS	ZO	ZO	PS	ZO
PM	PS	PB	PS	PS	PB	PB	PS
PB	PB	PM	PM	PS	PB	PS	PS