Research on the Adaptive PID Speed Control Method for Hub Motors

Table 2

Fuzzy subset membership function table of the error rate of change.

Membership	−3	−2	−1	0	1	2	3
PB	0	0	0	0	0.3	0.7	1
PS	0	0	0.3	0.7	1	0.7	0.3
ZE	0	0.3	0.7	1	0.7	0.3	0
NS	0.3	0.7	1	0.7	0.3	0	0
NB	1	0.7	0.3	0	0	0	0