Research on the Adaptive PID Speed Control Method for Hub Motors

Table 3

Fuzzy subset membership function table of the output step size.

Membership	1	2	3	4	5
S	1	0.7	0.3	0	0
RS	0.7	1	0.7	0.3	0
M	0.3	0.7	1	0.7	0.3
RB	0	0.3	0.7	1	0.7
B	0	0	0.3	0.7	1