Research on the Adaptive PID Speed Control Method for Hub Motors

Table 4

Fuzzy control rule table.

S
		PB	PM	PS	ZE	NS	NM	MB
	PB	B	B	RB	M	RS	S	S
	PS	RB	RB	M	S	M	RS	RS
	ZE	M	M	M	S	M	M	M
	NS	RS	RS	M	S	M	RB	RB
	NB	S	S	RS	M	RB	B	B