Research Article
A Two-Wheeled Self-Balancing Robot with the Fuzzy PD Control Method
Table 1
Fuzzy control rules.
| E | Ec | NB | NM | NS | ZE | PS | PM | PB |
| NB | NB | NB | NB | NB | NM | NS | ZE | NM | NB | NB | NB | NM | NS | ZE | PS | NS | NB | NB | NM | NS | ZE | PS | PM | ZE | NB | NM | NS | ZE | PS | PM | PB | PS | NM | NS | ZE | PS | PM | PB | PB | PM | NS | ZE | PS | PM | PB | PB | PB | PB | ZE | PS | PM | PB | PB | PB | PB |
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