The Fuzzy Feedback Scheduling of Real-Time Middleware in Cyber-Physical Systems for Robot Control

Table 4

Fuzzy control rules.

NB	NM	NS	Z	PS	PM	PB
NB	PS	PS	PS	PS	PS	PM	PM
NM	PS	PS	PS	PS	PM	PM	PM
NS	PS	PS	PS	PM	PM	PM	PB
Z	PS	PS	PM	PM	PM	PB	PB
PS	PS	PM	PM	PM	PB	PB	PB
PM	PM	PM	PM	PB	PB	PB	PB
PB	PM	PM	PB	PB	PB	PB	PB