Algorithm 1. Proposed self-tuning fuzzy logic controllers

Input:           Ppedal: pedal power              Verr: velocity error Output:           Pmotor: assisted motor power Function:          ruleTuningModule(velocity error);                        //return a new rule base;              fuzzyLogicControl(pedal power, velocity error, rule base);                    //return an assisted motor power; Initialization: 1.  Initial setting of parameters. 2.  Ppedal ← 0; 3.  Verr ← 0; 4.  powerAssistedMode ← False; 5.  ruleTuningMode ← True; 6.  Set the rule base of pedal power and velocity error. 7.  $RB$← default; //rule base for the ordinary rider (0–100 W) Main: 8.  while (powerAssistedMode == True) do 9.   Read and convert inputs to the pedal power and velocity error. 10.   if (ruleTuningMode == True) then 11.    Activate the rule tuning module. 12.    Adjust fuzzy rules according to velocity errors. 13.     $RB$← ruleTuningModule($v_{\mathrm{err}}$); 14.   end if 15.   Compute the assisted motor power using the designed FLC. 16.   $P_{\mathrm{moto}r}$ ← fuzzyLogicControl ($P_{\mathrm{pedal}}$, $v_{\mathrm{err}}$, $RB$); 17.  end while