| EC | NB | NM | NS | Z0 | PS | PM | PB | ||||||||||||||
| E | Kp | Ki | Kd | Kp | Ki | Kd | Kp | Ki | Kd | Kp | Ki | Kd | Kp | Ki | Kd | Kp | Ki | Kd | Kp | Ki | Kd |
| NB | PB | NB | NS | PB | NB | NS | PB | NM | NB | PM | NM | NB | PS | NS | NM | PS | NS | NS | Z0 | Z0 | PS |
| NM | PB | NB | NS | PB | NB | NS | PM | NM | NM | PM | NS | NM | PS | NS | NM | Z0 | Z0 | NS | NS | Z0 | Z0 |
| NS | PB | NB | NM | PM | NM | NM | PM | Z0 | NS | PS | Z0 | NS | Z0 | Z0 | NS | NS | PS | Z0 | NS | PS | Z0 |
| Z0 | PM | NM | Z0 | PM | PM | Z0 | PS | PS | Z0 | Z0 | Z0 | Z0 | NS | PS | Z0 | NS | PS | Z0 | NM | PM | Z0 |
| PS | PM | NM | NS | Z0 | Z0 | NS | Z0 | Z0 | NS | NS | PS | PS | NM | PS | PS | NM | PM | PS | NM | PM | PM |
| PM | Z0 | Z0 | NS | Z0 | Z0 | PS | NS | PS | PS | NS | PS | PS | NM | PM | PS | NM | PB | PS | NB | PB | PB |
| PB | Z0 | Z0 | PB | NS | Z0 | PM | NS | PS | PM | NM | PM | PS | NM | PM | PS | NB | PB | PB | NB | PB | PB |