You can give discounts for products on your site only for members of specific membership plan.
Create membership plans by following the steps in Creating Membership Plan
In “Discounts” tab,
Click “Add Rule” button to create a new rule for URL restriction.
Give the title for the rule for your reference.
Select the product type(products/categories) you want to give discount in “Product Type” option. Based on your selection, search and select the products/categories in “Select Products” or “Select Categories” field. If the field is left empty, the given discount will be applied for all the products/categories as per your selection.
In “Discount Type” option, select “Fixed discount” or “Percentage of product price” as per your requirement and give the value in “Discount Value” option.