Fuzzy Control

part one
Artificial Intelligence for
Control and Identification
Dr. Wilbert G. Aguilar

Ph.D. in Automatic Control, Robotics and Computer Vision

Mster AR

2007 Dr. X. Parra & Dr. C. Angulo

Outline

1. General Framework
2. Fuzzy Logic
3. Fuzzy Control

Fuzzy Control

4. Fuzzy System Design

1. General Framework
Daily Applications

Fuzzy Control

Home Appliances (washing machines, washer dryers, cooking, )

Automatic load adjustment

These machines have fuzzy logic so you can wash a small load
as economically as a large one. The automatic load adjustment
system measures the volume and absorbency of the laundry and
works out exactly how much water to use, so not a drop is wasted.

1. General Framework
Daily Applications
Home Appliances (washing machines, washer dryers, cooking, )

Fuzzy Control

This machine's intelligent fuzzy

logic will detect when the laundry
is out of balance and re-arrange
it, to ensure minimum wear and
tear to the drum bearings. The
fuzzy logic also detects if too
much detergent has been added
and adds extra rinses if required.

1. General Framework
Daily Applications
Home Appliances (washing machines, washer dryers, cooking, )

Fuzzy Control

Rice cooker

Blood pressure

1. General Framework
Daily Applications

Fuzzy Control

Air conditioning

1. General Framework
Daily Applications

Fuzzy Control

Anti-lock Brake System - ABS

1. General Framework
Daily Applications

Fuzzy Control

and many more:

* Automatic control of dam gates for hydroelectric-powerplants (Tokio Electric Pow.) * Simplified
control of robots (Hirota, Fuji Electric, Toshiba, Omron) * Camera aiming for the telecast of sporting
events (Omron) * Substitution of an expert for the assessment of stock exchange activities
(Yamaichi, Hitachi) * Preventing unwanted temperature fluctuations in air-conditioning systems
(Mitsubishi, Sharp) * Efficient and stable control of car-engines (Nissan) * Cruise-control for
automobiles (Nissan, Subaru) * Improved efficiency and optimized function of industrial control
applications (Aptronix, Omron, Meiden, Sha, Micom, Mitsubishi, Nisshin-Denki, Oku-Electronics) *
Positioning of wafer-steppers in the production of semiconductors (Canon) * Optimized planning of
bus time-tables (Toshiba, Nippon-System, Keihan-Express) * Archiving system for documents
(Mitsubishi Elec.) * Prediction system for early recognition of earthquakes (Inst. of Seismology
Bureau of Metrology, Japan) * Medicine technology: cancer diagnosis (Kawasaki Medical School) *
Combination of Fuzzy Logic and Neural Nets (Matsushita) * Recognition of handwritten symbols
with pocket computers (Sony) * Recognition of motives in pictures with video cameras (Canon,
Minolta) * Automatic motor-control for vacuum cleaners with recognition of surface condition and
degree of soiling (Matsushita) * Back light control for camcorders (Sanyo) * Compensation against
vibrations in camcorders (Matsushita) * Single button control for washing-machines (Matsushita,
Hitatchi) * Recognition of handwriting, objects, voice (CSK, Hitachi, Hosai Univ., Ricoh) * Flight aid
for helicopters (Sugeno) * Simulation for legal proceedings (Meihi Gakuin Univ, Nagoy Univ.) *
Software-design for industrial processes (Aptronix, Harima, Ishikawajima-OC Engeneering) *
Controlling of machinery speed and temperature for steel-works (Kawasaki Steel, New-Nippon
Steel, NKK) * Controlling of subway systems in order to improve driving comfort, precision of
halting and power economy (Hitachi) * Improved fuel-consumption for automobiles (NOK, Nippon
Denki Tools) * Improved sensitiveness and efficiency for elevator control (Fujitec, Hitachi, Toshiba)
* Improved savety for nuklear reactors (Hitachi, Bernard, Nuclear Fuel div.)
7

1. General Framework
Evolution of development

Fuzzy Control

1965 Seminal Papers Fuzzy Sets and Outline of a new

approach to the analysis of complex systems by
Prof. Lotfi Zadeh, U.C. Berkeley, sets the foundation
the Fuzzy Set Theory

of

1. General Framework
Evolution of development
1975 Fuzzy control was first introduced by E. Mamdani in
Advances in the linguistic synthesis of fuzzy controllers
Introduction of Fuzzy Logic in Japan
1980 Empirical Verification of Fuzzy Logic in Europe
1985 Broad Application of Fuzzy Logic in Japan
1990 Broad Application of Fuzzy Logic in Europe

Fuzzy Control

1995 Broad Application of Fuzzy Logic in the U.S.

2000 Fuzzy logic becomes a standard technique for
multi-variable control and is also applied in data and
sensor signal analysis.
Application of Fuzzy Logic in business and finance.

1. General Framework
Why Fuzzy?
fuzzy adj. 1 unclear or confused and lacking details. 2 not
clearly thought out or expressed. 3 indistinct, unclear,
distorted or imprecise.
Based on intuition and judgment
No need for a mathematical model

Fuzzy Control

Relatively simple, fast and adaptive

Less sensitive to system fluctuations
Can implement design objectives,
difficult to express mathematically, in
linguistic or descriptive rules

10

1. General Framework
Types of uncertainty
Stochastic uncertainty
the probability of hitting the target is 0.8
Lexical uncertainty
Tall man, cold days, stable currencies

Fuzzy Control

We will probably have a successful business year

The experience of Expert A shows that B is likely to occur.
However, Expert C is convinced this is not true.
Stochastic and lexical uncertainty
... a person suffering from hepatitis shows in 60% of all cases
a strong fever, in 45% of all cases yellowish colored skin, and
in 30% of all cases suffers from nausea ...
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Outline

1. General Framework
2. Fuzzy Logic
3. Fuzzy Control

Fuzzy Control

4. Fuzzy System Design

12

2. Fuzzy Logic
Classical sets vs. Fuzzy sets
Classical or crisp sets are binary. An element
either belongs to the set or does not.
Fuzzy sets have grades of membership.
Boolean set theory
38C

37.2C

Fuzzy set theory

38C

37.2C

39.7C

Fuzzy Control

40.3C

39.7C
40.3C

Strong

Fever

Strong

41.2C

Fever
41.2C

41.5C

41.5C

38.5C

38.5C
36.7C

36.7C

13

2. Fuzzy Logic
Fuzzy set definitions
Discrete definition:
SF(35C) = 0

SF(38C) = 0.1

SF(41C) = 0.9

SF(36C) = 0

SF(39C) = 0.35

SF(42C) = 1

SF(37C) = 0

SF(40C) = 0.65

SF(43C) = 1

Fuzzy Control

Continuous definition:
SF(x)
1
either-or

Artificial thresholds are over!!!

more or less
0
35C

36C

37C

38C

39C

40C

41C

42C
14

2. Fuzzy Logic
Fuzzy linguistic variable
The term strong used to define the set is a fuzzy linguistic
variable. Other examples are far, close, heavy, light, big, small,
smart, fast, slow, hot, cold, tall, short, ...
Example: on a scale of 1 to 10, how good was the dive?

9.5

10.0

6.5
8.0

Fuzzy Control

9.0

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2. Fuzzy Logic
Fuzzy linguistic variable

temp(x)
1

low

normal

raised temp

strong fever

Fuzzy Control

... pretty much raised...

... but just slightly strong fever...

0
35C

36C

37C

38C

39C

40C

41C

42C

16

2. Fuzzy Logic
Fuzzy logic system
Fuzzy logic defines the control strategy on a linguistic level.

Fuzzy Control

Numerical
level

Measured variables
(Numerical values)

Command variables
(Linguistic values)
3.Defuzzification

Linguistic
level

2.Fuzzy-inference

1.Fuzzification

Measured variables
(Linguistic values)

Plant

Command variables
(Numerical values)

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2. Fuzzy Logic
Fuzzy logic system: example
Fuzzy logic defines the control strategy on a linguistic level.

Crane Head

Container

Trailer

Two measured
variables: angle
and distance

Fuzzy Control

Ship

One command
variable: power

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2. Fuzzy Logic
Fuzzy logic system: example
Control loop of the fuzzy logic controlled container crane:

Fuzzy Control

Numerical
level

angle & distance

(Numerical values)

2.Fuzzy-inference

op
o
l
the !!!
g
sin ords
o
l
C
w
with

Container
crane

power
(Linguistic values)
3.Defuzzification

Linguistic
level

1.Fuzzification

angle & distance

(Linguistic values)

power
(Numerical values)

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2. Fuzzy Logic
Fuzzy logic system: example
1. Fuzzification: term definitions
Measured variables:
Angle = { neg_big, neg_small, zero, pos_small, pos_big }
Distance = { far, medium, close, zero, neg_close }
Command variable:

Fuzzy Control

Power = { neg_high, neg_medium, zero,

pos_medium, pos_high }

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2. Fuzzy Logic
Fuzzy logic system: example
1. Fuzzification: membership function definition

neg_big

neg_small

zero

pos_small

pos_big

Fuzzy Control

0.8

0.2
0
-90

-45

0 4
Angle

45

90

21

2. Fuzzy Logic
Fuzzy logic system: example
1. Fuzzification: membership function definition

Fuzzy Control

1
0.9

neg_close zero close medium

0.1
0
-10

10 12m 20
Distance (m)

far

30

22

2. Fuzzy Logic
Fuzzy logic system: example
2. Fuzzy-inference: the IF-THEN rules
Computation of the IF-THEN rules:
# 1: IF Distance = medium AND Angle = pos_small THEN Power = pos_medium
#2: IF Distance = medium AND Angle = zero THEN Power = zero
#3: IF Distance = far AND Angle = zero THEN Power = pos_medium
#4: IF Distance = far AND Angle = pos_small THEN Power = pos_high

NC

Fuzzy Control

PB
PS
Z

PM PH
Z

PM

Rules
Matrix

NS
NB
23

2. Fuzzy Logic
Fuzzy logic system: example
2. Fuzzy-inference: the IF-THEN rules
Aggregation (IF-part): computes how appropriate each rule is
for the current situation.

Fuzzy Control

AND: AvB = min{A; B}

OR:

A+B = max{A; B}

NOT:

-A

= 1-A

NC

0.9 0.1

PB
0.8

0.8 0.1

0.2

0.2 0.1

#1:

min{0.9 ; 0.8} = 0.8 (PM)

#2:

min{0.9 ; 0.2} = 0.2 (Z)

#3:

min{0.1 ; 0.2} = 0.1 (PM)

NS

#4:

min{0.1 ; 0.8} = 0.1 (PH)

NB

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2. Fuzzy Logic
Fuzzy logic system: example
2. Fuzzy-inference: the IF-THEN rules
Composition (THEN-part): computes how each rule influences
the output variables .

Fuzzy Control

Results for the linguistic variable power:

pos_high

with the degree 0.1

(R#4)

pos_medium

with the degree 0.8

(max{R#1,R#3} = max {0.8, 0.1} )

zero

with the degree 0.2

(R#2)

neg_medium

with the degree 0.0

neg_high

with the degree 0.0

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2. Fuzzy Logic
Fuzzy logic system: example
3. Defuzzification: the center-of-gravity

NH

NM

PM

PH

Fuzzy Control

0.8

0.2
0.1
0
-30

-15

0
Power (kW)

15

30

13.1 kW

26

Outline

1. General Framework
2. Fuzzy Logic
3. Fuzzy Control

Fuzzy Control

4. Fuzzy System Design

27

3. Fuzzy Control
Fuzzy logic control
Fuzzy logic control (FLC) may be viewed as a
branch of intelligent control which serves as an
emulator of human decision-making behavior that
is approximate rather than exact
(C.C.Lee in Singh: Systems and Control Encyclopedia, 1992).

Limitations:

Fuzzy Control

More complex than PID

More parameters to tune
Un-mathematical (stability?)

28

3. Fuzzy Control
Fuzzy logic controller: direct control
The outputs of the fuzzy logic system are the command variables of
the plant:

Command
Variables

IF temp=low
AND P=high
THEN A=med

Plant

IF ...

Fuzzification

Inference

Defuzzification

Fuzzy Control

Measured Variables

29

3. Fuzzy Control
Fuzzy logic controller: supervisory control
Fuzzy logic controller outputs set values for underlying PID controllers:

IF temp=low
AND P=high
THEN A=med

Set Values

PID
PID

IF ...

Fuzzification

Inference

Defuzzification

Plant

PID

Fuzzy Control

Measured Variables

30

3. Fuzzy Control
Fuzzy logic controller: PID adaptation
Fuzzy logic controller adapts the P, I, and D parameter of a
conventional PID controller:
Set Point Variable

IF temp=low
AND P=high
THEN A=med

P
I
D

IF ...

Fuzzy Control

Fuzzification

Inference

Command Variable

PID

Plant

Defuzzification

Measured Variable

31

3. Fuzzy Control
Fuzzy logic controller: PID + fuzzy control
Fuzzy logic controller and PID controller in parallel:

Set Point Variable

IF temp=low
AND P=high
THEN A=med

Command Variable

IF ...

Fuzzy Control

Fuzzification

Inference

Defuzzification

PID

Plant

Measured Variable

32