Fuzzy Logic Basics PDF

Fuzzy Logic
Andrew Kusiak
Intelligent Systems Laboratory
2139 Seamans Center
The University of Iowa
Iowa City, IA 52242 1527
andrew-kusiak@uiowa.edu
@
http://www.icaen.uiowa.edu/~ankusiak
What is Fuzzy Logic?
Fuzzy logic is a tool for embedding

human knowledge
(experience, expertise, heuristics)
(Based on the material provided by Professor V. Kecman)

Why Fuzzy Logic ?

Human knowledge is fuzzy: expressed
in fuzzy
fuzzy linguistic terms
terms, e.g.,
e g young,
young
old, large, cheap.
Temperature is expressed as cold,

warm or hot.
No quantitative meaning.
Fuzzy Logic
Fuzzy
Fuzzy logic may be viewed as a bridge
between the excessively wide gap between
the precision of classical crisp logic and
the imprecision of both the real world and
its human interpretation
Paraphrasing L. Zadeh
Fuzzy Logic
The World is Not Binary!

Gradual transitions and ambiguities at the boundaries
Fuzzy logic attempts to model the way of

reasoning
i off the
th human
h
brain.
b i
Bad, Night, Old, Ill

NO
False, Sad, Short
, ,1
Almost all human experience can be expressed in

the form of the IF - THEN rules.
H
Human reasoning
i is
i pervasively
i l approximate,
i t
non-quantitative, linguistic, and dispositional
(meaning, usually qualified).
Good, Day, Young, Healthy,
YES,
True, Happy, Tall, , 0
When and Why to Apply FL?
When and Why to Apply FL?
Human knowledge is available

Mathematical model is unknown or
impossible to obtain
At higher levels of hierarchical

control systems
Process substantially nonlinear

Lack of precise sensor information
In decision making processes
How to Transfer Human Knowledge

Into the Model ?
Knowledge should be structured
structured.
Possible shortcomings:
Fuzzy Sets vs Crisp Sets

Crisp Sets
Fuzzy Sets
Knowledge is subjective
Experts may bounce between extreme points
of view:
Have problems with structuring the knowledge,
knowledge or
Too aware in his/her expertise, or
Tend to hide knowledge, or ...
Venn Diagrams
Solution: Find a good expert.

Fuzzy Sets vs Crisp Sets

Crisp Sets
Modeling or Approximating a Function:

Curve or Surface Fitting
Fuzzy Sets
- membership degree, possibility distribution,

grade of belonging
Terms used in other disciplines:

regression (L or NL), estimation, identification, filtering
Modeling a Function
Modeling a Function
Standard mathematical approach of curve fitting
((more or less satisfactory
y fit))
Curve fitting by using fuzzy rules (patches)

Surface approximation for 2 inputs or
a hyper
hyper-surface
surface (3 or more inputs)
Small number of rules - Large patches or rough approximation

Modeling a Function
Example 1
Consider modeling two different functions by
fuzzy rules
y
More rules - more smaller patches and better approximation

What is the origin of the patches and how do they work?
Example 1
Example 1
Lesser number of rules decreases the

approximation accuracy. An increase in a number
of rules, increases the precision at the cost of a
computation time needed to process these rules.
This is the most classical soft computing dilemma

- A trade-off between the imprecision and
uncertainty on one hand and low solution cost,
tractability and robustness on the other.
other
IF x is low THEN y is high.
IF x is low THEN y is high.
IF x is medium THEN y is low.
IF x is medium THEN y is
medium.
IF x is large THEN y is low.
The appropriate rules for the two functions are:

IF x is large THEN y is high.
Example 2
Example 1
These rules define three large rectangular patches
that cover the functions. They are shown in the
next slide together with two possible
approximators for each function.
Modeling two different functions by fuzzy rules

y
The two original functions (solid lines in both graphs) covered by

three patches produced by IF-THEN rules and modeled by two
possible approximators (dashed and dotted curves).
Example 2
Example 2
Humans do not (or only rarely) think in terms of

nonlinear functions.
Humans do not draw these functions in their
mind.
We neither try to see them as geometrical
artifacts.
Even more,
more our expertise or understanding of
some functional dependencies is often not a
structured piece of knowledge at all.
We typically perform complex tasks without being
able to express how they are executed.
executed
In general, we do not process geometrical figures,

curves, surfaces or hypersurfaces while
performing tasks or expressing our knowledge.
Car Example
Example 2
Th steps
The
t
in
i fuzzy
f
modeling
d li are always
l
the
th same.
Explain to your colleague in the form of IFTHEN rules how to ride a bike.
i) Define the variables of relevance, interest or importance:

In engineering we call them input and output variables
ii) Define the subsets intervals:
Small - medium, or negative - positive, or
Left - right (labels of dependent variables)
Car Example
Car Example
iii) Choose the shapes and the positions of fuzzy
subsets, i.e.,
Membership functions, i.e., attributes
INPUTS: D = DISTANCE,
INPUTS
DISTANCE v = SPEED
OUTPUT: B = BRAKING FORCE
iv) Set the rule form, i.e., IF - THEN Rules

v) Perform computation and (if needed) tune (learn,
adjust, adapt) the positions and the shapes of both
the input and the output attributes of the model
Car Example
Car Example
D
Velocity
Low
Braking Force
Medium High
Small Medium High

1
v
120 (km/h) 0
10
Analyze the rules for a given distance D and for
different velocity v, i.e., B = f(v)
100 (%)
IF the Velocity is Low, THEN the Braking Force is Small

IF the Velocity is Medium, THEN the Braking Force is Medium
IF the Velocity is High, THEN the Braking Force is High
,
Car Example
Car Example
Braking Force
100
Braking Force
100
High
High
The fuzzy
Th
f
patch
Medium
Low
Medium
The fuzzy
patches
Low
(%)
(%)
Velocity
Velocity
10
120
Small Medium High
10
120
Small Medium High
Car Example
The Fuzzy Patches Define the Function

Braking Force
The fuzzy patches
100
Braking Force
Low
(%)
Note the overlapping

fuzzy subsets smooth
approximation
of the function between the
Velocity and Braking Force
Velocity
Caar Examplee
High
Medium
Three possible
dependencies
p
between the Velocity
and Breaking force.
High
Medium
Low
0
100
Each of us drives
differently
(%)
Velocity
10
120
Small Medium High
10
120
Small Medium High
Example:
Room Temperature Control
FUNCTIONAL DEPENDENCE OF THE VARIABLES
SURFACE OF KNOWLEDGE
Fuzzy Control of the Distance Between Two Cars
Braking Force
Visualization of 2 INPUTS: D and v, and 1 OUTPUT B is possible.

For more inputs everything remains the same but visualization is not possible.
Cold Warm
90
Hot
80
Fan Speed
Room Temperature
Slow Medium Fast

1
70
60
50
40
0
30
20
100
10
200
80
Speed100
40
20
50
Room Temperature
Cold
Warm
100 (%)
If Room Temperature is Cold, then Fan Speed is Slow

Example:
Slow Medium Fast

1
30 (oC)
Room Temperature
Fan Speed
Hot
10
100 (%)
Distance
Example:
Cold Warm
30 (oC)
10
60
150
Fan Speed
Hot
Slow Medium Fast

1
10
30 (oC)
0
100 (%)
If Room Temperature is Warm, then Fan Speed is Medium
Example:
Room Temperature
Cold
Warm
Fan Speed
Hot
Slow Medium Fast
Fan Speed
1
100
Example:
Fast
The fuzzy
Th
f
patches
Medium
Slow
(%)
10
30 (oC)
0
100 (%)
Room
Temperature

10
If Room Temperature is Hot, then Fan Speed is Fast

Example:
Fan Speed
30 (oC)
Example:
Fan Speed
100
100
Cold Warm Hot
Fast
Fast
The fuzzy
patches
Medium
Slow
Slow
0
(%)
Room
Temperature
10
Cold Warm Hot
The fuzzy
patches
Medium
(%)
Note the overlapping

of fuzzy subsets smoothes
approximation
of the function between the
Fan Speed and Temperature
Room
Temperature
10
30 (oC)
Cold Warm Hot
30 (oC)
Example:
Example:

There must be some overlapping of the input fuzzy subsets
(membership or characteristic functions) if we want to obtain
a smooth model
12
VL
O
U
T
P
U
T
12
If there was no
overlapping.
one would
obtain the
stepwise
p
function as
shown next
10
VS
0
0
VS
2
S
4
VL
10
INPUT
Warm
12
Hot
10
Slow Medium Fast

1
22
30 (oC)
O
U
T
P
U
T
VB
B
10
VS
VS
0
0
Output Computation: Fuzzification, Inference and

Defuzzifaction
Fan Speed
Room Temperature
Cold

There must be some overlapping of the input fuzzy subsets
(membership or characteristic functions) if we want to obtain
a smooth model
100 (%)
R1: If Room Temperature is Cold, Then Fan Speed is Slow
M
6
INPUT
B
8
VB
10
12
Example:
After the fuzzy modeling is done there is an
operational phase:
Compute the fan speed when the room
temperature = 22 oC
NOTE
NOTE: 22 oC belongs
b l
to
t the
th subsets
b t Warm
W
andd
Hot
R2: If Room Temperature is Warm, Then Fan Speed is Medium

R3: If Room Temperature is Hot,Then Fan Speed is Fast
Fuzzification and Inference

Room Temperature
Cold
Warm
Fan Speed
Hot
Room Temperature
Slow Medium Fast
Cold
Warm
Fan Speed
Hot
Slow Medium Fast
0.6
0.6
0.3
10
30 (oC))
22
100 ((%))
10
22
30 (oC))
100 ((%))
If Room Temperature is Cold, Then Fan Speed is Slow
If Room Temperature is Warm, Then Fan Speed is Medium
If Room Temperature is Hot, Then Fan Speed is Fast

If Room Temperature is Hot, then Fan Speed is Fast
Cold
Warm
Defuzzification
Fan Speed
Hot
Fan Speed

Room Temperature
Slow Medium Fast

1
0.6
0
0.3
10
22
30 (oC)
100 (%)
WHAT IS THE OUTPUT VALUE?

If Room Temperature is Cold then Fan Speed is Slow
If Room Temperature is Warm then Fan Speed is Medium
If Room Temperature is Hot then Fan Speed is Fast
60
100
(%)
The result of the fuzzy inference is a fuzzy subset composed of

the slices of fan speed: Medium (blue) and Fast (red)
How to find a crisp (useful in the real world application) value?
One of several methods used to obtain a crisp output value is
the center of area formula
Example: Vehicle Turning

Problem
Configuration of the Vehicle Turning Problem

Finish
= Car angle
(INPUT 1)
d = Distance from center line
(INPUT 2)
max = /4: Upper bound of steering angle (OUTPUT)
Generic fuzzy logic controller
v = 10.0 m/s
- Developed in Matlab
- User friendly
- Multiple inputs
Many other commercial applications are possible
Start
Conclusions
Conclusions
Finding good (dependable) expert
Fuzzy logic can be implemented wherever there is

structured
t t d human
h
knowledge,
k
l d expertise,
ti heuristics,
h i ti
experience.
Fuzzy logic is not needed whenever there is an
analytical closed-form model that, using a
reasonable
bl number
b off equations,
i
can solve
l a
problem in a reasonable time, at the reasonable
costs and with higher accuracy.
Right choice of the variables

Increasing the number of inputs, as well as the number of
fuzzy subsets per input variable, the number of rules
increases exponentially (curse of dimensionality)
Good news is that there are plenty of real life problems and
situations that can be solved with small number of rules
only

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Fuzzy Logic

What is Fuzzy Logic?

Fuzzy logic is a tool for embedding

(Based on the material provided by Professor V. Kecman)

Intelligent Systems Laboratory

The University of Iowa

Why Fuzzy Logic ?

Temperature is expressed as cold,

Intelligent Systems Laboratory

Intelligent Systems Laboratory

The University of Iowa

Intelligent Systems Laboratory

The World is Not Binary!

Fuzzy logic attempts to model the way of

Bad, Night, Old, Ill

Almost all human experience can be expressed in

The University of Iowa

Intelligent Systems Laboratory

When and Why to Apply FL?

The University of Iowa

Intelligent Systems Laboratory

When and Why to Apply FL?

Human knowledge is available

At higher levels of hierarchical

Process substantially nonlinear

Intelligent Systems Laboratory

In decision making processes

The University of Iowa

Intelligent Systems Laboratory

How to Transfer Human Knowledge

Fuzzy Sets vs Crisp Sets

Solution: Find a good expert.

Intelligent Systems Laboratory

Fuzzy Sets vs Crisp Sets

Intelligent Systems Laboratory

Modeling or Approximating a Function:

- membership degree, possibility distribution,

The University of Iowa

Intelligent Systems Laboratory

Terms used in other disciplines:

Intelligent Systems Laboratory

Curve fitting by using fuzzy rules (patches)

Small number of rules - Large patches or rough approximation

Intelligent Systems Laboratory

The University of Iowa

Intelligent Systems Laboratory

More rules - more smaller patches and better approximation

Intelligent Systems Laboratory

The University of Iowa

Intelligent Systems Laboratory

Lesser number of rules decreases the

This is the most classical soft computing dilemma

IF x is low THEN y is high.

IF x is low THEN y is high.

IF x is medium THEN y is low.

The appropriate rules for the two functions are:

Intelligent Systems Laboratory

The University of Iowa

Intelligent Systems Laboratory

Modeling two different functions by fuzzy rules

The two original functions (solid lines in both graphs) covered by

Intelligent Systems Laboratory