2006 IEEE International Conference on
Systems, Man, and Cybernetics
October 8-11, 2006, Taipei, Taiwan
Design of Interval Type-2 Fuzzy Logic Controller
Ming-Ying Hsiao and Tzuu-Hseng S. Li, Member, IEEE
Abstract In this paper, we propose a novel interval type-2
fuzzy logic controller (IT2FLC) for interval system. The precise
mathematical model of the controlled plant is not required to
design this IT2FLC. Design procedure of the IT2FLC is
explored in detail. A typical linear interval system with 50%
parameter variations is adopted to demonstrate the
effectiveness of the proposed IT2FLC. For better understanding
the performance of IT2FLC, numerous shapes of membership
functions and variation of rule numbers of rule table are
evaluated for simulation thoroughly. The simulation results are
compared with those from type-1 fuzzy logic controller (TIFLC)
under same conditions. It shows that the performance of
IT2FLC is much better than that of T1FLC if the number of
rule is reduced.
Index Terms interval system, interval type-2 fuzzy logic
control, type-2 fuzzy set.
I. INTRODUCTION
FUZZY logic controllers (FLCs) have been successfully
and widely applied to various fields for decades.
Basically, one of the designing methods for a FLC is based on
human's experience and knowledge resulting that the precise
and accurate description of mathematical model of the
controlled plant is not so required or necessarily as to design a
desired FLC. Normally, a typical fuzzy logic system contains
fuzzifier, rules, inference engine, and defuzzifier [1]. Tuning
the parameters of Ti FLC is necessary for better performance
and sometimes it is combined with some other methods, such
as genetics algorithms, neural networks, and adaptive laws to
improve the desired performance. FLC is credited with being
adequate methodology for designing robust controllers that
have satisfactory performance in face of uncertainty and
imprecision.
The concept of type-2 fuzzy sets (T2FSs) was first
introduced by Zadeh [2] as an extension of the concept of
well known ordinary fuzzy sets, type-I fuzzy sets. Typically,
T2FSs have the characteristics of grades of membership
fuzzy themselves [3]. Very similar to a TIFLC structurally, a
T2FLC also contains the components as: fuzzifier, rule base,
fuzzy inference engine, and output processor as shown in Fig.
1. Similar to T1FLC, the fuzzifier in a T2FLC maps inputs
into type-2 fuzzy sets. The output processor includes the
type-reducer and the defuzzifier; while the former outputs
Tl FS and the latter outputs a crisp number. The rule base in a
T2FLC is also characterized by IF-THEN rules, which have
The Authors are with the IC2S Laboratory, Department of Electrical
Engineering, National Cheng Kung University, Tainan, Taiwan, R.O.C.
(Phone: +886-6-2757575 ext 62363; Fax: +886-6-2345482; Email:
thslu nXcku cdu txx )
1-4244-0100-3/06/$20.00 (T2006 IEEE
-
Fig. 1. The architecture of a type-2 fuzzy logical system
the same structure as that in a T1FLC, but its antecedent
and/or consequent sets are now at least one of these sets
clarified as T2FSs. T2FLCs can be used at the uncertain
circumstances when the membership grades can not be
determined exactly. As a type-2 fuzzy set is characterized by
a fuzzy membership function, i.e., the membership grade for
each element also is a fuzzy set in [0,I], unlike a type-l fuzzy
set, where the membership grade is a crisp number in [0,1] [3 ].
The membership functions of type-2 fuzzy sets are three
dimensional and include a footprint of uncertainty (FOU),
which is the new third dimension of type-2 fuzzy sets and the
footprint of uncertainty provides an additional degree of
freedom to make it possible to directly model and handle
uncertainties [4]. The type-2 fuzzy sets are useful especially
when it is difficult to determine the exact and precise
membership functions [5]. Normally, T2FLCs have
characteristics of intensive computation due to heavy
computational load at the step of type reducing process which
can be simplified a lot if their secondary membership
functions are chosen as the interval sets [6].
To date, T2FSs/T2FLSs have been successfully applied to
decision making [7], survey processing [8], time-series
forecasting [9], [10], time-varying channel equalization [1I],
control of mobile robots [12],[13] Type-2 Fuzzy Neural
Network [ 14] and preprocessing of data [ 1 5 ].
This paper is organized as follows. In Section II, an
IT2FLC will be designed step by step. In Section III, an
interval linear system as example will be illustrated via the
proposed JT2FLC. The conclusions are drawn in Section IV.
II. TYPE 2 FuzzY LOGIC CONTROLLER DESIGN
Systematic design procedure of IT2FLC is addressed in
detailed in this section, and some basic terminology of T2FSs
will be recalled firstly. A T2FS, denoted as A is
characterized by a type-2 membership function
(T2MF), 4(x,v) [5], wherexEeX and veJ_ [o,i], i.e.,
ii{((X,V) ,UA(x,v))Ivx E X,v E J. c[0,l]} (1)
4976
 e function (MF) represented by dotted lines in the Fig. 3, and is
p +
~~~_~~d dl
~~~~~~~IT2FLClo plant Oupt
bounded by an upper bound MF (thicker solid line) and a
e lower bound MF (thicker dot-dashed line). If the lower bound
and the upper bound are set equal, then, the IT2FS will shrink
Fig. 2. The architecture of an IT2FLC control system. to a normal TIFS.
Whereas there are numerous types and shapes of
P'A (x)
membership functions can be chosen as inputs, and some
used in control are shown in Fig. 4. For example, if triangular
primary MF with uncertain width is chosen as Fig. 3, then, the
1 ______ upper bound MF can be expressed as
A.S;
(thicker/dot-dashed 0 1
11 12line).plP = , r x<
x -1
3. A triangla shp IT Sis. wit is picplTF dtln)
Fig. 1, <XP
bound~~~~~~~-0-00ed MF (tice 0solidline) and a loe bon MF
an upp .ge,-rb .-toun
byEit P, -1,
or/ p2 nc f'orX PAA(x) - FOU(A) = Pi <X < P2 (5a)
Fig. 3. A triangular shape IT2FS is with its principal TlFS (dot line), r2-X
bounded by an upper bound MF (thicker solid line) and a lower bound ME P2 <x<r2
(thicker dot-dashed line). r2 -P2
0 x > r2
Or in continuous form,
and the corresponding lower bound MF is
-~ JI f' A(x,v) J. c[0,1] (2) 0 x <2
xEX VeJx (X, V)
x-12 x< rl(P2 -12)+'2(rl -P)
where J1 is the primary membership of x, and Jx ci [0,1]
P2 -12 (p2 -12)+(rl -A) (5b)
for Vx E X. At each value of x sayx = x', the 2-D plane i,A(X) - FOU(A) = r2- Xx> r (P2 -12) +12 (r -
PO
whose axes are u and 'uA(x', v) is called a vertical slice of
r2 p2 (p2 -12)+(r,-p)
PA (x, v) . A secondary membership function is a vertical slice 0 x>r2
of uA(x,v) It is HA,(x=x',v) for x'EuX and Similarly, if Gaussian primary MF with uncertain mean
Vu Jx ci [0,1],i.e., is chosen, then the associated upper bound and lower bound
MFs are (6a) and (6b), respectively.
(X = X XIV)-AAU (X
AA PAxx,)..P ))= fjxfI(v)
lieJx,
[O,
J,cC[0,1] I] (3) --(x-ml
2
/or)2
x <m
leI~~~~~~~~~~~~~~~~~~
in which 0 < f (v) <. and f,.(u) is a TIFS, which is /UA(x) - FOU(A) = I ml < m2
x< (6a)
referred to as a secondary set of T2FS. When the secondary -

Ke2
I(x-Am, / a)2
x>m
set is set to unity, i.e., f, (v) = 1 , an interval type-2
membership function reflects a uniform uncertainty at the e 2
--(X-M, /07)~
X< ml
m1 + +m2
primary memberships of x and it can be represented by its 2 (6b)
UA(X) =- FOU(A) = I
left and right end-points as [l, r]. 2
e --xml/) x>
ml +m2
An interval type-2 fuzzy set can be also expressed in 2
continuous form, B. Rule Base
Jf
J i
xeX veJX
(4) The rules for IT2FLC are still remained the same as those
for TIFLC, but their antecedents and the consequents will be
The architecture of an IT2FLC control system is shown in represented by interval type-2 fuzzy sets [6]. Consider an
Fig. 2 and the proposed IT2FLC is addressed in detail in the IT2FLC having 2 inputs e - el E El, e e2 E2 and single
following subsections. outputs u c U, then the i-th rule for IT2FLC can be written
A. Fuzzifier as R': IF e, is A' and e2is F2P
In this paper, we adopt two-input-one-output FLC to THENu is G' i=-->M (7)
introduce the design procedure of IT2FLC, that is, we
consider error e and error rate e scaled to the same range as where E', Fj c [NEn ...NE ZE PO ...POn ] and
the inputs of the proposed diagonal type FLC [16]. It is 'i c [NE. NE ZE PO... PO] The diagonal-type rule
obviously that the type-2 fuzzy set is in a region, named as table is summarized in Table 1.
(FOU [1] constructed by a principal type-I membership

4977
 t:iSlfF ~ I4X:N>A
NE., N E,,, E ZA. I,, P, PO,,
TABLE I
DIAGONAL-TYPE RULE TABLE FOR IT2FLC

\ NE, NE, 1 NEI ZE PCJ1 P.EU, PUON

Pi::,? ZE PClU P(141 PUo

(a)
NL. 15
Nl. .NE, f: PC-, PC-] 1S P,-.)1 NEI ZE P)1} 41

NEI ZE PO1
S.. 1

P) NE1 ZE Pu1
\tA AS 27X lif \7N t;N 1S(b) /
ZE NE1 ZE P(1
t,F. ZE PO,

NE1 NE1 ZE Pu1

NEI ZE P:11

NE,_j NEm I NE1 ZE P(u1

(c)
NE, N.EI
N, Z P(i P' (,^

NE, NE, NE-, NE1 ZE

5 ft g\ E w- --:=a .. s t. -w5- ii

:y':01 100:'t0Tit:0:(d)6 pRj (e,u) =4'§, P,p, (ea ) n p (u) (9)

N N , , f l N K N PC4jl O

The meet under product t-norm is used in this IT2FLC

input and antecedent operation, which is contained in the
firing set, nP ,)
=(e) F(e') , resulting as an interval set
that can be expressed as
F(e) [f (e), f(e)] [[Nf] (10)
where f (e') and 7 (e') can be re-expressed as
f (eY) = (e, ') * (u eYC)
N, (11)
(e)
Fig. 4. (a) Triangular primary MF with uncertain width. (b) Triangular f (e ') = -(e ) * (e2)
'.
(12)
primary MF with uncertain mid-point. (c) Triangular primary MF with where * denotes the product operation.
uncertain end-point. (d) Gaussian primary MF with uncertain mean. (e)
Singleton type MF with uncertain center-point. D. Type Reduction
C. Fuzzy Inference Engine Type-reduction is an extension of type-I defuzzification
The inference engine combines all the fired rules and gives obtained by applying the Extension Principle [2] to a specific
a non-linear mapping from input T2FS to output T2FS. In the defuzzification method. It represents a mapping of a type-2
inference engine, multiple antecedents in each rule are fuzzy set into a type-I fuzzy set. There exist many kinds of
connected by using the Meet operation, the membership type-reduction methods, such as: centroid, center of sets,
grades in the input sets are combined with those in the output center of sums, and height type-reduction; but, for an interval
sets by using the extended sup-star composition, and multiple type-2 FLS, regardless of the type-reduction method and how
rules are combined by using the Join operation [1]. its input x is modeled, the type-reduced set is always an
Each rule in a fuzzy rule base having 2 inputs el e El, interval set and is determined by its two end points u, (e) and
e2 e E2 and single outputs u E U can be written as u,(e) .
R' :HF,xtFC'-G =4A- G', i=l, -,M (8) The type-reduced set using the center of sets (COS)
type-reduction can be expressed as shown in (13)
and 'R' (e,u) = -*0 i (e,u) can be
Ucos (e) = [u,, u,1 ] =

4978
 (b)
(
t'7F

(a)

Fig. 5. (a) Tnrangular type membership functions for diagonal-type IT2FLC

with 3x3 rules for IF-part. (b)Singleton type membership functions for
diagonal-type IT2FLC with 3x3 rules for THEN-part.

f UU ] JU31[U[M,f ] J[J f Jf
~~~~1/
M1
ifi ui
J i]
M

i=1
f:.g PB
-f:f:g 72F:fiEf:iEiSiSiS
-i #i i#: Ei: .:l if:i:
i:i:,0FE C!.!i!d igESi#iVECEL.;itELi:

r::
1,::
iE:SEEEE:EREEE--w -:f
:E: : t: 0:0:S:i:-
iSE::. :-:::00

C:::?::EDl:::::::i:
"H .LiCh -t'titiStS
,0kE:'S :fL :Lk
ig.
t:i:E:E::1.7:j.::::'
::i: :i:-B: :l::D:::
tSiEtLiE! {.: tiEt
titHEL i0
7w
::::: :::: 4-SSS:-rt
:k:E iEtiN; ,E, !t?
;:L:;gEL:i:t:
:::: ::i.
'tE

1'.W.-. SiN:
i:::$::. i:i.1:.-i--k-
!E-.-iREREi-05-0.e'
U- :-DR:|.-gg:S.N
ff 0"' ..:
::S::Q-.: f
::. ae s-a-
Sl S ',' t-' -02
::SEEltQ -:1D,- ti
::itiAg--71 ;2k-;;:
iL: i.iS ai:
D:

(13)
b0

.1

0.5
0

(c)
-0
(a)
PB3

/.E

N13
TABLE II
DIAGONAL-TYPE RULE TABLE FOR IT2FLC WITH 3x3 RULES

0,5

T2FLC with gaussian shape and 3x3-rule.

NB

/E.

NEP

\13

(d)
ZF

1P13

7F

\NB
IPB

1'3

PB

/.F

(b)

Fig. 6. (a) Control surface of TlFLC with triangular shape and 3x3-rule. (b)
Control surface of T1FLC with gaussian shape and 3x3-rule. (c) Control
surface of T2FLC with triangular shape and 3x3-rule. (d) Control surface of

where U0s (e) is an interval output set determined by its left 0

most point u, and its right most point u, ,and i = 1,- M is ,

the number of rules. In order to compute u, and u, the ,

Karnik-Mendel iterative procedure [6] is needed and is

described briefly as follows:
(b)
1) Compute u,. in (13) by setting f,' = (f' + f') /2 initially,
for i l,,M,andlet u', u,
., t
2) FindR(1< R < M -1) such that ,R u,uR+'
3) Compute u, with f' f for i < R and
'
f1 = f for
i>R,andlet u", -u
4) If u", X u',, then go to Step 5). If u", u', then stop
,
(c) (d)
and set u,. -u",. Fig. 7. (a) Control surface of T1 FLC with triangular shape and 7x7-rule. (b)
Control surface of TIFLC with gaussian shape and 7x7-rule. (c) Control
5) Set u' u"r and return to Step 2). surface of T2FLC with triangular shape and 7x7-rule. (d) Control surface of
T2FLC with gaussian shape and 7x7-rule.
The procedure for computing u1 is similar to that for utr
i>L, and let u",-u,.
stated as follows:
4) If u", u', then go to Step 5). If u", -u',, then stop
1) Compute y, in (13) by initially setting
and set u, - u",.
f;i= (f +f)/2, for i = 1, M, and let u', u,.
5) Set u', u", and return to Step 2).
*,

2) Find L(I < L < M -1) such that uL < U', < u +1.
E. Defuzzification
3) COMPUTE U3 WITH f, =f FOR i < LAND f,' f FOR
From the type-reduction stage, we have for each output a

4979
 TABLE III
COMPARISON OF PERFORMANCE FOR Ti FLC AND IT2FLC

Perfonnance criteria TIFLC T2FLC

ISE 11.57743875 8.225322928

IAE 20.73784833 14.07389296
ITAE 1.043426804 0.476714796

0.0 6 086 /
1I

'v 0.4 0.2 3~~~~~x3rules 02Z

0.4 2x rules 0.8
08
5x5 les
02
5x5 rules
7x7 rules x7 rules t,,,0.6 1' 0.6 /. X
O 05 1 1.5 2 0 05 1 1.5 2
(c) (d) time sec ,04( 04 /
Fig. 8. (a) Unit step response with w= 50 and 0.25 by T1FLC under a
02 ~~~~~~Ti .2
range of rules from 9 to 49. (b) Unit step response with wn =50 and T2-TMFUW T2-TMFUW
0 0.5 1 1.5 2 0 0.5 1 1.5 2
g = 0.25 by triangular primary MF with uncertain mid-point (T2-TMFUM) (a) (b)
under a range of rules from 9 to 49. (c) Unit step response with wn = 50 and
I .-

4 =0.25 by triangular primary MF with uncertain width (T2-TMFUW)

08/ 068
under a range of rules from 9 to 49. (d) Unit step response with w" = 50 and
4 = 0.25 by triangular primary MF with uncertain end-point (T2-TMFUE) 50041 .4
under a range of rules from 9 to 49. o0.4. 04/

0°2 0.2
T2-TMFUW T2-TMFUW
0.5 1 15 2 0 05 1 1.5 2
08 0 00.68 (c) (d) time sec
1 1
010 . 016 Fig. 10. (a) Unit step response with ws= 50 and ( 0.25 by TIFLC and
,o..1..o
0.4 / 08 /
0.4 T2-TMFUW 3x3 rules. (b) Unit step response with wn = 50 and; = 0.75 by
Ti Ti
0.2 ~~~~T2-TMFUM
T2-TMFUE 02T2-TMFUM-
T2-TMFUE TlFLC and T2-TMFUW 3x3 rules. (c) Unit step response with W, = 150 and
T2-TMFUW T2-TMFUW
0 .5 1 15 2 0 0.5 1.5 2 ; = 0.25 by TIFLC and T2-TMFUW 3x3 rules. (d) Unit step response with
wi = 150 and ( 0.75 by TIFLC and T2-TMFUW 3x3 rules

=02 02<
0. 0.8 /
I ,, 1 f
0~~~~~~~~~~~0
(a) (d) tm e /
0 0.6
0.4 00.6 /0.6
Fig. 9. Ta) Tl Ti
02FLC
0.2 and vanous IT2TMFLiM
T~~~2-TMF-UEt. T2iTMFUM
T2-TMFUE -0n4 0.4 lc-0
T2-TMFUW T2-TMFUW
0.2 oa=0.3 0 .2 -C=0.3
0o 0.5 1 1.5 2 0 05 1 1.5 2 a=0.5 c=0.5
(c) (dI) lime sec
Fig. 9. (a) Unit step response by TI FLC and various IT2FLCs with 3x rule 0 0.5 1 1.5 2 0 05 1 1.5 2
table and 3 even partitions in consequent part. (b) Unit step response by (a) time sec
(b) time sec
TIFLC and various IT2FLCs with 5x5 rule table and 5 even partitions in Fig. I 1. (a) Unit step response with wi = 150 and 0.5 by T2-TMFUW
consequent part. (c) Unit step response by TI FLC and various IT2FLCs with 3x3 rules by changing the IF-part. (b)(a) Unit step response with
7x7 rule table and 7 even partitions in consequent part. (d) Unit step response in = 150 and 4 0.5 by T2-TMFUW 3x3 rules by changing the
by T IFLC and various IT2FLCs with 7x7 rule table and 9 even partitions in THEN-part.
consequent part.
interval linear system expressed as
type-reduced set Ucs (e) determined by its left most point U1
and right most point u.. We defuzzify the interval set by
x(t) = Ax+Bu (15)
using the average of u, and u , hence, the defuzzified crisp where x is the state vector, A E [A, A] and BE [B, I] are
output is bounded matrices with proper dimensions representing the
dynamics of the plant which are bounded by their
2(e)
uUfiCZ2(C = 2ui+Ur
2 (14) corresponding lower bounds, A and B, and upper bounds,
A and B, respectively, and u is the control input of the
III. SIMULATIONS AND RESULTS plant. If a second order system is considered, then (15)
A linear interval system is taken as an example to illustrate becomes
the effectiveness of the proposed IT2FLC. Consider an

4980
 0 1 xI 0 ACKNOWLEDGEMENT
XI
+ u
-X2 0 2 .;co, X2 ct)"
where 4 [, ;] and c,n E[w ] The parameters
chosen for simulation are in the ranges: = 0.25, ( 0.75,
co -50 ) = 150, and the nominal values are 0= 0.5 and
ct)-o= 100 .We have developed 42 kinds of IT2FLCs with
various shape and numbers of rule table and 21 kinds of
T1FLC for comparisons. One of the smallest set of rule tables
used for simulation at IT2FLC is listed in Table II and the
associated membership functions of IF-part and THEN-part
are shown in Fig. 5(a) and 5(b), respectively, and the control
surfaces of the associated IT2FLC and TIFLC are illustrated
in Fig. 6. If number of rules is increased, then, the control
surfaces will be smoother no matter what type of FLC is used
as shown in Fig. 7.
Fig. 8 shows that to increase the number of rules form 9 to
49 can not achieve any obvious improvement in unit step
response of a linear interval system. The time responses of
TlFLC and T2FLC under the nominal case, w, -100 and
; = 0.5, are shown in Fig. 9, where if we increase the
number of rules and partition number of consequent part for
IT2FLCs, the discrimination of unit step responses among
them is getting smaller and smaller.
Simulations of four extreme cases of w, and 4 are
depicted in Fig. 10. One can read from these four figures that
IT2FLC performs better response of the linear interval system
than that of T1FLC.
The variations of distance between the upper bound (5a)
and lower bound (5b) of interval T2FS are also investigated.
Fig. 11 depicts the results by changing the specified distance
of IF-part and THEN-part. It is seen in Fig. (1 ib) that the
change of distance of the THEN-part (as shown in Fig. (5b))
does not affect the responses significantly.
For evaluating the performance of T1 FLC and IT2FLC, we
adopt integral of square error (ISE), integral of the absolute
value of the error (IAE), and integral of the time multiplied by
the absolute value of the error (ITAE) to make comparisons.
We can figure out from Table III that the IT2FLC can provide
54% performance improvement from the ITAE point of view.
IV. CONCLUSION
We have set up a design scheme of IT2FLC. The proposed
FLC can be applied to a wide range variation of parameters of
interval linear plant effectively. For better understanding the
performance of IT2FLC, numerous shapes of membership
functions and variation of rule numbers are evaluated for
simulation thoroughly. All the simulation results demonstrate
the feasibility and effectiveness of the developed IT2FLC. It
shows that the obvious distinction between outputs of
IT2FLC and TIFLC is occurred as fewer rules are chosen,
and IT2FLC performs better response than that of TlFLC.
(16)
This work is supported by the National Science Council,
Taiwan, ROC, under grant NSC94-2213-E006-030.
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