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I. INTRODUCTION
YAM et al.: REDUCTION OF FUZZY RULE BASE VIA SINGULAR VALUE DECOMPOSITION
121
, one forms
new
(4)
II. DEFINITION
OF
BASIC CONCEPTS
Then
1) the set of
,
2) the set of
,
3) the set of
,
Proof: For
functions
and
is SN if
are SN;
functions
and
is NN if
are NN;
,
is NO if
and
are NO.
within the domain of interest, one has
functions
any
(1)
Without ambiguity, a matrix
is SN if
..
.
(2)
and, at
,
(5)
Since
,
,
This proves 3).
, this implies
, . Hence, (5) yields
is SN and
for
,
at
,
.
122
we desire
to be invertible matrix. We adopt the following
does not contain
scheme for constructing : if
is chosen as
zero elements, the matrix
(10)
contains zero element(s),
and if
is chosen as
(6)
by
and and are
by
and
by ,
where is
and
are orthogonal, i.e.,
respectively. Matrices
and
. Here,
denotes the by
identity matrix. For later reference, we also introduce
as
as the by matrix of
the by matrix of zeros, and
by
matrix contains the singular values of
ones. The
in decreasing magnitude. The maximum number of nonzero
. The singular values
singular values is
indicate the importance of the corresponding columns of
and
in the formation of . A close approximation to
can be obtained by keeping those components having large
singular values.
be the number of singular values to keep and,
Let
hence, an approximation of
(7)
and
contain the
columns of
and
where
corresponding to the retained singular values in
.
Approximation is exact if all singular values are kept,
. Matrices
and
are in general neither SN nor
NN. However, they can be converted into SN and NN matrices
by the following procedures. Take , as an example, and
consider the SN condition first; we have Theorem 2.
be an
by
orthogonal matrix
Theorem 2: Let
, where
and
have,
partitioned as
and
columns. Let
be
respectively,
by
matrix satisfying the constraint
any
. Then, if
, the
by
matrix
satisfies SN, where
(8)
and if
satisfies SN, where
, the
by
matrix
(11)
is
where one ensures that the th entry of
is chosen, one can proceed to compute
nonzero. After
For
For
(12)
,
, and
as results of
Similar expressions hold for
applying the above procedures to matrix . The approximation
(7) can then be written as
(13)
and
. Other cases corresponding
and/or
to
follow in a straightforward manner. The matrices
and
are SN. They have either
or
columns depending on whether
or
.
and
contain negative
It is possible, still, that
elements and, hence, not satisfying the NN condition. The
following gives a set of procedures to generate from a matrix
satisfying the SN condition another one of the same dimension
satisfying both SN and NN conditions. Let be a matrix of
by
satisfying the SN condition. Then
dimension
note the following.
, of . Set
1) Look for the minimum element
parameter
if
(9)
Theorem 2 characterizes the extra column one needs, if at
so as to achieve the SN
all, to supplement the matrix
condition. The proof of the theorem can be found in [5] and
is omitted here. Note that the theorem does not require
to be invertible. In theory,
may contain zero
are not
elements, which implies that some columns of
necessary to satisfy the SN condition. If so, a noninvertible
can actually be used for (8) or (9). For the present work,
and
however, we prefer to retain all columns of
so as to facilitate a close approximation of
in (7). Hence,
(14)
otherwise.
2) Form a
by
..
.
matrix
..
.
..
..
.
(15)
YAM et al.: REDUCTION OF FUZZY RULE BASE VIA SINGULAR VALUE DECOMPOSITION
123
(17)
(21)
(18)
(19)
and
are
by
and
by
,
The matrices
respectively. They satisfy the SN and NN conditions. The same
procedures can be applied to other cases of
and/or
. The
and
will have
or
columns,
resulting
depending on different cases.
The NO condition is now considered. Following the approach for SN and NN, we desire to have invertible matrices
and
of appropriate dimensions such that (16) can be
expressed as
(20)
and
are SN, NN, and
and that the matrix products
NO. However, while it is always possible to tailor the matrices
involved to satisfying the SN and NN conditions, the same is
not true for the NO condition. Successful incorporation of the
NO condition depends very much on the specific matrix at
hand. The following gives a set of procedures which conducts
a tight bounding operation on the matrix and yields, if possible,
a NO matrix or otherwise, a close-to-NO matrix. Here, a closeto-NO matrix is taken to be one that is SN and NN but not all
of its columns containing the value one as element.
,
Take as an example and let its column dimension be
rows of
corresponds to
one first notes that each of the
-dimensional space. Furthermore, since
a point lying on a
is SN, the
points from the
rows of
actually lie
dimension. The procedures then
on a hyperplane of
include the following steps.
points in the
-dimensional space onto
1) Project the
-dimensional hyperplane satisfying the SN
the
condition.
points on the
2) Obtain the convex hull of the
dimensional hyperplane. Algorithms to treat convex hull
problem in a general dimensional space are discussed
in, e.g., [8] and [9].
where
(22)
and
and
are SN, NN, and NO, or close-to-NO.
Several points are worth noticing here. First, The NO
equals to two or .
condition is always possible when
, the hyperplane is a straight-line and one can
For
always find (in this case) a convex hull of two points. For
, the full set of the points constitute the vertices of
and
. This
the convex hull. As such,
corresponds to the trivial case where there is actually no SVD
reduction. In general, however, NO condition is not possible
and one has to adopt a relaxed bounding and settle with closeto-NO condition. Moreover, the choice of a relaxed bounding
is not unique and exact choosing will depend on the matrix at
hand. One may even consider a bounding convex hull which
slightly violates the NN condition at a few points in exchange
for readily bounding on a majority of the points. Note that
out
the scheme of testing various combinations of taking
rows of works only if a tightest bound of the points
of
do exist. The scheme would not be applicable for the relaxed
bounding case.
Second, the reduction , , and of (22) is not unique. In
fact, given that and are SN, NN, and NO, the choice of
124
(25)
denotes the th singular value in . Hence, the error
where
using the approximation
introduced into each elements of
(21) is less than or equal to sum of discarded singular values.
YAM et al.: REDUCTION OF FUZZY RULE BASE VIA SINGULAR VALUE DECOMPOSITION
125
where
and
,
,
, are
membership functions of the variable and , respectively,
is the rule consequent of the
th fuzzy rule. To
and
by
matrix
perform rule-base reduction, one forms a
with
as the
elements
(28)
is SN, NN, and NO, or close-to-NO. There are
or
columns in . The matrix
is
by
. Restacking
into a
by
by
matrix
[step (vii)] and spreading it in the -index direction to form
[step (viii)], one has, once more, after SVD reduction on
[step (ix)]
where
(29)
is SN, NN, and NO, or close-to-NO, and there
The matrix
or
columns in
. The
may be
is
by
. It can be restacked into a 3-D
matrix
by
by
matrix
[step (x)]. This completes the process
of generating all necessary quantities for the reduction of the
given matrix . The resulting approximation to the elements
, can be expressed as
of ,
..
.
..
.
..
.
..
.
and
with
and
,
membership functions
(30)
Equation (30) is a 3-D generalization of (26). One can also
,
work out an approximation error bound for
which is
(31)
,
, and
are sum of the discarded singular
Here,
, , and
.
values in the SVD reduction of matrices
They represent the errors induced in the process of obtaining
, , and
. Interested readers are referred to [5] for the
mathematical details of these results.
The above procedures structures a 3-D matrix so that
SVD reduction can be performed in stages. At each stage,
approximation and conditioning of the matrix is conducted
for one of the dimensions and a certain singular value error
is generated. With additional stages and proper indexing, the
procedures can be extended to matrix of a general number of
dimensions.
V. APPLICATION TO FUZZY RULE-BASE REDUCTION
The methodology developed above is now applied to the
actual reduction of fuzzy rule bases. For convenience, fuzzy
rule bases of two input variables are utilized for illustration
of the various cases. As mentioned before, application can be
readily extended to fuzzy rule base with a general number of
inputs.
If
and
is given by the
element
(37)
(38)
(33)
and
and a
(32)
,
,
,
where the fact that membership functions
satisfying the SN condition has been used. The first
and second term on the right-hand side of (38) correspond,
126
TABLE I
FUZZY RULE CONSEQUENT ri; j OF THE ORIGINAL RULE BASE
and
where
s are the center points of the output membership
functions in the original example of [10] and are tabulated
on which the proposed
in Table I. They form the matrix
reduction method is performed.
are determined as 22.6767,
The singular values of
22.6767, 0.9835, 0.9835, 0.5523, 0.5523, 0.3433, 0.3433, 0 .
Keeping only the two largest singular values and going through
the SN and NN processes yield three membership functions
for and for . The convex hull problem then amounts to
finding a bounding triangle on a 2-D plane and can be readily
for
carried out. Fig. 2 shows the membership function
. The membership functions of are similar except
and
YAM et al.: REDUCTION OF FUZZY RULE BASE VIA SINGULAR VALUE DECOMPOSITION
(a)
127
(42)
(b)
Fig. 3. PSG-inferred control surfaces due to (a) original and (b) reduced
rule bases.
the pendulum is
(41)
where is the angular position, is the angular velocity, and
is the control input. Fig. 4 shows the closed-loop responses
due to the original and reduced rule bases for the initial
and
conditions (0.08, 0) and (0.12, 0.8). Here,
are used as fuzzy variables in the inference of . Note that
have been scaled down by a factor of 0.1
the responses
in the figure. It can be observed that closed-loop responses
produced with the reduced rule base are quite close to that of
the original one.
The present numerical example yields three membership
functions for the reduced set. As a result, the bounding
procedures is readily executed in a 2-D plane. In the case
where the number of membership functions is larger than
three, the bounding procedures require a solution to a hyperdimensional convex hull problem, which can be quite tedious.
and
128
RULE CONSEQUENT i; j
OF THE
TABLE III
GIVEN FUZZY RULE BASE WITH MISSING RULES
where
and
are the new membership functions. The new rule conseand support factor
are computed as
quent
(45)
(46)
where one recognizes that (45) is the reduction problem for the
singleton support case and, if one were to obtain the matrices
and
and values
from (45) only, then (46) would
. This is because
automatically be satisfied with
and are SN and NN so that the right-hand side of (46) would
become one. In effect, (46) indicates that singleton support rule
base would be reduced to another singleton support rule base
and the reduction process would be dictated solely by (45),
the same as for the singleton support case.
Second, the nonsingleton support case considered here includes fuzzy rule base with missing rules as special case. In
is assigned value zero for
this case, the support factor
the missing rules and one for the included rules. This case is
further explored by the use of following numerical example.
Example 2: Consider another example from [10]. The
are now isosceles triangles of
membership functions of
to
basewidth 0.16 with the centers located from
at separations of 0.08. The membership functions
for are also isosceles triangles but with basewidth of 0.12 and
to
at separations
the centers going from
are given in Table III, where
of 0.6. The rule consequents
the blank entries correspond to missing rules. The number of
fuzzy rules in this case is 17. The rule set can be expressed as
for the missing
a nonsingleton support system, with
for the rest.
rules and
Application of the SVD procedures yields the following
singular values: 13.0860, 12.7475, 2.0633, 2.0, 0 . Again,
keeping only the two largest singular values, one obtains
and
YAM et al.: REDUCTION OF FUZZY RULE BASE VIA SINGULAR VALUE DECOMPOSITION
(a)
129
and
by
by three matrix
with
(48)
and
where
and
are the new membership functions. The output functions
for the reduced set are given by
(50)
130
(a)
(a)
(b)
Fig. 8. Membership functions of (a)
TABLE V
PARAMETERS
i; j , i; j , AND i; j
FOR
FUNCTION
(b)
Fig. 9. Membership functions of (a)
#2.
gi; j (a; b)
TABLE VI
PARAMETERS
where
and
with
and
. The functions
are of the form (47) with parameters
,
, and
as
tabulated in Table V. The membership functions for and
are as shown in Fig. 8. They do not satisfy the SN condition.
Moreover, the example utilizes an inference paradigm, which,
and
, generates the output as
upon given
(51)
{; | , {; | , AND {; |
FOR
FUNCTION
g{; | (a; b)
YAM et al.: REDUCTION OF FUZZY RULE BASE VIA SINGULAR VALUE DECOMPOSITION
(a)
(b)
Fig. 10. Control surfaces due to reduced rule bases in (a) case study #1 and
(b) case study #2.
TABLE VII
PARAMETERS
{; | , {; | , AND {; |
FOR
FUNCTION
g{; | (a; b)
131
132
[5] Y. Yam, Fuzzy approximation via grid point sampling and singular
value decomposition, IEEE Trans. Syst., Man, Cybern., vol. 27, pp.
933951, Dec. 1997.
[6] L. Wang, R. Langari, and J. Yen, Principal components, B-splines, and
fuzzy system reduction, in Fuzzy Logic for the Applications to Complex
Systems, W. Chiang and J. Lee, Eds. Singapore: World Scientific,
1996, pp. 255259.
[7] P. Baranyi, T. D. Gedeon, and L. T. Koczy, A general interpolation
technique in fuzzy rules bases with arbitrary membership functions,
in IEEE Int. Conf. Syst., Man, Cybern. (SMC96), Beijing, China, Oct.
1996, pp. 510515.
[8] J. ORourke, Computational Geometry in C. Cambridge, U.K.: Cambridge Univ. Press, 1994.
[9] H. Edelsbrunner, Algorithms in Combinatorial Geometry. Berlin, Germany: Springer-Verlag, 1987.
[10] F. Bouslama and A. Ichikawa, Application of limit fuzzy controllers
to stability analysis, Fuzzy Sets Syst., vol. 49, pp. 103120, 1992.