CSE615: Intelligent Control Systems

Lecture 01 - Introduction

Dr. Hossam Abdelmunim

Email: hossameldinn.hassan@eng.asu.edu.eg
Fall 2017
 References and Textbooks

Recommended Textbooks:
Chennakesava R. Alavala: Fuzzy Logic and Neural Networks:
Basic Concepts and Applications, New Age International
Publishers.
Li-Xin Wang: A Course in Fuzzy Systems and Control, Prentice-
Hall International, Inc.
J-S. R. Jang, C-T. Sun, and E. Mizutani, Neuro-Fuzzy and Soft
Computing, Prentice Hall, 1997.
Papers!!! (suggested papers will be recommended when
necessary)
 Course Contents
Introduction to Intelligent Control;
Fuzzy Logic;
Possibility Theory;
Fuzzy Modeling;
Fuzzy Logic Controller Structure and Design;
Static Fuzzy Logic Controller;
Self Organizing Fuzzy Logic Controllers;
Case Studies of Adaptive Fuzzy Controllers;
Fuzzy C-Means clustering
Neural Networks;
Different Models of Neural Networks,
Neural Control;
Neuro-Fuzzy Systems;
Genetic Algorithms.
 Grading

Final exam: 70%

Midterm exam: 10%
Term Paper(s): 10%
Assignments: 5%
Attendance/Participation: 5%
 Introduction
SC is an innovative approach to constructing
computationally intelligent systems.

Intelligent systems that possess humanlike

expertise within a specific domain, adapt
themselves and learn to perform better in changing
environments.

These systems explain how they make decisions

or take actions.

They are composed of two features: adaptivity &

knowledge.
5
 Neural Networks (NN) that recognize patterns &
adapts themselves to cope with changing
environments

Fuzzy inference systems that incorporate human

knowledge & perform inferencing & decision making

Adaptivity + Expertise = NF & SC

6
 SC Constituents and Conventional AI
SC is an emerging approach to computing which parallel
the remarkable ability of the human mind to reason and
learn in a environment of uncertainty and imprecision [Lotfi
A. Zadeh, 1992]

SC consists of several computing paradigms including:

NN
Fuzzy set theory
Approximate reasoning
Derivative-free optimization methods such as genetic algorithms
(GA) & simulated annealing (SA)

7
Table 1.1: SC constituents (the first three items) and
conventional AI

8
 These methodologies form the core of SC

In general, SC does not perform much symbolic

manipulation

SC in this sense complements conventional AI

approaches

9
Fig 1.1.: A Neural character recognizer and a knowledge base
cooperate in responding to 3 handwritten characters that
form a word dog.
10
 From conventional AI to computational
intelligence

Conventional AI manipulates symbols on the

assumption that human intelligence behavior can
be stored in symbolically structured knowledge
bases: this is known as: The physical symbol
system hypothesis

The knowledge-based system (or expert system)

is an example of the most successful
conventional AI product

11
Fig 1.3: An expert system: one of the most
successful (conventional AI products)
12
 Several definitions have been given to
conventional AI

AI is the study of agents that exists in an environment

and perceive and act [S. Russel & P. Norvig]

AI is the act of making computers do smart things

[Waldrop]

AI is a programming style, where programs operate on

data according to rules in order to accomplish goals
[W.A. Taylor]

13
 AI is the activity of providing such machines as computers
with the ability to display behavior that would be regarded as
intelligent if it were observed in humans [R. Mc Leod]

Expert system is a computer program using expert

knowledge to attain high levels of performance in a narrow
problem area [D.A. Waterman]

Expert system is a caricature of the human expert, in the

sense that it knows almost everything about almost nothing
[A.R. Mirzai]

AI is changing rapidly, these definitions are already

obsolete!

14
 Knowledge acquisition and representation has limited the
application of AI theories (shortcoming of symbolicism)

SC has become a part of modern AI

Researchers have directed their attention toward

biologically inspired methodologies such as brain
modeling and evolutionary algorithms

15
 These new paradigms simulate chemico-biological
mechanisms responsible for natural intelligence
generation

SC and AI share the same long-term goal: build and

understand machine intelligence

An intelligent system can for example sense its

environment (perceive) and act on its perception (react)

SC is evolving under AI influences that sprang from

cybernetics (the study of information and control in
human and machines)

16
 Neural Network (NN)
Imitation of the natural intelligence of the brain.
Parallel processing with incomplete information.
Nerve cells function about 106 times slower than
electronic circuit gates, but human brains process visual
and auditory information much faster than modern
computers.
The brain is modeled as a continuous-time non linear
dynamic system in connectionist architectures.
Connectionism replaced symbolically structured
representations.
Distributed representation in the form of weights between
a massive set of interconnected neurons.

17
 Fuzzy set theory
Human brains interpret imprecise and incomplete
sensory information provided by perceptive organs

Fuzzy set theory provides a systematic calculus to

deal with such information linguistically

It performs numerical computation by using linguistic

labels stimulated by membership functions

It lacks the adaptability to deal with changing external

environments ==> incorporate NN learning concepts
in fuzzy inference systems: NF modeling

18
 Evolutionary Computation

Natural intelligence is the product of millions of years of

biological evolution.

Simulation of complex biological evolutionary processes.

GA is one computing technique that uses an evolution

based on natural selection.

GA and SA population-based systematic random search

(RA) techniques.

19
 NF and SC Characteristics

With NF modeling as a backbone, SC can be

characterized as:

Human expertise (fuzzy if-then rules)

Biologically inspired computing models (NN)
New optimization techniques (GA, SA, RA)
Numerical computation (no symbolic AI so far, only
numerical)

20
Intelligent Control Systems is the name of
this course:

We will use fuzzy logic and neural nets to control

systems
Automobile acceleration and braking
Balance a broomstick on your hand or finger
Allocate your time among priorities (family, work,
school, hobbies, sleep, )

21
 Fuzzy vs Conventional Controller
In fuzzy control there is a more significant emphasis on the use of
heuristics, but in many control approaches (e.g., PID control for process
control) there is a similar emphasis.

Basically, in fuzzy control there is a focus on the use of rules to represent

how to control the plant rather than ordinary differential equations (ODE).

This approach can offer some advantages in that the representation of

knowledge in rules seems more lucid and natural to some people.

For others, though, the use of differential equations is more clear and
natural.

Basically, there is simply a language difference between fuzzy

and conventional control: ODEs are the language of conventional
control, and rules are the language of fuzzy control.

22
Fuzzy Controller Architecture

23
 Fuzzy Controller Architecture
The fuzzy controller has four main components:
1) The rule-base holds the knowledge, in the form of a set of rules, of
how best to control the system.

2) The inference mechanism evaluates which control rules are relevant

at the current time and then decides what the input to the plant
should be.

3) The fuzzification interface simply modifies the inputs so that they

can be interpreted and compared to the rules in the rule-base.

4) The defuzzification interface converts the conclusions reached by

the inference mechanism into the inputs to the plant.

24
 Performance Objectives
Disturbance rejection properties (e.g., for the cruise control problem, that the control system will be
able to dampen out the effects of winds or road grade variations). Basically, the need for disturbance
rejection creates the need for feedback control over open-loop control; for many systems it is simply
impossible to achieve the specifications without feedback (e.g., for the cruise control problem, if you had
no measurement of vehicle velocity, how well could you regulate the velocity to the drivers set-point?).

Insensitivity to plant parameter variations (e.g., for the cruise control problem, that the control system
will be able to compensate for changes in the total mass of the vehicle that may result from varying the
numbers of passengers or the amount of cargo).

Stability (e.g., in the cruise control problem, to guarantee that on a level road the actual speed will
converge to the desired set-point).

Rise-time (e.g., in the cruise control problem, a measure of how long it takes for the actual speed to get
close to the desired speed when there is a step change in the set-point speed).

Overshoot (e.g., in the cruise control problem, when there is a step change in the set-point, how much
the speed will increase above the set-point).

Settling time (e.g., in the cruise control problem, how much time it takes for the speed to reach to within
1% of the set-point).

Steady-state error (e.g., in the cruise control problem, if you have a level road, can the error between the
set-point and actual speed actually go to zero; or if there is a long positive road grade, can the cruise
controller eventually achieve the set-point).
25
 Controller Design Constraints
Cost: How much money will it take to implement the controller, or how much time will it take to
develop the controller?

Computational complexity: How much processor power and memory will it take to implement the
controller?

Manufacturability: Does your controller have any extraordinary requirements with regard to
manufacturing the hardware that is to implement it?

Reliability: Will the controller always perform properly? What is its mean time between failures?

Maintainability: Will it be easy to perform maintenance and routine adjustments to the controller?

Adaptability: Can the same design be adapted to other similar applications so that the cost of later
designs can be reduced? In other words, will it be easy to modify the cruise controller to fit on
different vehicles so that the development can be done just once?

Understandability: Will the right people be able to understand the approach to control? For
example, will the people that implement it or test it be able to fully understand it?

Politics: Is your boss biased against your approach? Can you sell your approach to your
colleagues? Is your approach too novel and does it thereby depart too much from standard
company practice?
26
 Intelligent Controllers: Gathering Heuristic
Knowledge Concern
Will the behaviors that are observed by a human expert and
used to construct the fuzzy controller include all situations
that can occur due to disturbances, noise, or plant parameter
variations?

Can the human expert realistically and reliably foresee

problems that could arise from closed-loop system
instabilities or limit cycles?

Will the human expert be able to effectively incorporate

stability criteria and performance objectives (e.g., rise-time,
overshoot, and tracking specifications) into a rule-base to
ensure that reliable operation can be obtained?

27
 More Troublesome Questions

1) if the control problem involves a safety-critical environment

where the failure of the control system to meet performance
objectives could lead to loss of human life or an
environmental disaster,

2) if the human experts knowledge implemented in the fuzzy

controller is somewhat inferior to that of the very
experienced specialist we would expect to design the control
system (different designers have different levels of
expertise).

28
 Application Areas
Fuzzy systems have been used in a wide variety of applications in
engineering, science, business, medicine, psychology, and other fields. For
instance, in engineering some potential application areas include the
following:-
Aircraft/spacecraft: Flight control, engine control, avionic systems, failure
diagnosis, navigation, and satellite attitude control.
Automated highway systems: Automatic steering, braking, and throttle
control for vehicles.
Automobiles: Brakes, transmission, suspension, and engine control.
Autonomous vehicles: Ground and underwater.
Manufacturing systems: Scheduling and deposition process control.
Power industry: Motor control, power control/distribution, and load
estimation.
Process control: Temperature, pressure, and level control, failure
diagnosis, distillation column control, and desalination processes.
Robotics: Position control and path planning.

29