Fuzzy Control

part one
Artificial Intelligence for
Control and Identification
Dr. Wilbert G. Aguilar
Ph.D. in Automatic Control, Robotics and Computer Vision

Màster AR © 2007 Dr. X. Parra & Dr. C. Angulo 0

 Outline

1. General Framework

2. Fuzzy Logic

3. Fuzzy Control

4. Fuzzy System Design

Fuzzy Control

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 1. General Framework

Daily Applications

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

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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.

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 1. General Framework

Daily Applications

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

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.
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 1. General Framework

Daily Applications

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

Rice cooker Blood pressure

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 1. General Framework

Daily Applications

ƒ Air conditioning
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 1. General Framework

Daily Applications

ƒ Anti-lock Brake System - ABS

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 1. General Framework

Daily Applications

ƒ 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
Fuzzy Control

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.)

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 1. General Framework

Evolution of development

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 of
the “Fuzzy Set Theory”
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 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
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
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sensor signal analysis.

Application of Fuzzy Logic in business and finance.

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 1. General Framework

Why Fuzzy?

ƒ fuzzy adj. 1 unclear or confused and lacking details. 2 not

clearly thought out or expressed. 3 indistinct, unclear,
distorted or imprecise.

ƒ Based on intuition and judgment

ƒ No need for a mathematical model

ƒ Relatively simple, fast and adaptive

ƒ Less sensitive to system fluctuations

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ƒ Can implement design objectives,

difficult to express mathematically, in
linguistic or descriptive rules

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 1. General Framework

Types of uncertainty

ƒ Stochastic uncertainty

“the probability of hitting the target is 0.8”

ƒ Lexical uncertainty

“Tall man”, “cold days”, “stable currencies”

“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.”
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ƒ 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

4. Fuzzy System Design

Fuzzy Control

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 2. Fuzzy Logic

Classical sets vs. Fuzzy sets

ƒ Classical or crisp sets are binary. An element

either belongs to the set or does not.

ƒ Fuzzy sets have grades of membership.

Boolean set theory Fuzzy set theory

38°C 38°C
37.2°C 37.2°C
39.7°C 39.7°C
40.3°C 40.3°C
“Strong Fever” “Strong Fever”
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41.2°C 41.2°C
41.5°C 41.5°C
38.5°C 38.5°C
36.7°C 36.7°C

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 2. Fuzzy Logic

Fuzzy set definitions

ƒ Discrete definition:
µSF(35°C) = 0 µSF(38°C) = 0.1 µSF(41°C) = 0.9
µSF(36°C) = 0 µSF(39°C) = 0.35 µSF(42°C) = 1
µSF(37°C) = 0 µSF(40°C) = 0.65 µSF(43°C) = 1

ƒ Continuous definition:
Artificial thresholds are over!!!
µSF(x)
1
either-or
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more or less
0
35°C 36°C 37°C 38°C 39°C 40°C 41°C 42°C

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 2. Fuzzy Logic

Fuzzy linguistic variable

ƒ 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, ...

ƒ Example: on a scale of 1 to 10, how good was the dive?

9.5 6.5 10.0

8.0
9.0
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 2. Fuzzy Logic

Fuzzy linguistic variable

µtemp(x) low normal raised temp strong fever

1
... pretty much raised...

... but just slightly strong fever...

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0
35°C 36°C 37°C 38°C 39°C 40°C 41°C 42°C

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 2. Fuzzy Logic

Fuzzy logic system

ƒ Fuzzy logic defines the control strategy on a linguistic level.

Measured variables Command variables

(Linguistic values) 2.Fuzzy-inference (Linguistic values)

3.Defuzzification
Linguistic 1.Fuzzification
level
Numerical
level
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Measured variables Command variables

Plant
(Numerical values) (Numerical values)

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 2. Fuzzy Logic

Fuzzy logic system: example

ƒ Fuzzy logic defines the control strategy on a linguistic level.

Crane Head

Two measured
variables: angle
Container Trailer and distance
Ship
One command
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variable: power

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 2. Fuzzy Logic

Fuzzy logic system: example

ƒ Control loop of the fuzzy logic controlled container crane:

angle & distance power

(Linguistic values) 2.Fuzzy-inference (Linguistic values)

3.Defuzzification
Linguistic 1.Fuzzification
level l o op
g the !!!
Numerical l osin ords
C w
level with
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angle & distance Container power

(Numerical values) crane (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:

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

µ neg_big zero pos_big

1 neg_small pos_small

0.8

0.2
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0
-90° -45° 0° 4° 45° 90°
Angle

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 2. Fuzzy Logic

Fuzzy logic system: example

1. Fuzzification: membership function definition

µ neg_close zero close medium far

1
0.9

0.1
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0
-10 0 10 12m 20 30
Distance (m)

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 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 C Z M F
PB
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PS PM PH Rules
Z Z PM Matrix
NS
NB

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 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.

Š AND: μAvB = min{μA; μB}

Š OR: μA+B = max{μA; μB} NC C Z 0.9 0.1
Š NOT: μ-A = 1-μA PB
0.8 0.8 0.1
#1: min{0.9 ; 0.8} = 0.8 (PM)
0.2 0.2 0.1
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#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 .

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

µ NH NM Z PM PH
1

0.8

0.2
0.1
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0
-30 -15 0 15 30
Power (kW)

13.1 kW

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 Outline

1. General Framework

2. Fuzzy Logic

3. Fuzzy Control

4. Fuzzy System Design

Fuzzy Control

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 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:

ƒ More complex than PID

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ƒ More parameters to tune

ƒ Un-mathematical (stability?)

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 3. Fuzzy Control

Fuzzy logic controller: direct control

ƒ The outputs of the fuzzy logic system are the command variables of
the plant:

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

IF ...
Plant

Fuzzification Inference Defuzzification

Measured Variables
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 3. Fuzzy Control

Fuzzy logic controller: supervisory control

ƒ Fuzzy logic controller outputs set values for underlying PID controllers:

IF temp=low
Set Values PID
AND P=high
THEN A=med

PID Plant
IF ...

Fuzzification Inference Defuzzification PID

Measured Variables
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 3. Fuzzy Control

Fuzzy logic controller: PID adaptation

ƒ Fuzzy logic controller adapts the P, I, and D parameter of a

conventional PID controller:

Set Point Variable

IF temp=low
AND P=high P
THEN A=med
I Command Variable
D
IF ...
PID Plant
Fuzzification Inference Defuzzification

Measured Variable
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 3. Fuzzy Control

Fuzzy logic controller: PID + fuzzy control

ƒ Fuzzy logic controller and PID controller in parallel:

Set Point Variable

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

IF ...
Plant
PID
Fuzzification Inference Defuzzification

Measured Variable
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