Automauca Vol 30 No 4, pp 655-664, 1994
Copyright ~) 1994 Elsevier Smencc Lid
Pergamon
FCMAC: a Fuzzified Cerebellar Model
Articulation Controller with Self-organizing
Capacity*
JUNHONG NIEI" and D A. LINKENS~t
The C M A C architecture o f Albus zs re-cast m a f u z z y self-orgamzing
f r a m e w o r k such that tt can operate m an unsupervised manner f o r
knowledge acqulsttton or control. F C M A C is demonstrated on a
multivanable blood pressure problem.
Key Words,--Fuzzy control, neural nets, learnmg systems, self-orgamzmg systems, model reference
control, multwanable systems, b~omed~cal
Abm.act--Tbe Albus's Cerebellar Model Artlculatton
Controller (CMAC) network has been used m many praettcal
areas wtth considerable success Thts paper presents a
fuz~fied CMAC network (FCMAC) acting as a multavanable
adapUve controller wRh the feature of self-orgamzmg
assoemtlon cells and the further abthty of self-learmng the
reqmred teacher signals m real-trine In parttcular, the
ongmal CMAC has been reformulated within a framework
of a slmphfied fuzzy control algorithm (SFCA) and the
assocmted self-learning algonthms have been developed as a
result of mcorporatmg the schemes of competRlve learning
and tteratwe learning control into the system By using a
s~mdanty-measure-based, instead of codmg-algonthm-based,
content-addressable scheme, FCMAC is capable of deahng
w~th arbttrary-d~mens~onal continuous mput space m a s~mple
manner w~thout revolving comphcated dlscretmng, quant~z-
lng, coding, and hashmg pr~ocedures used m the original
CMAC The learmng control system described here can be
thought of as eRher a completely unsupemsed fuzzy-neural
control strategy wRhout relying on the process model or
eqmvalently an automatic real-t~me knowledge acqmsmon
scheme for the implementation of fuzzy controllers The
proposed approach has been apphed to a multwanable blood
pressure control problem which Js charactenzed by strong
mteractmn between variables and large t~me delays
1 INTRODUCTION
IN AN ATI'EMPT to derive an efficient computa-
tional algonthm for use in manipulator control,
Albus developed a mathematical model called
the Cerebellar Model Arttculatlon Controller
(CMAC) (Albus, 1975a, b) which is based on the
neurophyslologlcal theory of the cerebellum
* Received 12 October 1992, rewsed 5 May 1993, revtsed
15 June 1993 This paper was not presented at any IFAC
meeting This paper was recommended for pubhcatmn m
rewsed form by an Associate EdRor under the dlrectmn of
EdRor C C Hang Corresponding author D A Lmkens
Tel +44 742 768555, Fax +44 742 731729
t Department of Eiectncal Engmeenng, Natmnal Unwers-
lty of Singapore, Singapore 0511, Smgapore
~tDepartment of Automauc Control and Systems Engs-
neenng, Umvers,ty of Sheffield, Mappm Street, Sheffield,
UK
655
Pnntcd m Great Bnt,a,n All nllhts r t , ~ r v ~
(gl05-109fl/94 $6 00 + 0 00
Functionally, a trained CMAC performs a
multlvanable function approximation m a
generahzed look-up table fashion. Structurally, it
IS equivalent to a network architecture wtth
three layers With increasing interest in neural
networks, CMAC has gained more and more
attention particularly from control engineenng
researchers, due primarily to Rs umque charac-
teristics such as fast training speed and localized
generahzatlon. For example, the learning control
system developed by Tolle et al. (1992) utlhzes
two CMAC networks (or assocmtive memory
systems) as essential components, one for
modelhng the process and the other for storing
the control strategy Miller et al. (1990a) have
successfully applied the CMAC technique to
robot control systems in which the CMAC
functions as an inverse model of the robotic
dynamics
Recently, some improvements m the original
CMAC have been reported, particularly in the
aspects of addressing algorithms, tralmng strat-
egies, and convergence analysts For instance, by
introducing B-sphne receptwe field functions
into the CMAC computational architecture
Land et al (1992) proposed a high-order CMAC
network capable of approximating both func-
tions and function derivatives Brown and H a r m
(1992) have made comparatwe studies on the
connection between CMAC, B-sphnes and fuzzy
logtc control, pointing out some similarities
between these schemes. Improvements to the
design of CMAC systems have been proposed by
Miller and co-workers and Parks and Mlhtzer
(Miller et al., 1990b; An et al, 1991; Parks and
Mihtzer, 1991), including improved schemes for
allocating weights to a given input vector and
656 J NIE and D A LINKENS
modifications to the design of receptive field
shapes Parks and Mihtzer (1992) presented five
training algorithms with extensive comparative
studies on the convergence property possessed
by these algorithms Theoretical results concern-
lng the CMAC's learning convergence and
approximation ablhty have been investigated
based either on matrix equation theory (Elhson,
1991, Parks and Mlhtzer, 1989, Wong and
Sideris, 1992) or on functional approximation
theory (Cotter and Guillerm, 1992)
One of the central issues concerning the
design of a CMAC network is how to choose, in
response to an input vector #, NL memory
locations from N (N > NL) locations where the
function values are distributedly stored such that
the summed value v of NL weights is a
reasonable approximation of the desired v * =
f ( # ) This issue has been dealt with using a
series of techniques consisting of dlscretizlng,
quantizing, coding, and hashing Considerable
complexity arises from using these procedures,
particularly when a high-dimensional input space
is involved Once the addressing scheme is
specified, the CMAC becomes a single layered
network and therefore its data storage or
training can be carried out in a simple way by
any supervised training algorithm (e g Albus,
1975b, Parks and Mihtzer, 1992)
However, upon adopting the CMAC as a
controller, a forbidding problem arises immedi-
ately as to where the training examples or
teacher signals come from, which is the same
problem as to where the control rules, or control
experts, come from in the design of a rule-based
fuzzy controller Thus, two learning processes
are generally involved m neural network-based
control systems in general and CMAC-based
control systems in particular where, apart from
learning the network parameters, the teacher
signals used to guide the parameter learning
must be learned as well Proposed solutions to
this difficult and challenging problem have been
based on either forward or inverse model-based
indirect approaches (e g Jordan and Rumelhart,
1992, Miller, 1990b, Nguyen and Widrow, 1990,
Tolle et al, 1992, Werbos, 1990) or learning-
based direct schemes (e g Barto et al, 1983,
Barto, 1990, Berenji, 1992, Lmkens and Nie,
1992a, b, Nie and Linkens, 1994a-c, Procyk and
Mamdaml, 1979) While the former approaches
require some kind of process model and are
generally complicated (though systematic), the
latter schemes rely on extensive and direct
interaction with the process and are more
attractive not only because they are simpler, but
also because they are more closely related to
machine learning and lnteihgence It should be
noted that despite some significant achievements
via both approaches, the situation is far from a
complete and satisfactory resolution, particularly
in the latter case and also when multlvarlable
systems are involved These aspects are the
concern of the present work
This paper, from a pure engineering view-
point, without paying particular attention to the
biological plausibility, presents a fuzzified
CMAC network (FCMAC) acting as a multi-
variable adaptive controller with the feature of
self-organizing association cells and the further
ability of self-learning the required teacher
signals when applied to control problems Two
key ideas underlying the proposed approach are
(1) the original CMAC is fuzzlfied, based upon
the observation of the close equivalence between
the CMAC and a slmphfied fuzzy control
algorithm (SFCA) proposed by the authors
(Nie, 1987, 1989), (2) the fuzzlfied CMAC,
referred to as FCMAC. is constructed automati-
cally by introducing self-organizing and self-
learning schemes operating in real-time In
particular, we suggest that Albus's codmg-
algorithm-based content-addressable technique
can be replaced naturally by our stmdartty-
measure-based content-addressable scheme
Furthermore. we will show how the multlvarl-
able FCMAC-based controller, starting from
zero knowledge, organizes its own structure and
associated weights dynamically via repeatedly
interacting with the controlled process Since the
FCMAC can be viewed as either a three layered
network or a rule-base representation mechan-
ism, the learning control system described here
can be thought of as either a completely
unsupervised fuzzy-neural control strategy or
equivalently as an automatic real-time rule-base
acquisition scheme for fuzzy controllers In
addition, the work reported here is one of the
results of our effort to functionally and
structurally integrate fuzzy logic with neural
networks (Nle, 1992, Nle and Llnkens, 1992a)
As a demonstration case-study, we have applied
the proposed approach to a multlvanable blood
pressure control problem which is characterized
by strong interaction between variables together
with pure time delays
The paper is organized as follows In Section
2, we describe a multi-input multi-output
simplified fuzzy control algorithm (SFCA)
Section 3 is devoted to deriving the fuzzlfied
CMAC network by drawing some equivalence
between the SFCA and the original CMAC The
schemes for self-construction of the FCMAC-
based controller are presented in Section 4 and
the simulation results on the multivariable
control of blood pressure are given in Section 5
 FCMAC
The paper ends with conclusions given in Section
6 where M~., (M~,k) lS the center element of the
2 SIMPLIFIED F U Z Z Y CONTROL A L G O R I T H M
(SFCA)
Assume that the controlled process is multi-
variable with m inputs and m outputs The
inputs to the fuzzy controller are various
combinations of control error, change-in-error,
and sum of error with respect to each controlled
variable In what follows, it is assumed that the
controller input is composed of n variables
denoted by u, The output of the fuzzy controller
consists of m variables denoted by Vk Thus, a
n x m controller ts used to control a m x m
process with n > m in general Furthermore,
assume that there are P rules in the rule-base,
each of which has the form
IF 01 is A~I AND AND On IS A~
THEN V1 is B~ AND V2 ts B~ A N D .
AND I;',, is B~,
where U, and f'k are hnguisttc variables
corresponding to the numerical variables u, and
Vk, A ~, and B~, are fuzzy subsets representing
some hngutstlc terms and are defined on the
corresponding universes of discourse U, and Vk
which are assumed to be compact on R
A traditional fuzzy controller typtcally consists
of three basic modules fuzzificatlon, Inference
algonthm, and defuzzlficatton Among these, the
reasoning algorithm usually comprises three
further substages, namely, computing the mat-
chmg degrees between the current fuzzy inputs
with respect to each rule's IF part, determming
which rules should be fired, and combming these
fired rules' THEN parts with different strengths
into the final fuzzy sets (Lmkens and NIe,
1992a) By taking the nonfuzzy property
regardmg the numerical input/output of the
fuzzy controller into account, we have derived a
very simple but efficient MISO fuzzy control
algorithm SFCA which consists of only two main
steps, i e pattern matching and weighted
averaging, thereby eliminating the necesstty for
the fuzzlfylng and defuzzlfylng procedures (Nle,
1987, 1989) The basic Idea is to make the
approximate reasoning strategy usually derived
for hngulstlc vanables suitable directly for use
wtth numerical variables by introducing notions
of patterns and pattern matching The algorithm
can be extended to the MIMO case in a
straightforward way and is described below
To begin with, we assume that A~ and B~, in
the rules are normahzed fuzzy subsets whose
membership functtons are defined umquely by
triangular forms on the corresponding universes,
each of which ts characterized by only two
657
parameters, M~., and tY..,, or M~,k and tYvk,
support set of A j, (B~), and tY.,, (tYv.k) is the
half-width of the support set Hence A j, and B~,
may be expressed as
A~,, = (MJ.,,, ~u ,) B~,k= (M~,k, ~Yvk)
By using the above notation, t h e / t h rule may be
written as
IF (MJ. 1, ~. 1) AND • (MJ..,/~.,.)
THEN (M~ l, (~/v 1) AND (M~ m, (~Jvm)
Let the Input space g)= (/_/i x U2 x x U.)•
R" be a compact product space, and M~=
(M~, 1, M~ 2, , MJ..) • g2 and A~ =
(6~ l,/i~,2, , 6~.n) be two n-dimensional vec-
tors Then the IF part of the ! th rule may be
viewed as creating a subspace Q J • fl whose
center and radius are M~ and A~ respectively or
as defining a rule pattern M A c ( I ) = (M~, A~)
Slmtlarly n current inputs u0,• U, ( t =
1, 2. , n), with u0, being a singleton, can also
be represented as a n-dimensional vector Uo in
and wtll be referred to as an input pattern
Geometrically, a rule pattern can be VlSuahzed
as consisting of a set of points (vectors) centered
at MJ. with a neIghbourhood defined by A~ with
constraints zmposed by the corresponding mem-
bership grades P rule patterns partition Q into
P subspaces which are typically overlapping to
some degree along the boundaries due to the
effect of fuzziness On the contrary, a measured
input is just a determined point situated in the
same space as the rule patterns Figure 1 shows
an example of a rule pattern and an input
pattern in two-dimensional input space
The fuzzy control algorithm can be considered
to be a process in which an appropriate control
action IS deduced from a current input and P
rules according to some prespectfied reasonmg
algorithms We spht the whole reasoning
u21
281
Input pattern
(Uo], uo~)
f
u!
FIG 1 Rule pattern and input pattern m two dimensional
mput space
658 J NIE and D
procedure into two phases pattern matching and
weighted averagmg The first operation deals
with the IF part for all rules, whereas the second
one revolves an operation on the T H E N part for
the fired rules From the pattern concept
introduced above, we need to compute the
matching degrees between the current input
pattern (a point in fl) and each rule pattern (a
set of points m Q) Because the two patterns are
now formulated numerically in the same manner
and are mterpreted geometrically tn the same
space, it ts straightforward to adopt some
geometric concepts to measure the s~milarity of
the two patterns Two approaches to performing
this task are based on the notions of volume
ratio and relative distance Since the distance
approach is more relevant to existing network
concepts, we present only this algorithm as
follows
Denote the current input by uo =
(u01, u02, , uon) Then the matching degree
denoted by sJe [0, 1] between Uo and the / t h
rule pattern M A . ( / ) can be measured by the
relationship given by
s' = 1 - OJ(uo, M A . ( / ) ) , (1)
where DJ(uo, M A . ( / ) ) • [0, 1] denotes the rela-
tive distance from u0 to M A u ( l ) D j can be
specified in several ways With the assumption of
an tdentlcai wtdth t5 for all the fuzzy sets At, the
computational definitton of D j is gwen by
1" IIML- u,,ll
|
if IIM~ - Uoll -< c5
otherwise
where II II denotes distance metncs which can
be Euclidean, Hamming, or Maximum
It is ewdent that, from (1) and (2), if uo and
M A . ( / ) are fully matched, 1 e uo IS exactly the
same as the center vector MJ., then D j = 0 ,
leading to the matchmg degree s j being one On
the contrary, if they are completely unmatched,
t e uo is on or outside the boundary of M A . ( I )
determmed by the corresponding metric of AJ.,
then D j = 1 and thus s j = 0 0 t h e r w t s e 0 < D j < 1
and 0 < s j < 1, mdicatlng a parttal matching
Suppose that for a spectfic input uo and P
rules, after the matching process
vk = s'M~ k ~. S (3)
= I 1=1
It can be seen that equation (3) gives a weighted
averaging value w~th respect to the fired rule's
T H E N part How large a percentage a speofic
rule contributes to the global value is determined
by the corresponding matching degree Because
only the centers of the T H E N parts of the fired
A LINKENS
rules are utihzed and they are the only elements
havmg the maximum membershtp grade 1 in the
corresponding support sets, the algortthm can be
understood as a modified maxtmum membershtp
decismn scheme in which the global center is
calculated by the center of gravtty algortthm
Because symmetrical membership functions with
an identical width are assumed, the effect
produced by omitting the width attached to the
T H E N part can be neglected, thereby suggesting
that the algorithm (3) ts justified, and the widths
in the T H E N parts can be removed from the
onglnal rules As a result, the / th rule is further
simplified as " I F M A . ( I ) T H E N M~", where
M~ = [M~ 1, MJv,2, , M~ ,~] IS a center value
vector of the T H E N part of the I th rule
3 FUZZIFIED CMAC
3 1 Descnpuon of the C M A C
The C M A C is designed to represent ap-
proximately a multi-dimensional function by
associating an mput vector # e U c R n with a
corresponding function vector v e V ~ R m,
where U is usually assumed to be discrete and
fimte As shown in Fig 2, the C M A C has a
similar structure to a three layered network with
association cells playing the role of hidden layer
umts Mathematically, C M A C may be described
as consisting of a series of mappings U--~ A ~ V
where A is a N-dimensional cell space
A fixed mapping U--~A transforms each # e U
into an N-dimensional binary association vector
a(#) m which only Nt. elements have the values
of one, where N L < N is referred to as the
generahzatlon width In other words, each #
activates precisely NL assoctatlon cells or
geometncally each # is associated with a
neighbourhood m which N/. cells may be
"'~1 //
:::1//
/
aN/ A--->V
FIG 2 A structure of CMAC
 FCMAC
included An Important property of the CMAC
is local generahzatlon derived from the fact that
nearby input vectors /~, and /,j have some
overlapping nelghbourhood and therefore share
some common assocmtlon cells The degree to
which the nelghbourhoods of /z, and /,j are
overlapping depends on the Hamming distance
H,~ of/~, and/~j If H,j Is small, the mtersectton of
t~, and/,j should be large and wce versa. At some
values of H,j greater than Nt., the mtersecUon
becomes null indicating that no generahzation
OCCUrs
According to the above prlnople, Albus
developed a mapping algorithm consisting of two
sequential mappings U---~M--~A which per-
forms a content-addressmg task The n
components of /~ are first mapped into n
NL-dlmens~onal vectors and these vectors are
then concatenated into a binary association
vector a w~th only Nr elements being one. Albus
also suggested an approach to reducing further
the N assocmtlon cells mto a much smaller set by
a hashing code Thus, the above mapping
algonthm involves a series of procedures such as
d~scretizmg, coding, and possibly hashing It ~s
evident that the computation and ~mplementa-
Uon complexity will increase dramatically w~th
an mcrease of dimension of the input space
The A ~ V mapping ~s simply a procedure of
summing the weights of the assoc~Uon cells
excited by the input vector /z to produce the
output More specifically, each component ok is
gwen by
N Hamming distance of /,, and /,j although he did
Ok = ~ aJ(/t)~r~,, (4)
/=1
where ~r~, denotes the weight connecting the ! th
assocmUon cell to the k th output Notice that
only NL association cells contnbute to the
output
3 2 Fuzztfied CMAC
By carefully respecting the SFCA and the
CMAC, we have concluded that there exist some
striking similarities between these two systems
Functionally, both of them perform a function
approx~mauon m an interpolative look-up table
manner with an underlying pnncaple of generah-
zatlon and dichotomy to produce similar
outputs in response to s~mllar input patterns and
produce independent outputs to d~sslmtlar input
patterns From the computaUonal point of view,
mapping U--~A corresponds to the calculaUon
of the matching degree m the SFCA, and
mapping A---~ V corresponds to the weighted
averaging procedure gwen by (3) While the
latter slmdanty is apparent by comparing (3)
with (4), where a j, ar~,, and N correspond to sj,
659
Mg.k, and P, the former equivalence can be
made clearer as follows
Instead of saying that each input # is
associated with a nelghbourhood specified by
NL, we can equally consider that each
association cell ~ Is associated with a neigh-
bourhood centered at, say, oY e U referred to as
the reference vector, with the width controlled
by NL If a current input # is within the
nelghbourhood of ~ , that cell is regarded as
being active In this view, the associate vector
a(#) can be denved by operating N
nelghbourhood functions ~ ( t d , #) with respect
to #, where
~(,o', ~,)= {10 i f . ~ ga (5)
otherwise'
that is, a(/~)= (~01, ~O2, , ~/,N) By appropn-
ately selecting the ~ , a(/,) can be made to
contain only Nt ones Now it becomes evident
that the associate vector a is similar to the
matching degree vector s except that the former
uses the cnsp nelghbourhood function, whereas
the latter adopts the graded one In fact, by
letting s * j = l for s j > 0 and s * j = 0 for other
cases, the vector a will be precisely equal to the
vector s*, indicating that the former is a special
case of the latter We notice that a natural
measurement of whether/* belongs to ~ in (5) is
to use some distance metric relevant to the
generahzaUon width NL In fact, Albus himself
(1975a) discussed the question of how the
overlapping of /z, and /~j ts related to the
not formulate explicitly th~s concept into the
mapping process U---, A
Now we are in a position to implement a
FCMAC by replacing equauon (4) with (3),
where Albus's coding algorithm-based content-
addressing technique is replaced by our stmda-
nty measure-based content-addressing approach
Several advantages can be identified by this
replacement The concept of the graded
matching degree not only provides a clear
interpretation for U---~A mapping, but also
offers a much simpler and more systematic
computing mechamsm than that proposed by
Albus where some very complicated addressing
techniques are utilized and further hashing code
may be needed to reduce the storage In
addmon, as noted by Moody (1989) and Lane et
al (1992), the graded nelghbourhood functions
overcome the problem of discontinuous resp-
onses over nelghbourhood boundaries due to the
crisp neighbourhood functions However, in
order to use FCMAC, reference vectors toj must
be specified m advance Fortunately, this
requirement can be met by introducing a
660 J NIE and D
fuzzlfied K o h o n e n self-organizing scheme as
described next
4 SELF-LEARNING IN REAL-TIME
If the controller rule-base is unavailable, the
SFCA cannot be apphed directly Unfortunately,
the F C M A C is not feasible either This is
because the original C M A C is generally trained
off-line by the supervised scheme, whereas in
our case the F C M A C - b a s e d controller as shown
in Fig 3 must be o p e r a t e d m real-time, and
more crucially there are no teacher signals
supplied to the F C M A C Therefore, the
F C M A C must learn to construct itself, including
the association cell n u m b e r N, reference vectors
oF, and weight vectors ~J, in a real-time
multlvarlable control environment It is worth
noting that the pair ( ~ , ~rj) which is related to
the I th association cell can be visualized as
specifying a control rule " I F ~ T H E N ~rj ' '
Accordingly, the process of learning to construct
F C M A C can be regarded as a process of
building the fuzzy controller rule-base m an
automatic manner
4 1 S e l f . l e a r n i n g N a n d to
With a prespeclfied generahzatlon width NL,
our concern is how a speofic region of the input
space can be partlUoned into N subregions, each
of which is represented by a reference vector toJ
without knowing N in advance We solve the
problem using the competitive learning approach
which adaptively quantizes the input space by
dlscovenng a set of representative prototypes,
referred to as clusters or centrolds according to
some metric measures with a winner selection
criteria We modify the original K o h o n e n
~
+
~,.~or ec
Teacher I Learning
Stgnals Errorel,
FIG 3 The FCMAC-based learning control system
A LINKENS
algorithm (Kohonen, 1988) m the following
ways Instead of using absolute minimum
distance as the winner selection criteria and a
unique learning rate, we employ the matching
degree given by (1) to determine the wmner and
use as many local learning rates as association
cells If one of the existing association cells is
able to win the competition, the corresponding
o~ is modified, otherwise, a new cell is created
In any case, the graded associate vector a is
derived for computing the net output and
modifying the corresponding weight vector ~rj In
this manner, the required N and to are
dynamically learned in response to the incoming
controller input u
The algorithm is described as follows, where t
and T denote the sampling mstant and m a x i m u m
sampling time respectwely In addition, a ~ is the
local gain controlling the speed of the adapttve
process for ~pJ and is inversely proportional to
the active frequency n j of the I th cell up to
present time instant, N ( t ) stands for the n u m b e r
of cells at time t and is assumed to be 0 initially,
and 0 < a0 < 1 is a threshold controlling the cell
n u m b e r created
(1) Calculate the a vector by (1), where
a = (a 1, a 2, , aN(t))
(2) Find the cell J having the maximum
matching degree
a j = max a j (6)
j=IN
(3) Determine the winner using the following
rule
if a s -> ao---~J IS winner
if a ~ < a0-~ create a new cell (7)
(4) Modify or mltlahze p a r a m e t e r s
If J is the w m n e r
1
nJ(t)=n~(t-1)+ l, aJ(t)=--
nJ(t) '
N ( t ) = N ( t - 1) (8)
toJ(t) = to'(t - 1) + a ~ [u(t) - t o J ( t - 1)]
If a new cell Is created
N ( t ) = N ( t - 1) + 1, toN(,) = u ( t ) , n N(t) 1,
=
a N(O= 1 (9)
(5) Output the a vector
Note that the above computational procedures
(1)-(5) are carried out at each sample instant
To maintain a reasonable net size and, m o r e
importantly, to derive a satisfactory F C M A C , it
Is necessary, after each Iteration, to p e r f o r m a
check procedure to retain only those association
cells that have been actwe at least once dunng

the last iteration, and to discard all other
lnactwe cells"
Mt+~(0) = Mr(T) - M)naetlve
I
o¢,+,(o) =
~+,(0) = ~(T)
1 = 1, 2, , M,+,(O)
where I denotes the iteration number
4 2 Self-learnmg ~r
Supposing that the k desired output v~
corresponding to the current CMAC mput u is
known, Albus (1975b) developed a training
algorithm spreadmg the output error evenly to a
fixed NL associaUon cell weights contnbutmg to
the present output Vk(U) The algonthm is
essentmlly a special case of the gradient descent
algonthm with the learning rate being fl/NL with
0 < f l -<- 1 More specifically, the algonthm is
gwen by
A~r~ = fl[(v~ - v k ( u ) ) a q / N L
Notice that only NL weights are adjusted by the
same amount due to a j
Following the standard gradient procedure,
the update rule of FCMAC subject to the
weighted averaging output scheme (3) can be
denved easily and is gwen by
A~lk = fl[(v?, - Vk(U))a')l ~ a'
tt-l=l
It ts ewdent that (11) is a special case of (12)
when a Is a bmary-valued vector wRh NL ones
As mentmned previously, the major difficulty
m applying (11) or (12) lies m the unavadabdRy
of teacher signals v~ guidmg the supervised
training Here we propose a simple but efficient
approach to carry out the task First, the
reqmred teacher signals v~ are exphcitly
constructed at the beginning of each ~terat~on by
an lteratwe learnmg approach (Lmkens and Nie,
1993c) Then the vff are supphed to the FCMAC
so as to update the ~ using (12)
Figure 3 shows a schematic of the proposed
learning system The input formation module
converts and extends m d~mensional control
error vectors ec, defined as the difference
between the command signal vector r and the
output yp of the process, to a 2m or 3m
dimensional controller input vector composed of
error, change-in-error, and/or sum-of-error. The
reference model is designed to specify what the
process responses yp should be when both the
model and the process are subject to the same
command signal r For the sake of simphcRy, we
adopt a non-interacting reference model wRh
second-order hnear transfer funcUons Denoting
FCMAC 661
the learning error by el., defined as the
difference between the output Yd of the model
and the output yp of the process, the overall goal
of the learning system is to force the learning
error eL(t) asymptotically to zero or to a
, (10)
predefined tolerance region e within a time
interval of interest [0, T] by repeatedly operating
the system
In hght of the above learning objective and by
taking the process time delay into account, the
learning law is given by
v*'+l(t) = v*t(t) + PLeL t(t + X)
+ QLCL t(t + ~), (13)
where v *t, v *t+ ~ ~. R m are on-line learning
teacher vector-valued functions at the I th and
the (l + 1)th lteratmns respectively, eLa, cL,~e
R m are learning error and change of learning
error defined by CL,t(t) = eL I(t + 1) -- eL I(t), ~, IS
an estimated time advance corresponding to the
(11)
time delay of the process, and PL, QL ~ R m×m
are constant learning gain matrices
R e m a r k 1 Under certain mild assumptions
about the process being controlled, the learning
convergence of (13) with respect to iteration can
be assured (Lmkens and Nle, 1994), prowded
(12) that the learning gains are chosen appropriately
R e m a r k 2 Although many different algorithms
can be derived with different selections of
matnces PL and QL, the simplest one Is when P~
is diagonal whereas QL = 0 In this case, the rate
of change of the error is not considered, nor are
the loop-interaction effects, and therefore the
learning action in each loop is totally dependent
on its own error It ~s remarkable that th~s simple
algorithm in fact works well in dealing with
multlvariable control problems as will be
demonstrated in the next section
5 SIMULATIONRESULTS
We have apphed the proposed approach to a
problem of multIvarlable control of blood
pressure It is reqmred to regulate simul-
taneously the cardiac output (CO) and the mean
arterial pressure (MAP) of a patient in hospital
intensive care using vanous drugs Two typical
drugs used are dopamme (DOP) which ts an
lnotropw drug, and sodmm mtroprusslde (SNP)
which is a vasoactlve drug For the purpose of
this simulation study, we adopt the same model
as used before in (Lmkens and Nie, 1992b, Nte,
662
1992), which ts gwen by
ACO ] = [ 10 -2476]
AMAP_I 0 6636 76 38
K, le ....
STl+l
x K2,e-'~
sT2+l
where ACO (mls -t) is the change m cardiac
output due to I1 and 12, AMAP (mmHg) is the
change m mean arterial pressure due to I~ and/2,
/1 (/~gKg-~mm -~) is the infusion rate of
dopamlne, 12 (mlh -1) is the mfusmn rate of
sodmm mtroprusslde, K,,, K12, K2~ and K22 are
steady-state gains with typical values of 8.44,
5 275, - 0 09 and - 0 15 respectwely, rl and r2
represent two time delays with typical values of
rl = 60 s and ~2 = 30 s, and T~ and T2 are Ume
constants typified by values of 84 1 s and 58 75 s
respectwely It ~s ewdent that the model Is
characterized by strong mteracUons between the
variables and large Ume delays m control
It should be emphasmed that the above model
is used merely to model and simulate the
controlled process The learner, FCMAC, does
not rely on exact quantltatwe knowledge about
the process model However, some qualltatwe
knowledge should be avadable which is used to
pmr the inputs and outputs, specify the reference
model, and choose the signs for the learning
gams The required knowledge includes basic
control characteristics of the inputs/output
variables and approximate time delays m
control, and Is usually not &fficult to obtain In
tMs study, phymologlcal considerations reveal
that C O / D O P with a posltwe control gain and
MAP/SNP with a negatwe gam pmrs should be
made smce DOP is prlmardy used to increase
CO, and SNP is mainly aimed at lowering MAP
In order to verify the apphcabdlty of the
30"
25"
A20"
U )
~15"
8
I0"
. . . . . . . , . .
20 40 60
SAMPLING INSTANT
J NIE and D A LINKENS
FCMAC-based controller and to investigate ~ts
self-learning behavlour, we carried out a set ot
simulations Throughout this work, we adopt the
following non-interacting reference model with
] second-order hnear transfer functions
sT~+l I~ , Hr(s) = Dlag {Hrl(S), Hr2(s)}, (15)
(14)
K22e-r:'s 12
where Hr(s) is a &agonal transfer matrix relating
sT2+l
the command signal r to the model output Yd In
the s-domam and Hrk(s), k = 1, 2, is given by
) 2 ~-- r,ks
n r k C,
z ,
H,k(s) - s2 + 2~rk0).rkS + 0).,k (16)
where ~ and 0). denote damping factor and
natural frequency respectwely The desired
transient performance can be determmed by the
value of ~, which Is closely associated to
overshoot, and 0). or equivalently t, (settling
Ume) through an approximate relationsMp
ts 4/~w.
=
Figure 4 shows an example of the output
responses of the process after 10 ~terat~ons w~th
the desired responses m&cated by dashed lines
In this example the samphng time was 30 s and
the controller comprised four inputs (errors and
change-m-errors) and two outputs using the
following parameters learning matrices P / =
drag {0 05, - 0 05} and QL = 0, estimated time
advance ~ = 5, learning rate fl = 0 1, threshold
a o = 0 1, and the Euchdean distance with
6 = 0 1 It can be seen the process followed the
desired responses satisfactorily
By fixing the controller parameters as above,
the adaptive ability of the controller was
exammed w~th respect to varlaUons of the
process parameters and to the desired perfor-
mance reqmrements F~gure 5 shows the
normahzed squared sum of learnmg error eL
(NSSE) against the iteration number when four
different desired responses obtained by altering
parameters m the reference model were
SAMPLING INSTANT
-4
-10
-12
. , . . . , - _ . ,
-14
80 100
FIG 4 O u t p u t responses after l e a rmng iterations
 FCMAC 663

----desired resp. a) -nominal values

~I.0' desired resp. b) ~I.0" ............ beta=0.2
t~
desired resp. c) gw
1.4 beta=O 05
desired resp. d) Ipll=0 1
~o8' 008" Ipll=0 025
ul

~0.6' ~06"

'~04' .~04'
N N
,,..4

"~0.2
0 0¢.,

. . . . " ~ II'lJ a F
2" 3" 4" 5" 6 7' 8 9 I0" 11" 3 4 5 6 7' 8" 9' I0' Ii'
iteration iteratlon
FIG 5 AdapUve abthty to desired responses FIG 7 Convergence to learmng rates

K & T nominal values nomlnal values

1 0 k11=9.284 k12=5.803 ~ 1.0I wldth=0.5
k12=-0.099 k22=-0.17 ~ l width=0.05
TI=9____~2.51T2=64.63 ~ ]I threshold=0.2
~0.8 ~0

OilI
{o 0
o
o

2" 3" 4" 5" 6" 7' 8" 9" i0' Ii" 2 3 4 5 6 7 8 9 I0 II
iteration iteration
FIG 6 Adaptmveability to process parameters FIG 8 Convergence to wmdthsand thresholds

reqmred Figure 6 g~ves the results when the
process parameters were changed by 10% from
their nominal values It ~s evident that the
controller is able to adapt to vanous perfor-
mance reqmrements and d~fferent process
parameters m the sense that after a few
iterations, the NSSEs tend to stable, small
values.
The convergence property of the system wRh
regard to the controller parameters was also
examined Figure 7 shows the results produced
with different fl and PL Compared with fl, PL
has a more sgmficant effect on the learning
convergence As would be expected, however,
the convergence property ~s not very sensmve to
the width 6 and the threshold ao This is clearly
indicated m Fig 8 where an almost identical
curve was obtained for all cases However, the
number of created cells was strongly dependent
on these parameters the btgger ¢5, the fewer
cells, and the bigger ao, the more cells
Corresponding to Fig 8, the cells created after
10 ReraUons were 14, 11, 18, 16, and 13
respecUvely, which correlates wRh the above
gmdeline
6 CONCLUSIONS
We have presented an approach to fuzzffymg
the CMAC into FCMAC and extended this to
self-constructing systematically a FCMAC-based
multlvanable controller wa learning The system
has the following features (a) the graded
nelghbourhood funcuon overcomes the problem
of discontinuous responses over nelghbourhood
boundaries; (b) the matching degree algorithm
provides a simple similarity-measure-based
content-addressable scheme capable of deahng
 664 J NIE a n d D
with a r b i t r a r y - d i m e n s i o n a l c o n t m u o u s i n p u t
space w i t h o u t m v o l v i n g c o m p l i c a t e d q u a n t l z m g ,
addressing, a n d h a s h i n g p r o c e d u r e s as used in
the original C M A C whose c o m p l e x i t y increases
with the i n p u t space d i m e n s i o n so d r a m a t i c a l l y
that the system m a y b e c o m e r e t r a c t a b l e , (c) the
F C M A C ts c o n s t r u c t e d d y n a m i c a l l y in the sense
that not o n l y weight p a r a m e t e r s are a d j u s t e d as
general n e t w o r k s do, b u t also the s t r u c t u r e
p a r a m e t e r , n a m e l y the n u m b e r of association
cells, is a d j u s t e d in r e s p o n s e to the o n - l i n e
c o m m g d a t a , (d) the a p p r o a c h ts s u i t a b l e for
m u l t t v a r i a b l e systems a n d the r e s u l t a n t c o n t r o l -
ler can m e e t a r b i t r a r y b u t a c h i e v a b l e p e r f o r m -
ance r e q u i r e m e n t s , a n d finally (e) o n l y little
prior k n o w l e d g e a b o u t the process is r e q u i r e d
T h e system d e s c r i b e d here n o t o n l y offers a
viable m e t h o d for a u t o m a t i c c o n s t r u c t i o n of a
fuzzy-neural controller, or equivalently an
a l t e r n a t i v e s o l u t i o n to the k n o w l e d g e a c q u i s i t i o n
b o t t l e n e c k , b u t also p r o v i d e s a n i m p o r t a n t
e x a m p l e of i n t e g r a t i n g fuzzy systems with n e u r a l
n e t w o r k s T h e s i m u l a t i o n results have d e m -
o n s t r a t e d the feaslbihty of the proposed
a p p r o a c h , a n d also r e v e a l e d s o m e useful
p r o p e r t i e s r e l e v a n t to its a d a p t i v e c a p a b t h t y a n d
learnmg convergence
Acknowledgement--The authors are grateful to reviewers
and the editor for beneficial comments and suggestions which
helped to improve the quality of this paper
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