PART II Chapter 1 2 Fuzzy Logic System

INTELLIGENT CONTROL SYSTEM
PART II:
Fuzzy Logic
Instructor: Dr. Dang Xuan Ba
Email: badx@hcmute.edu.vn
Department of Automatic Control

Chapter 1: Introduction
Chapter 2: Fuzzy Set

Content
Chapter 3: Fuzzy Logic
System

Application
Part II: Fuzzy Logic Presenter: Dr. Dang Xuan Ba 2

CHAPTER 1 – INTRODUCTION OF FUZZY
LOGIC

Chapter 1: Introduction of Fuzzy System
1. Motivations
In reality, we could drive a car though we do not need much knowledge of the car.
We do not know dynamics of a day-life water tank, but possibly we could control the
water high.
Why could we do it?
The systems are easy to control?
The human is too smart?

2. History of Fuzzy System
Lotfi Aliasker Zadeh

(February 4, 1921 – September 6, 2017)
Zadeh proposed the “Fuzzy Set”
concept in 1965.
First IEEE International Conference on Fuzzy system
1990s Now
1980s and
future
1970s Mamdani Fuzzy model
1965 Takagi-Sugeno (T-S) Fuzzy model
IEEE Transaction on Fuzzy System Many applications in Japan

3. Why do we need Fuzzy systems
• “Fuzzy” is blurred and imprecisely defined.
• The real world is too complicated to describe accurately. Therefore,

fuzziness (approximation) is introduced to obtain a reasonable model.
• Human Knowledge becomes increasingly important in a modern life.
We need a theory to formulate human knowledge in a systematic

manner, put it into the engineering and combine with mathematical model
or sensory measurement.

4. What is a Fuzzy system
Fuzzy system is a knowledge-based system (hệ thống tri thức) which consist
of a set of ”IF-THEN” fuzzy rules.
Example 1:
IF Level of Water in the Tank is high THEN open-angle of valve is small.
IF Level of Water in the Tank is low THEN open-angle of valve is big.
Example 2:
• IF the speed of the car is slow THEN Force pushing on accelerator is
strong.
• IF the speed of the car is fast THEN Force pushing on accelerator is
weak.

4. Where are Fuzzy systems applied?
• Fuzzy in washing machine
• Digital image stabilizer
• Fuzzy system in Cars
• Fuzzy system in Cement Kiln
• Fuzzy Control of Subway train
• And so on.

Chapter 1: Introduction
Chapter 2: Fuzzy Set

Content
System

Application

CHAPTER 2 – FUZZY SET

Chapter 2: Fuzzy Set (Tập hợp mờ)
1. Classical set (Tập hợp rõ)/ Membership function (Hàm thành viên – Hàm
liên thuộc)
Let X be a space of objects and x be a generic element of X.
Classical set A is a collection of distinct objects (đối tượng), which share

certain characteristics, in the universe X:
For example: a set of students passing the exam.

A set of negative temperatures.
X is called an Universe set (tập cơ sở).
Each individual entity (cá thể) in a set A is called a member (thành viên) or
an element (phần tử) of the set.
The classical set A splits the universe set X (tập cơ sở) in two groups:
members and non-members, it means that no partial membership exists.

1. Classical set (Tập hợp rõ)/ Membership function (Hàm thành viên – Hàm
liên thuộc)
The classical set A represented in universe set X could be re-defined by
using a membership function as follows:
1 if ( x  A)
 A ( x) = 
0 otherwise
Example 1: Given the membership function of two following classical sets:
A = [1, 3] and B = {1, 2, 3}
Fig. 2. 1 Membership function Fig. 2. 2Membership function

of classical set A of classical set B

1. Classical set (Tập hợp rõ)/ Basic Operation (Các phép toán cơ bản)
For two sets A and B on universe set X, we have
Union (Hội): A  B = {x | x  A or x  B} Logical OR
Intersection (Giao): A  B = {x | x  A and x  B} Logical AND
Complement (Bù): A = {x | x  A and x  X }
Difference (Hiệu): A \ B = {x | x  A and x  B}

1. Classical set (Tập hợp rõ)/ Properties (Các tính chất cơ bản)
For two sets A and B on universe set X, we have
Commutativity (Giao hoán): A B = B  A A B = B  A
Associativity (Kết hợp): A  ( B  C ) = ( A  B)  C A  ( B  C ) = ( A  B)  C
Distributivity (Phân phối):

A  ( B  C ) = ( A  B)  ( A  C )
A  ( B  C ) = ( A  B)  ( A  C )
Idempotency (tính lặp): A A = A A A = A
A  = A A  = 
Identity (xác định):  
A X = X A X = A
Transitivity (bắt cầu): A  B and B  C  A  C

1. Classical set (Tập hợp rõ)/ Basic Operation (Các phép toán cơ bản)
Membership functions of two classical sets can be manipulated as follows:
Union (Hội):  A B ( x) = max(  A ( x),  B ( x)) = min(1,  A ( x) +  B ( x))
Intersection (Giao):  A B ( x) = min(  A ( x),  B ( x)) =  A ( x)  B ( x)
Complement (Bù):  A ( x) = 1 −  A ( x)
Difference (Hiệu):  A \ B ( x) =  A ( x)(1 −  B ( x))
Convolution (tích):  A B ( x, y ) =  A ( x)  B ( y )

2. Fuzzy set (Tập hợp mờ)/ Definition (định nghĩa)
Fuzzy set A on a universe set X is defined by a membership function in a range of [0;1].

2. Fuzzy set (Tập hợp mờ)/ Definition (định nghĩa)
Fuzzy set A on a universe set X is defined by a membership function in a range of [0;1].
Fuzzy set A must satisfy the objectivity (tính khách quan) and reasonability (tính hợp
lý).

2. Fuzzy set (Tập hợp mờ)/ Typical membership functions
Triangle MFs
Trapezoidal MFs

Gaussian MFs
Generalised bell MFs

Sigmoid MFs
Discrete MFs

A fuzzy set A(x) on universe X is called normal fuzzy set (chuẩn) if and only if A(x) is a convex set
and height of A(x) is equal to 1.

2. Fuzzy set (Tập hợp mờ)/ Operation
Complement (Bù):
A fuzzy set A is defined in the universal set X . A(x) represents the degree of how
much does an element x  X , belong to A .
Ac is used to represent the complement of fuzzy set A . Ac (x) is regarded as “the

degree of x belongs to Ac “ or “the degree of x does not belong to A”.
c(a) :[0,1] → [0,1]

Satisfying the following conditions:
One definition:
1) c(0) = 1, c(1) = 0.
𝑐 𝜇𝐴(𝑥ሻ = 𝜇𝐴𝑐 (𝑥ሻ = 1 − 𝜇𝐴(𝑥ሻ
2) a  b → c(a)  c(b).

Complement (Bù):

One definition:
1) c(0) = 1, c(1) = 0.
2) a  b → c(a)  c(b). 𝑐 𝜇𝐴(𝑥ሻ = 𝜇𝐴𝑐 (𝑥ሻ = 1 − 𝜇𝐴(𝑥ሻ
Example 1:
Ac(x) Bc(x)
A(x) B(x)
1 1
0 0

Complement (Bù):

One definition:
1) c(0) = 1, c(1) = 0.
2) a  b → c(a)  c(b). 𝑐 𝜇𝐴(𝑥ሻ = 𝜇𝐴𝑐 (𝑥ሻ = 1 − 𝜇𝐴(𝑥ሻ
Example 2:
0 0.5 1 0.5 0
𝐴 𝑥 ={ + + + + ቋ
1 2 3 4 5
𝑐
1 0.5 0 0.5 1
𝐴 𝑥 ={ + + + + ቋ
1 2 3 4 5

Intersection (Giao):
Consider two fuzzy set 𝐴(𝑥ሻ and B(𝑥ሻ on the same universe X. Intersection of A(x) and B(x)
is defined the following MFs:
where
t (a, b) :[0,1]  [0,1] → [0,1]
Tính Giới hạn
Tính đơn điệu
Tính giao hoán
Tính kết hợp
Intersection (Giao): t-norm

Intersection (Giao) t-norm:
• Standard Intersection (MIN) 𝑡 𝜇𝐴(𝑥ሻ, 𝜇𝐵 𝑥 = min 𝜇𝐴(𝑥ሻ, 𝜇𝐵 𝑥
• Algebraic Product (PROD)： 𝑡 𝜇𝐴 𝑥 , 𝜇𝐵 𝑥 = 𝜇𝐴(𝑥ሻ 𝜇𝐵 𝑥
• Bounded Difference
(Lukasiewicz) 𝑡 𝜇𝐴 𝑥 , 𝜇𝐵 𝑥 = max(0, 𝜇𝐴 𝑥 + 𝜇𝐵 𝑥 − 1ሻ
• Others:  A ( x)  B ( x)
t (  A ( x),  B ( x)) =
2 −  A ( x ) −  B ( x) +  A ( x)  B ( x)

Intersection (Giao) t-norm: Example 1
B(x) B(x)
A(x) A(x)
1 1
0 0
Standard intersection (MIN) Algebraic Product


• Discrete time
0.1 0.2 0.8 1 0.7 0.2 0
𝐴 𝑦 ={ + + + + + + ቋ
𝑦1 𝑦2 𝑦3 𝑦4 𝑦5 𝑦6 𝑦7
0 0.25 0.75 1 0.75 0.25 0
𝐵 𝑦 ={ + + + + + + ቋ
𝑦1 𝑦2 𝑦3 𝑦4 𝑦5 𝑦6 𝑦7
Standard intersection (MIN):
0 0.2 0.75 1 0.7 0.2 0
𝐴 𝑦 ⋂𝐵 𝑦 = { + + + + + + ቋ
𝑦1 𝑦2 𝑦3 𝑦4 𝑦5 𝑦6 𝑦7
Product:
0 0.05 0.6 1 0.525 0.05 0
𝐴 𝑦 ⋂𝐵 𝑦 = { + + + + + + ቋ
𝑦1 𝑦2 𝑦3 𝑦4 𝑦5 𝑦6 𝑦7

Intersection (Giao) t-norm: example 4
T-norm with PROD rule

Intersection (Giao) t-norm: example 4
T-norm with MIN rule

Union (Hội): s-norm
Consider two fuzzy set 𝐴(𝑥ሻ and B(𝑥ሻ on the same universe X. Union of A(x) and
B(x) is defined the following MFs:
where
s (a, b) :[0,1]  [0,1] → [0,1]
Tính Giới hạn

Tính đơn điệu
Tính giao hoán
Tính kết hợp
Union (Hội): s-norm

Union (Hội) s-norm:
• Standard Union (MAX) s (  A ( x),  B ( x)) = max(  A ( x),  B ( x))
• Algebraic Sum (SUM)： s (  A ( x),  B ( x)) = min(1,  A ( x) +  B ( x))
• Einstein rule: s (  A ( x),  B ( x)) = [  A ( x) +  B ( x)] / (1 +  A ( x)  B ( x))
• Others s (  A ( x),  B ( x)) =  A ( x) +  B ( x) −  A ( x)  B ( x)

Union (Hội) s-norm: Example 1
B(x) B(x)
A(x) A(x)
1 1
0 0
Standard union (MAX)

• Discrete time:
0.1 0.2 0.8 1 0.7 0.2 0
𝐴 𝑦 ={ + + + + + + ቋ
𝑦1 𝑦2 𝑦3 𝑦4 𝑦5 𝑦6 𝑦7
0 0.25 0.75 1 0.75 0.25 0
𝐵 𝑦 ={ + + + + + + ቋ
𝑦1 𝑦2 𝑦3 𝑦4 𝑦5 𝑦6 𝑦7
• Standard union:
0.1 0.25 0.8 1 0.75 0.25 0
𝐴 𝑦 ∪𝐵 𝑦 ={ + + + + + + ቋ
𝑦1 𝑦2 𝑦3 𝑦4 𝑦5 𝑦6 𝑦7
• Find the union based on the Algebraic Sum?


Union (Hội) s-norm: example 4
s-norm with SUM rule

Union (Hội) s-norm: example 4
s-norm with MAX rule

Hybrid operation (Phép toán lai):

• DeMorgan’s laws:
• For classical set:
A  B = A  B

 A B = A  B
• For fuzzy set:
𝑐(𝑡 𝜇𝐴 𝑥 , 𝜇𝐵 𝑥 ሻ = 𝑠(𝑐 𝜇𝐴 𝑥 , 𝑐 𝜇𝐵 𝑥 ሻ
𝑐(𝑠 𝜇𝐴 𝑥 , 𝜇𝐵 𝑥 ሻ = 𝑡(𝑐 𝜇𝐴 𝑥 , 𝑐 𝜇𝐵 𝑥 ሻ

Hybrid operation (Phép toán lai): Example 1
B(x)
A(x)
1
A B?
A B?

Hybrid operation (Phép toán lai): Example 2
• Consider two discrete time fuzzy sets on universe

set Y={y1, y2, y3, y4, y5, y6, y7}:
0.4 0.6 0.8 1 0.7 0.2 0
𝐴 𝑦 ={ + + + + + + ቋ
𝑦1 𝑦2 𝑦3 𝑦4 𝑦5 𝑦6 𝑦7
0.3 0.5 0.9 1 0.8 0.1 0
𝐵 𝑦 ={ + + + + + + ቋ
𝑦1 𝑦2 𝑦3 𝑦4 𝑦5 𝑦6 𝑦7
A B?
A B?
3. Linguistic Variable (Biến ngôn ngữ)/ Fuzzy variable (biến mờ)
Classical variable (biến rõ):

Data type (Kiểu dữ liệu - int)
Int a = 5; Variable name (Tên biến - a)
Variable value (Giá trị a = 5)

Fuzzy variable (biến mờ):
Data type Universe set 0 if ( x  30)

 x − 30

Variable name Variable name high ( x) =  if ( x  60)
 30
1 otherwise
Membership function
( high temp, X ,  ( x) )
Variable value
high
Linguistic variable (biến ngôn ngữ):
Data type Universe set
Variable name Variable name ( temp, X , high )

Variable value Fuzzy variable
3. Linguistic Variable (Biến ngôn ngữ)/ Fuzzy variable (biến mờ)
Fuzzy variable (biến mờ):
Data type Universe set 0 if ( x  30)

 x − 30

Variable name Variable name high ( x) =  if ( x  60)
 30
1 otherwise
Membership function
( high temp, X ,  ( x) )
Variable value
high
Linguistic variable (biến ngôn ngữ):
Data type Universe set
Variable name Variable name ( temp, X , high )

Variable value Fuzzy variable
Linguistic variable (biến ngôn ngữ): example 1

END OF CHAPTER II
Part I: Neural Network Presenter: Dr. Dang Xuan Ba 44

PART II Chapter 1 2 Fuzzy Logic System

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PART II Chapter 1 2 Fuzzy Logic System

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INTELLIGENT CONTROL SYSTEM

Department of Automatic Control

Chapter 2: Fuzzy Set

Chapter 4: Fuzzy Logic

Part II: Fuzzy Logic Presenter: Dr. Dang Xuan Ba 2

Part II: Fuzzy Logic Presenter: Dr. Dang Xuan Ba 3

Why could we do it?

The systems are easy to control?

The human is too smart?

Part II: Fuzzy Logic Presenter: Dr. Dang Xuan Ba 4

Lotfi Aliasker Zadeh

Zadeh proposed the “Fuzzy Set”

First IEEE International Conference on Fuzzy system

1965 Takagi-Sugeno (T-S) Fuzzy model

IEEE Transaction on Fuzzy System Many applications in Japan

• The real world is too complicated to describe accurately. Therefore,

• Human Knowledge becomes increasingly important in a modern life.

We need a theory to formulate human knowledge in a systematic

Part II: Fuzzy Logic Presenter: Dr. Dang Xuan Ba 6

Part II: Fuzzy Logic Presenter: Dr. Dang Xuan Ba 7

• Fuzzy in washing machine

• Digital image stabilizer

• Fuzzy system in Cars

• Fuzzy system in Cement Kiln

• Fuzzy Control of Subway train

Part II: Fuzzy Logic Presenter: Dr. Dang Xuan Ba 8

Chapter 2: Fuzzy Set

Chapter 4: Fuzzy Logic

Part II: Fuzzy Logic Presenter: Dr. Dang Xuan Ba 9

Part II: Fuzzy Logic Presenter: Dr. Dang Xuan Ba 10

Classical set A is a collection of distinct objects (đối tượng), which share

For example: a set of students passing the exam.

Part II: Fuzzy Logic Presenter: Dr. Dang Xuan Ba 11

Fig. 2. 1 Membership function Fig. 2. 2Membership function

Part II: Fuzzy Logic Presenter: Dr. Dang Xuan Ba 12

Union (Hội): A  B = {x | x  A or x  B} Logical OR

Intersection (Giao): A  B = {x | x  A and x  B} Logical AND

Complement (Bù): A = {x | x  A and x  X }

Difference (Hiệu): A \ B = {x | x  A and x  B}

Part II: Fuzzy Logic Presenter: Dr. Dang Xuan Ba 13

Commutativity (Giao hoán): A B = B  A A B = B  A

Associativity (Kết hợp): A  ( B  C ) = ( A  B)  C A  ( B  C ) = ( A  B)  C

Distributivity (Phân phối):

Idempotency (tính lặp): A A = A A A = A

Part II: Fuzzy Logic Presenter: Dr. Dang Xuan Ba 14

Union (Hội):  A B ( x) = max(  A ( x),  B ( x)) = min(1,  A ( x) +  B ( x))

Intersection (Giao):  A B ( x) = min(  A ( x),  B ( x)) =  A ( x)  B ( x)

Difference (Hiệu):  A \ B ( x) =  A ( x)(1 −  B ( x))

Part II: Fuzzy Logic Presenter: Dr. Dang Xuan Ba 15

Part II: Fuzzy Logic Presenter: Dr. Dang Xuan Ba 16

Part II: Fuzzy Logic Presenter: Dr. Dang Xuan Ba 17

Part II: Fuzzy Logic Presenter: Dr. Dang Xuan Ba 18

Generalised bell MFs

Part II: Fuzzy Logic Presenter: Dr. Dang Xuan Ba 19

Part II: Fuzzy Logic Presenter: Dr. Dang Xuan Ba 20

Part II: Fuzzy Logic Presenter: Dr. Dang Xuan Ba 21

Ac is used to represent the complement of fuzzy set A . Ac (x) is regarded as “the

c(a) :[0,1] → [0,1]

Part II: Fuzzy Logic Presenter: Dr. Dang Xuan Ba 22

Satisfying the following conditions:

Part II: Fuzzy Logic Presenter: Dr. Dang Xuan Ba 23

Satisfying the following conditions:

Part II: Fuzzy Logic Presenter: Dr. Dang Xuan Ba 24

Intersection (Giao): t-norm