CSE-435:

Dr. Hector Munoz-Avila

A Presentation
on

Fuzzy Logic

Presented
by
Osama Ahmed Khan
 OVERVIEW
 BACKGROUND
 INTRODUCTION
 DEMOS
 APPROACH
 APPLICATION
 BACKGROUND
 Professor Lotfi Zadeh, UC Berkeley, 1965
“People do not require precise, numerical information
input, and yet they are capable of highly adaptive control.”
 Accepts noisy, imprecise input!
 History, State of the Art, and
Future Development
1965 Seminal Paper “Fuzzy Logic” by Prof. Lotfi Zadeh,
Faculty in Electrical Engineering, U.C. Berkeley, Sets
the Foundation of the “Fuzzy Set Theory”

1970 First Application of Fuzzy Logic in Control

Engineering (Europe)

1975 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

Today, Fuzzy Logic Has 1995
Already Become the
2000
Standard Technique for
Multi-Variable Control !
© INFORM 1990-1998
Broad Application of Fuzzy Logic in the U.S.
Fuzzy Logic Becomes a Standard Technology and Is
Also Applied in Data and Sensor Signal Analysis.
Application of Fuzzy Logic in Business and Finance.
Slide 4
 Types of Uncertainty and the
Modeling of Uncertainty
Stochastic Uncertainty:
 The Probability of Hitting the Target Is 0.8

Lexical Uncertainty:
 "Tall Men", "Hot Days", or "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.

Most Words and Evaluations We Use in Our Daily Reasoning Are

Not Clearly Defined in a Mathematical Manner. This Allows
Humans to Reason on an Abstract Level!

© INFORM 1990-1998 Slide 5

 Probability and 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 ...”

Stochastics and Fuzzy Logic

Complement Each Other !

© INFORM 1990-1998 Slide 6

 Fuzzy Set Theory

Conventional (Boolean) Set Theory:

38.7°C
38°C
40.1°C 41.4°C
Fuzzy Set Theory:
42°C
39.3°C
“Strong Fever” 38.7°C
37.2°C 38°C
40.1°C 41.4°C

42°C
39.3°C
“Strong Fever”
“More-or-Less” Rather Than “Either-Or” ! 37.2°C
© INFORM 1990-1998 Slide 7
 Fuzzy Set Definitions

Discrete Definition:
µSF
SF
(35°C) = 0 µSF
SF
(38°C) = 0.1 µSF
SF
(41°C) = 0.9

µSF
SF
(36°C) = 0 µSF
SF
(39°C) = 0.35 µSF
SF
(42°C) = 1

µSF
SF
(37°C) = 0 µSF
SF
(40°C) = 0.65 µSF
SF
(43°C) = 1
Continuous Definition: No More Artificial Thresholds!
µ(x)
1

0
36°C 37°C 38°C 39°C 40°C 41°C 42°C

© INFORM 1990-1998 Slide 8

 INTRODUCTION
 What is Fuzzy Logic?
 Problem-solving control system methodology

 Linguistic or "fuzzy" variables

 Example:

IF (process is too hot)

AND (process is heating rapidly)
THEN (cool the process quickly)
 INTRODUCTION (Contd.)
 Advantages
 Mimicks human control logic

 Uses imprecise language

 Inherently robust

 Fails safely

 Modified and tweaked easily

 INTRODUCTION (Contd.)
 Disadvantages
 Operator's experience required

 System complexity
 DEMOS

Fuzzy Logic Anti-sway Crane Controller

DEMOS (Contd.)

Control of a Flexible Robot

 DEMOS (Contd.)

Anti-Swing Control of an Overhead Crane

DEMOS (Contd.)

Robot Skating
 DEMOS (Contd.)
 Fuzzy Shower
 http://ai.iit.nrc.ca/IR_public/fuzzy/fuzzyShower.html

 Fuzzy Controller for an Inverted Pendulum

 http://www.aptronix.com/fuzzynet/java/pend/pendjava.htm

 Prevention of Load Sway by a Fuzzy Controller


http://people.clarkson.edu/~esazonov/neural_fuzzy/loadsway/LoadSway.htm
 APPROACH
Preliminary Evaluation
Assessment As to Whether Fuzzy Logic Is Applicable for the Given Application

Problem Analysis Before Project Start !

Evaluation Criteria:
 Has Fuzzy Logic Been Previously Applied to a Similar
Application With Success?
 Is It a Multi-Variable Type Control Problem?
 Do Operators and Engineers Possess Knowledge About Any
Relevant Interdependencies of the Process Variables?
 Can Further Knowledge About the Process Behavior Be Gained
By Observation Or Experiments?
 Is It Difficult to Obtain a Mathematical Model from the
Process?
 APPROACH (Contd.)
 Usage
1. Define the control objectives and criteria
 What am I trying to control?
 What do I have to do to control the system?
 What kind of response do I need?
 What are the possible (probable) system failure modes?

2. Determine the input and output relationships

 Choose a minimum number of variables for input to the FL engine

3. Use the rule-based structure of FL

 Break the control problem down into a series of rules

4. Create FL membership functions

 Define the meaning (values) of Input/Output terms used in the rules

5. Test, evaluate, tune and retest

 APPROACH (Contd.)
 The Rule Matrix -ve Zero +ve
 Error (Columns) Error Error Error
 Error-dot (Rows)

 Input conditions (Error -ve

Error-
and Error-dot) dot
 Output Response
Zero No
Conclusion (Intersection
Error- change
of Row and Column) dot

+ve
Error-
dot

Rule Matrix
 APPLICATION
 Simple Proportional Temperature Controller
 Components
 An electric heating element
 Variable-speed cooling fan
 Functionality
 Positive signal output: 0-100% heat
 Negative signal output: 0-100% cooling
APPLICATION (Contd.)

Block Diagram of the Control System

 APPLICATION (Contd.)
 Working
 Establish a meaningful system for representing the
linguistic variables in the Rule Matrix
"N" = "negative" error/ error-dot input level
"Z" = "zero" error/ error-dot input level
"P" = "positive" error/ error-dot input level
"H" = "Heat" output response
"-" = "No Change" to current output
"C" = "Cool" output response
 APPROACH
 Usage
1. Define the control objectives and criteria
 What am I trying to control?
 What do I have to do to control the system?
 What kind of response do I need?
 What are the possible (probable) system failure modes?
2. Determine the input and output relationships
 Choose a minimum number of variables for input to the FL engine
3. Use the rule-based structure of FL
 Break the control problem down into a series of rules
4. Create FL membership functions
 Define the meaning (values) of Input/Output terms used in the rules
5. Test, evaluate, tune and retest
 APPLICATION (Contd.)
1. Define the control objectives and criteria
 What am I trying to control?
System temperature

 What do I have to do to control the system?

Proper balance and control of the functional devices

 What kind of response do I need?

Stable Environment temperature

 What are the possible (probable) system failure modes?

The lack of the “No change” region
 APPLICATION (Contd.)
 What is being controlled and how?

Typical control system response

 APPROACH
 Usage
1. Define the control objectives and criteria
 What am I trying to control?
 What do I have to do to control the system?
 What kind of response do I need?
 What are the possible (probable) system failure modes?
2. Determine the input and output relationships
 Choose a minimum number of variables for input to the FL engine
3. Use the rule-based structure of FL
 Break the control problem down into a series of rules
4. Create FL membership functions
 Define the meaning (values) of Input/Output terms used in the rules
5. Test, evaluate, tune and retest
 APPLICATION (Contd.)
2. Determine the input and output relationships
 Define the minimum number of possible input product
combinations and corresponding output response conclusions
INPUT#1: ("Error", positive (P), zero (Z), negative (N))
INPUT#2: ("Error-dot", positive (P), zero (Z), negative (N))
CONCLUSION: ("Output", Heat (H), No Change (-), Cool (C))

INPUT#1 System Status

Error = Command-Feedback
P=Too cold, Z=Just right, N=Too hot

INPUT#2 System Status

Error-dot = d(Error)/dt
P=Getting hotter Z=Not changing N=Getting colder

OUTPUT Conclusion & System Response

Output H = Call for heating - = Don't change anything C = Call for cooling
 APPROACH
 Usage
1. Define the control objectives and criteria
 What am I trying to control?
 What do I have to do to control the system?
 What kind of response do I need?
 What are the possible (probable) system failure modes?
2. Determine the input and output relationships
 Choose a minimum number of variables for input to the FL engine
3. Use the rule-based structure of FL
 Break the control problem down into a series of rules
4. Create FL membership functions
 Define the meaning (values) of Input/Output terms used in the rules
5. Test, evaluate, tune and retest
 APPLICATION (Contd.)
3. Use the rule-based structure of FL

The rule structure

 APPROACH
 Usage
1. Define the control objectives and criteria
 What am I trying to control?
 What do I have to do to control the system?
 What kind of response do I need?
 What are the possible (probable) system failure modes?
2. Determine the input and output relationships
 Choose a minimum number of variables for input to the FL engine
3. Use the rule-based structure of FL
 Break the control problem down into a series of rules
4. Create FL membership functions
 Define the meaning (values) of Input/Output terms used in the rules
5. Test, evaluate, tune and retest
 APPLICATION (Contd.)
4. Create FL membership functions that define the meaning
(values) of Input/Output terms used in the rules

The features of a membership function

APPLICATION (Contd.)

A sample case
 APPROACH
 Usage
1. Define the control objectives and criteria
 What am I trying to control?
 What do I have to do to control the system?
 What kind of response do I need?
 What are the possible (probable) system failure modes?
2. Determine the input and output relationships
 Choose a minimum number of variables for input to the FL engine
3. Use the rule-based structure of FL
 Break the control problem down into a series of rules
4. Create FL membership functions
 Define the meaning (values) of Input/Output terms used in the rules
5. Test, evaluate, tune and retest
Thank you

Q/A