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Presented by
Zainab Al-Qudsi
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 What is Fuzzy Logic

 Sample Application

 Fuzzy set theory

 Fuzzy inference system

Mamdani method
Sugeno method
 Fuzzy system component

 Fuzzy system controller

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What is Fuzzy Logic?

FL is in fact, a precise problem-solving methodology.
It is able to simultaneously handle numerical data and linguistic
knowledge.
A technique that facilitates the control of a complicated system
without knowledge of its mathematical description.
Fuzzy logic differs from classical logic in that statements are no
longer black or white, true or false, on or off. In traditional logic an
object takes on a value of either zero or one. In fuzzy logic, a
statement can assume any real value between 0 and 1, representing
the degree to which an element belongs to a given set.
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In the city of Sendai in Japan, a 16-station subway system is

controlled by a fuzzy computer .the ride is so smooth, riders do not
need to hold straps
Nissan – fuzzy automatic transmission, fuzzy anti-skid braking
system
Sony - Hand-printed character recognition
Ricoh, Hitachi – Voice recognition
CSK, Hitachi – Hand-writing Recognition
NASA has studied fuzzy control for automated space docking:
simulations show that a fuzzy control system can greatly reduce fuel
consumption
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Canon developed an auto-focusing camera that uses a charge-

coupled device (CCD) to measure the clarity of the image in six
regions of its field of view and use the information provided to
determine if the image is in focus. It also tracks the rate of change of
lens movement during focusing, and controls its speed to prevent
overshoot.

For washing machines, Fuzzy Logic control is almost becoming a

standard feature. fuzzy controllers to load-weight, fabric-mix, and
dirt sensors and automatically set the wash cycle for the best use of
power, water, and detergent.

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many complex problem, ill-defined processes difficult for

description and analysis by exact mathematical techniques
Tolerance of imprecision in return for tractability robustness, and
short computation time
FL mechanisms can result to higher accuracy and smoother control
as well.

FL manipulate a vague and uncertain information, and create

systems that are much closer in spirit to human thinking.
Fuzzy logic is a strong candidate for this purpose.
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FL differs from crisp logic in that it is multivalued.

Fuzzy deals with degrees of truth and degrees of membership.

FL is built on The Fuzzy Set Theory which was introduced to the

world by Lotfi Zadeh in 1965

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 Crisp sets vs. Fuzzy sets
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Boolean/Crisp set A is a mapping for the elements of S to the set

{0, 1}, i.e., A: S  {0, 1}
Characteristic function:

A(x) =
{ 1
0
if x is an element of set A
if x is not an element of set A
Fuzzy set F is a mapping for the elements of S to the interval [0, 1],
i.e., F: S  [0, 1]
membership function:
0  A(x)  1

1 means full membership, 0 means no membership and anything inbetween,

e.g., 0.5 is called graded membership
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 Crisp and Fuzzy example
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One can define the crisp set “circles” as:

The fuzzy set “circles can be defined as:

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 Basic operations on fuzzy sets
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 Fuzzy union operation or fuzzy OR

 A B ( x)  max( A ( x) ,  B ( x))

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 Basic operations on fuzzy sets
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 Fuzzy intersection operation or fuzzyAND

 A. B ( x)  min( A ( x) ,  B ( x))

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 Basic operations on fuzzy sets
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 Complement operation
 A ( x)  1   A ( x)

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 Fuzzy Linguistic variables
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 Examples of fuzzy measures include:

close, heavy, light, big, small, smart, fast, slow, hot,
cold,
Tall, Short, ....,
 Fuzzy sets and concepts are commonly used in natural language

John is tall
Dan is smart
Alex is happy
The class is hot

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 Fuzzy rules
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In 1973, Lotfi Zadeh published his second most influential paper.

This paper outlined a new approach to analysis of complex
systems, in which Zadeh suggested capturing human knowledge
in fuzzy rules.
Fuzzy rules are always written in the following form:

. For example, one could make up a rule that says:

if temperature is high and humidity is high then room is hot.
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 Fuzzy Inference System
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Important Inference systems:

Mamdani

Sugeno

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 Mamdani method
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The most commonly used fuzzy inference technique is the so-called

Mamdani method. In 1975, Professor Ebrahim Mamdani of
London University built one of the first fuzzy systems to control a
steam engine and boiler combination. He applied a set of fuzzy
rules supplied by experienced human operators.
The Mamdani-style fuzzy inference process is performed in four steps:

 fuzzification of the input variables

 rule evaluation
. aggregation of the rule outputs
 defuzzification.
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We examine a simple two-input one-output problem that
includes three rules:

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 Step 1: Fuzzification
The first step is to take the crisp inputs, x1 and y1
(project funding and project staffing), and determine
the degree to which these inputs belong to each of the
appropriate fuzzy sets. So that it is a Process which makes a
crisp
quantity fuzzy
Crisp Input Crisp Input
x1

1 1 B1 B2
A1 A2 A3 0.7
0.5
0.2 0.1
0 0
x1 X y1 Y
 (x = A1) = 0.5  (y = B1) = 0.1
 (x = A2) = 0.2  (y = B2) = 0.7

A1 =inadequate,A2=marginal,A3=adequate A(x=A3)=0.0
B1=small,B2=large
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 Step 2: Rule Evaluation
The second step is to take the fuzzified inputs,
m(x=A1) = 0.5, m(x=A2) = 0.2, m(y=B1) = 0.1 and m(y=B 2) =
0.7, and apply them to the antecedents of the fuzzy
rules. If a given fuzzy rule has multiple antecedents,
the fuzzy operator (AND or OR) is used to obtain a
single number that represents the result of the
antecedent evaluation. This number (the truth value)
is then applied to the consequent membership
function.

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To evaluate the disjunction of the rule antecedents,
we use the OR fuzzy operation. Typically, fuzzy
expert systems make use of the classical fuzzy
operation union:
AB(x) = max [A(x), B(x)]

Similarly, in order to evaluate the conjunction of the

rule antecedents, we apply the AND fuzzy operation
intersection:
AB(x) = min [A(x), B(x)]

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 Mamdani-style rule evaluation
1 1 1
A3 B1 C1 C2 C3
0.1 OR 0.1
0.0
(max)
0 x1 X 0 y1 Y 0 Z
Rule 1: IF x is A3 (0.0) OR y is B1 (0.1) THEN z is C1 (0.1)
1 1 1
0.7
C1 C2 C3
A2 0.2 B2 AND 0.2
(min)
0 x1 X 0 y1 Y 0 Z
Rule 2: IF x is A2 (0.2) AND y is B2 (0.7) THEN z is C2 (0.2)
1 1
A1 0.5 0.5 C1 C2 C3

0 x1 X 0 Z
Rule 3: IF x is A1 (0.5) THEN z is C3 (0.5)

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 Now the result of the antecedent evaluation can be
applied to the membership function of the
consequent.
 The most common method of correlating the rule
consequent with the truth value of the rule
antecedent is to cut the consequent membership
function at the level of the antecedent truth. This
method is called clipping. Since the top of the
membership function is sliced, the clipped fuzzy set
loses some information. However, clipping is still
often preferred because it involves less complex and
faster mathematics, and generates an aggregated
output surface that is easier to defuzzify.
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 While clipping is a frequently used method, scaling
offers a better approach for preserving the original
shape of the fuzzy set. The original membership
function of the rule consequent is adjusted by
multiplying all its membership degrees by the truth
value of the rule antecedent. This method, which
generally loses less information, can be very useful in
fuzzy expert systems.

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 Clipped and scaled membership functions

Degree of Degree of
Membership Membership
1.0 1.0

C2 C2

0.2 0.2

0.0 0.0
Z Z

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 Step 3: Aggregation of the rule outputs
Aggregation is the process of unification of the
outputs of all rules. We take the membership
functions of all rule consequents previously clipped or
scaled and combine them into a single fuzzy set.
The input of the aggregation process is the list of
clipped or scaled consequent membership functions,
and the output is one fuzzy set for each output
variable.

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 Aggregation of the rule outputs

1 1 1
C1 C2 C3
0.5 0.5
0.2 0.2
0.1 0.1
0 Z 0 Z 0 Z 0 Z

z is C1 (0.1) z is C2 (0.2) z is C3 (0.5) 

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 Step 4: Defuzzification
The last step in the fuzzy inference process is
defuzzification. Fuzziness helps us to evaluate the
rules, but the final output of a fuzzy system has to be
a crisp number. The input for the defuzzification
process is the aggregate output fuzzy set and the
output is a single number.

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 There are several defuzzification methods, but
probably the most popular one is the
centroid technique. It finds the
point where a vertical line
would slice the aggregate set into two equal masses.
Mathematically this centre of gravity (COG) can
be expressed as:
b
A x x dx
a
COG  b
A x dx
a
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 Centroid defuzzification method finds a point

representing the centre of gravity of the fuzzy set, A,

on the interval, ab.
 A reasonable estimate can be obtained by calculating
it over a sample of
points.1.0
0.8
0.6 A
0.4
0.2
a b
0.0 X
150 160 170 180 190 200 210
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 Centre of gravity (COG):
(0  10  20)  0.1  (30  40  50  60)  0.2  (70  80  90  100 )  0.5
COG   67.4
0 .1  0.1  0.1  0.2  0 .2  0.2  0.2  0 .5  0 .5  0 .5  0.5

Degree of
Membership
1.0
0.8
0.6
0.4
0.2
0.0
0 10 20 30 40 50 60 70 80 90 100
67.4 Z

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 Sugeno fuzzy inference
 Mamdani-style inference, as we have just seen,
requires us to find the centroid of a two-dimensional
shape by integrating across a continuously varying
function. In general, this process is not
computationally efficient.
 Michio Sugeno suggested to use a single spike, a
singleton, as the membership function of the rule
consequent. A singleton,, or more precisely a fuzzy
singleton, is a fuzzy set with a membership
function that is unity at a single particular point on
the universe of discourse and zero everywhere else.
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Sugeno-style fuzzy inference is very similar to the
Mamdani method. Sugeno changed only a rule
consequent. Instead of a fuzzy set, he used a
mathematical function of the input variable. The format
of the Sugeno-style fuzzy rule is
IF x is A
AND y is B
THEN z is f (x, y)
where x, y and z are linguistic variables; A and B are
fuzzy sets on universe of discourses X and Y,
respectively; and f (x, y) is a mathematical function.

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 The most commonly used zero-order Sugeno fuzzy
model applies fuzzy rules in the following form:

IF x is A
AND y is B
THEN z is k
where k is a constant.
In this case, the output of each fuzzy rule is constant.
All consequent membership functions are represented
by singleton spikes.

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 Sugeno-style rule evaluation
1 1 1
A3 B1
0.1 OR 0.1
0.0
(max)
0 x1 X 0 y1 Y 0 k1 Z

Rule 1: IF x is A3 (0.0) OR y is B1 (0.1) THEN z is k1 (0.1)

1 1 1
0.7
A2 0.2 B2 AND 0.2
(min)
0 x1 X 0 y1 Y 0 k2 Z
Rule 2: IF x is A2 (0.2) AND y is B2 (0.7) THEN z is k2 (0.2)
1 1
A1 0.5 0.5

0 x1 X 0 k3 Z
Rule 3: IF x is A1 (0.5) THEN z is k3 (0.5)

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 Sugeno-style aggregation of the rule outputs

1 1 1 1
0.5 0.5
0.2
0.1 0.2 0.1
0 k1 Z 0 k2 Z 0 k3 Z 0 k1 k2 k3 Z

z is k1 (0.1) z is k2 (0.2) z is k3 (0.5) 

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 Weighted average (WA):

(k1)  k1  ( k 2)  k 2  (k 3)  k 3 0.1 20  0.2  50  0.5  80

WA   65
( k1)  ( k 2)  ( k3) 0.1  0.2  0.5

Sugeno-style defuzzification

0 z1 Z

Crisp Output
z1

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 How to make a decision on which method
to apply – Mamdani or Sugeno?
 Mamdani method is widely accepted for capturing
expert knowledge. It allows us to describe the
expertise in more intuitive, more human-like
manner. However, Mamdani-type fuzzy inference
entails a substantial computational burden.
 On the other hand, Sugeno method is computationally
effective and works well with optimisation and
adaptive techniques, which makes it very attractive in
control problems, particularly for dynamic nonlinear
systems.
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 Fuzzy system components
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Fuzzy control is considered to be the most successful area of

application of the fuzzy set theory and fuzzy logic

Fuzzy controllers revolutionized the field of control engineering by

their ability to perform process control by the utilization of human
knowledge

solutions to control problems for which mathematical models may

not exist, or may be too difficult or computationally too expensive to
construct.
.

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 Fuzzy system components

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 Basic structure of a fuzzy controller

fuzzy controller consists of three main steps:

• signal conditioning and the input filter
• the fuzzy system
• signal conditioning and the output filter.
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 Example of a fuzzy control system
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. portal-type loading crane

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