Chapter 11

Fuzzy Control
Theory
• 1 Reference
• 2 Introduction
• 3 Fuzzy sets
• 4 Universe
• 5 Membership function
• 6 Singletons
• 7 Linguistic variables
• 8 Tank level example
• 9 Operations on fuzzy sets
• 10 Fuzzy logic
Chapter 1.1

References
1. Zi-Xing Cai. Intelligent Control: Principles,Techniques and Applica
tions. World Scientific, Singapore: 1997
2. Panos J. Antsaklis and Kevin M. Passino. An Introduction to Intelli
gent and Autonomous Control. Available:
http://www.nd.edu/~pantsakl/book1/Download/downloadpage.htm
3. Neural Networks, Available:
http://www.willamette.edu/~gorr/classes/cs449/intro.html
4. Fuzzy Logic, Available: http://www.control.hut.fi/Kurssit/AS-74.11
5/Material/
5. Martin T. Haguan 等著，戴葵等译 . 神经网络设计 . 机械工业出
版社，北京： 2002.9
6. 何玉彬 李新忠著 . 神经网络控制技术及其应用 . 科学出版社，
北京： 2000.11
7. 孙增圻等 . 智能控制理论与技术 . 清华大学出版社 , 广西科学
技术出版社 , 北京： 1997.4
Chapter 1.2

Introduction
 Why Use Fuzzy Logic?
• Fuzzy logic is conceptually easy to understand.
• Fuzzy logic is flexible.
• Fuzzy logic is tolerant of imprecise data.
• Fuzzy logic can model nonlinear functions of arb
itrary complexity.
• Fuzzy logic can be built on top of the experience
of experts.
• Fuzzy logic can be blended with conventional co
ntrol techniques. （ PID ）
• Fuzzy logic is based on natural language.
 About PID
• PI?PD?PID?
• Model(Multi-Parameter?) basalt( 玄武
岩)
• BW ， Orders ， Linear ， non-linear
(G(s)?) ， impedance(Topology)
• =>Topology ， Modulation(PWM ， P
FM ， PAM...),Control
In order to increase control performance, the
complexity of the control systems has to b
e increased too. As a result, the reliability
of the control would be decreased.
为了克服传统控制理论的局限性，产生了模
拟人类思维和活动的智能控制。
Advancement
Intelligent c
ontrol
Learning co
ntrol
Adaptive and r
obust control
Stochastic con
trol
Optimal contr
ol
Feedback con
trol
Open-loop con
trol Sophistication in Control
• The objective is to cont
rol the valve V1, such t
hat the tank is refilled w
hen the level is as low
as LL, and stop the refil
ling when the level is a
s high as LH.
The sensor LL is 1 when the level is above the mark, and 0
when the level is below; likewise with the sensor LH. The val
ve opens when V1 is set to 1, and it closes when V1 is set to
0. In two-valued (Boolean) logic the controller can be describ
ed:

1 if LL switches from 1 to 0 Suitabl

V1   e for P

0 if LH switches from 0 to 1 LC

An operator, whose responsibility is to open and close the val

ve, would perhaps describe the control strategy as:

If the Level is low then open V1 Suitable for a

fuzzy logic co
If the Level is high then close V1 ntroller
Fuzzy Set: 1965 … Fuzzy Logic: 1973 E.H.M
AMDANI … BISC: 1990 Takagi… Human-Ma
chine Perception: 2000
http://www.cs.berkeley.edu/~zadeh/

Lotfi Zadeh, the father of fuzzy logic, clai

med that many sets in the world that surr
ounds us are defined by a non-distinct bo
undary. Indeed, the set of high mountains,
or, the set of low level of measurements

Zadeh [0,1]
{0,1}

introducing a gradual transition from falsehood to truth.

Chapter 1.3

Fuzzy sets
 The terms set, collection and class are synonyms.

• Conventional Sets

A={0, 1, 2, 3} a finite set

x>10 a infinite set
• Fuzzy Sets
Example 1:
The set of young people
Example 2:
A weather report regarding high temperatures, strong
winds, or nice days.
标准
In other cases a criterion appears nonfuzzy, but is pe
rceived as fuzzy: a speed limit of 60 kilometers per
hour, a check-out time at 12 noon in a hotel, a 50 y
ears old man.
Zadeh proposed a grade of membership, such that th
e transition from membership to non-membership i
s gradual rather than abrupt.
脆的 , 易碎的 进退两难的局面 , 困难的选择
Chapter 1.4

Universe
• Elements of a fuzzy set are taken from a universe
of discourse , or universe for short. The universe
contains all elements that can come into consider
ation. Even the universe depends on the context,
as the next example shows.
Chapter 1.5

Membership functio
n
 Every element in the universe of discourse is a memb
er of the fuzzy set to some grade, maybe even zero.
The set of elements that have a non-zero membershi
p is called the support of the fuzzy set. The function t
hat ties a number to each element x of the universe is
called the membership function μ(x).

Continuous and Discrete Representation

Difference of two sigmoid; Two-sided Gaussian curve; Gaussian curve; Generalized bell
curve ;Pi-shaped curve membership function. Product of two sigmoidal ; smfS-shaped c
urve . Sigmoid curve. Trapezoidal; Triangular; Z-shaped curve
 Calculation S, Z
• function [s,z]=cal_sz(xl,xr)
• x=0:1:100;
• s=x;
• z=x;
• pai=x;

• for i=0:100,
• if i<=xl
• s(i+1)=0;
• z(i+1)=1;
• elseif i>=xr
• s(i+1)=1;
• z(i+1)=0;
• else
• s(i+1)=0.5+0.5*cos((i-xr)*pi/(xr-xl));
• z(i+1)=0.5+0.5*cos((i-xl)*pi/(xr-xl));
• end;
• end;
 Display S, Z, 
• x=0:1:100;
• temp=x;
• [s,temp]=cal_sz(10,90);
• [temp,z]=cal_sz(10,50);

• for i=0:100,
• pai(i+1)=min(s(i+1),z(i+1));
• end;

• plot(x,s,'*',x,z,'H',x,pai,'.')
S(10,90,x)
S(10,90,x), Z(100,100,x), (10,90,1
00,100,x)
S(10,90,x), Z(10,50,x), (10,90,10,
100,x)
Normalization: A fuzzy set is normalized if its largest membership
value equals 1. You normalize by dividing each membership value
by the largest membership in the set, a/max(a)
Chapter 1.6

Singletons
Chapter 1.7

Linguistic variables
Chapter 1.8

Tank level example

Chapter 1.9

Operations on fuz
zy sets
Set operations
Modifiers

或多或少
涉及 Relations Between Sets

笛卡尔
正交
Multiplication->intersection; summation -> union
 *Set

0.8*0.5+0.9*0.6 (0.8∩0.5)∪(0.9∩0.6)

0.5∪0.6 0.6
Chapter 1.10

Fuzzy logic
命题
推理
Connectives