ADAPTIVE FUZZY OUTPUT TRACKING CONTROL OF MIMO NONLINEAR

UNCERTAIN SYSTEMS
Document By
SANTOSH BHARADWAJ REDDY
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Abstract - A fuzzy logic controller equipped Engineering, National Institute of Technology Calicut, Kerala,
India.
with adaptive algorithm is proposed in this work
Fuzzy control methodology gives a promising way
to achieve tracking performance for a class of
to deal with the control problems of nonlinear
uncertain nonlinear single-input single-output
systems containing highly uncertain nonlinear
(SISO) systems. The extension of this method
functions. It has been shown that fuzzy logic
for a class of uncertain multiple-input-multiple-
systems can be used to approximate any
output (MIMO) nonlinear systems are suggested
nonlinear function over a compact region [4],
as the next stage. Simulation examples are given
based on this observation, many systematic fuzzy
finally to illustrate the performance of the
controller design methods have been developed to
proposed method (for the case of SISO systems
solve output tracking control problems for SISO
results are provided).
systems with unknown non linearties as well as to
I. Introduction
MIMO systems.
Fuzzy theory has recently found extensive
Adaptive fuzzy control system has been
application for a wide variety of industrial systems
developed to incorporate the expert information
and consumer products and has attracted the
systematically and the stability is guaranteed by
attention of many control researchers due to its
theoretical analyses [4], and [5]. An adaptive fuzzy
model free approach. The fuzzy control systems
system is a fuzzy logic system equipped with a
attempt to make use of the knowledge from the
training algorithm, in which the fuzzy logic system
human experts. The expert information is generally
is constructed from a collection of fuzzy IF-THEN
represented using fuzzy terms, e.g., small, large, not
rules, and the training algorithm adjusts the
very large, etc., for convenience or lack of more
parameters of the fuzzy logic system according to
precise knowledge, ease of communication, and so
input-output data. Conceptually, adaptive fuzzy
on [1-3].
systems combine linguistic information from
experts with numerical information from sensors.
* Subba Rao Puvvadi is with Department of Electrical
Engineering, NIT Calicut, India (e-mail: puvvadi290@gmail.com) Linguistic information can be directly incorporated,
**Dr. Abraham T Mathew is with the Department of Electrical since fuzzy logic systems are constructed from
Engineering, NIT Calicut, India (e-mail: atm@nitc.ac.in) This work
fuzzy IF-THEN rules.
was supported in part by the Department of Electrical

1
 Stable adaptive fuzzy control schemes have
been introduced for SISO nonlinear systems. After
this the corresponding adaptive fuzzy control
scheme is extended to MIMO nonlinear systems.
The basic idea of this approach is to use the fuzzy
logic systems to approximate the unknown nonlinear
functions in systems and the adaptive controller is
designed by using Lyapunov stability theory [6] and
[7].
To avoid the problem of matching error
condition, the backstepping design technique is
used to design the adaptive fuzzy system. With the
backstepping design technique, fuzzy systems were
mostly applied to approximate the unmatched and
unknown nonlinearities, and then implement
adaptive control using the conventional control
technology [8]. This backstepping technique is used
in designing the control algorithm for the case of
MIMO system.
For MIMO nonlinear systems, the control
problem is very complicated due to the couplings
among various inputs and outputs [9]. It becomes, in
general very difficult to deal with the control design
due to the presence of uncertain parameters and
unknown nonlinear functions in the input-output
coupling matrix. It has been noticed that in
comparison with the vast amount of results on
controller design for SISO nonlinear systems in the
control literature, there are relatively fewer results
available for the class of MIMO nonlinear systems.
Based on feedback linearization, several adaptive
control schemes have been proposed for certain
classes of MIMO nonlinear systems. One method
has been adopted and the investigation is in
progress.
2
The paper is organized as follows the
formulation of problem is given in section II. Fuzzy
logic systems are briefly discussed in section III
and adaptive fuzzy tracking control for the case of
SISO system given in the section IV. Then
simulation example is provided in section V for
illustration.
II. Problem Formulation
Consider the following nth order SISO system
( ) ( )
x ( n ) = f x, x ,......... .x ( n −1) + g x, x ,......... .x ( n −1) u
y =x
(1)
where f and g are unknown but bounded
continuous functions and u∈ R and y∈ R are the
scalar input and scalar output of the system
respectively. Let x = ( x, x ,.... x ( n −1) ) T ∈R n be
the state vector of the system, which is assumed
to be completely available for measurement using
appropriate transducers. For the system of Eq. (1)
to be controllable, we require that g ( x ) ≠ 0 for
an x in certain controllable region in the state
space.
The control objective is to force y to follow
a given bounded reference signal ym, and θ is the
parameter of the system. Let us denote the output
tracking error e and the parameter tracking error
~
θ
e = ym − y
~ (2)
θ = θ −θ *
for some parameter estimate θ of a system and
optimal parameter estimate θ ∗ of fuzzy logic
system. Then our design objective is to impose an
adaptive fuzzy control algorithm so that following
asymptotically stable tracking
 e ( n ) + k1e ( n −1) + .......... .... + k n e = 0 (3) compositional rule of inference. The fuzzufier

is achieved. Indirect adaptive fuzzy control algorithm maps a crisp point x = ( x, x ,....., x ( n −1) ) T into
employed to control the nonlinear SISO system in a fuzzy set in U. The defuzzifier maps a fuzzy set
Eq (1) and the algorithm is given in the chapter IV. in U to a crisp point in V.
The fuzzy logic systems with center
III. Description of fuzzy logic system average defuzzifier, product inference and
As it is mentioned the fuzzy logic systems are singleton fuzzufier in the following form

∑y ( ∏ )
universal approximations [4] from the viewpoint of M
n
human experts and can approximate nonlinear
l
i =1
µF ( xi ) l
i
y( x ) = l =1

∑( ∏ )
M (5)
continuous functions. The fuzzy logic systems in Fig. n
i =1
µF ( xi )
l
1 qualified as building blocks of adaptive controllers l =1
i

for nonlinear systems. Furthermore the fuzzy logic

where yl is the point at which µG achieves its
l

systems are constructed from the fuzzy IF-THEN

maximum value, and we assume that
rules using some specific inference, fuzzification,
and defuzzification strategies. Therefore, linguistic µG l ( y l ) = 1. µFi j ( xi ) is the membership of the
information from human experts can be directly
variable xi.
incorporated into controllers.
Eq. (5) can be written as
y( x ) = θ T ξ ( x ) (6)

θ = ( y 1 ,........, y M )
T
where is a parameter

vector, and ξ ( x ) = (ξ1 ( x ),......., ξ M ( x )) T is

a regressive vector with the regressor ξ l (x )

Fig. 1. The basic configuration of fuzzy logic system
defined as
The basic fuzzy logic system is shown in

∏
n
Fig. 1. The fuzzy logic system performs a mapping
i =1
µ F ( xi ) l
ξ (x) =
l i

∑( ∏ )
from U∈R to V∈R. The fuzzy rule base consists of a M
n
collection of fuzzy IF-THEN rules [3] i =1
µ F ( xi ) l
i
l =1
R (l) : IF x1 is F1j, and...and, xn is Fnj, THEN y is Gj (4)
(7)
where x = ( x, x ,......... .x ( n −1) ) T ∈U and y∈V Two main reasons arise for using the fuzzy logic
are the input and output of the fuzzy logic system system by Eq. (7) as basic building block of
j j
respectively, and V is the crisp set. Fi and G are adaptive fuzzy controllers. First, the fuzzy logic
labels of fuzzy sets Ui and y, respectively, and i=1, systems in the form of Eq. (7) are proven to be
….M, V is the crisp set of output variable y. The universal approximaters, i.e., for any given real
fuzzy inference engine performs a mapping from continuous function f on the compact set U, there
fuzzy sets in U to fuzzy sets in R, based upon the exists a fuzzy logic system in the form of Eq. (7)
fuzzy IF-THEN rules in the fuzzy rule base and the

3
such that it can uniformly approximate f over U to
arbitrary accuracy. Second, the fuzzy logic systems
of Eq. (7) form are constructed from the fuzzy IF-
THEN rules of Eq. (4) using some specific fuzzy
inference, fuzzification, and defuzzification
strategies. Therefore, linguistic information from a
human expert can be directly incorporated into the
controllers.
IV. Adaptive Fuzzy Controller For A SISO System
Adaptive control is a useful approach in maintaining
the consistent performance of a system in the
presence of the uncertainties [10]. An adaptive fuzzy
system is a fuzzy logic system equipped with an
adaptive algorithm to maintain a consistent
performance under plant uncertainties. The most
important advantage of adaptive fuzzy control over
conventional adaptive control is that adaptive fuzzy
controllers are capable of incorporating linguistic
fuzzy information from human operators, whereas
conventional adaptive controllers are not [10]. This is
especially important for those systems with a high
degree of uncertainty. For examples, in chemical
processes and in aircraft industry, they are difficult to
control from a control theory point of view and are
often successfully controlled by human operators.
However, human operators successfully control
such complex systems without a mathematical
model in their mind but only according to a few
control rules in fuzzy terms and some linguistic
descriptions regarding the behavior of the system
under various conditions, which are, of course, in
fuzzy terms. They provide very important information
about how to control the system and how the system
behaves. Adaptive fuzzy control provides a tool for
making use of the fuzzy information in a systematic
and efficient manner for certain control systems.
4
Conventional adaptive controllers are of
two types i.e. direct and indirect adaptive
controllers in the similar way the adaptive fuzzy
control is also divided into two categories as direct
and indirect adaptive fuzzy control. An adaptive
fuzzy controller, which uses fuzzy logic systems as
controllers, is a direct adaptive fuzzy controller. A
direct adaptive fuzzy controller can incorporate
fuzzy control rule directly into itself. An adaptive
fuzzy controller, which uses fuzzy logic systems as
a model of the plant, is an indirect adaptive fuzzy
controller. An indirect adaptive fuzzy controller can
directly incorporate fuzzy descriptions about the
plant (in terms of fuzzy IF-THEN rules) into itself
[5]. Indirect adaptive fuzzy control algorithms are
tried in this work to facilitate the control of
uncertain nonlinear system of Eq. (1) to achieve
the desired tracking performance. The design
procedure as given below.
If g ( x ) is known in Eq. (1), the direct
adaptive fuzzy control has attempted to directly
approximate the following control law
1
u = [ − f ( x ) + y m( n ) + k T e ] (8)
g(x)
with this control law we can achieve the following
error dynamics of the system similarly as Eq. (3)
e ( n ) + k1e ( n −1) + .............. + k n e = 0
the results in Eq. (8) and Eq. (3) are possible only
while f ( x ) and g ( x ) in nonlinear system Eq.
(1) are well known. However f ( x ) and g (x )
are unknown in our problem. Obtaining a control
algorithm similar to Eq. (8) is impossible. In this
situation approximation by fuzzy logic systems in
section III is employed to treat this tracking control
design problem. We replace
(8) by the fuzzy logic systems
ˆ ( x θg ) as Eq. (6) i.e.,
g
fˆ ( x θ f ) = θ f ξ ( x ) = ξ T ( x )θ f
T
f (x ) and g (x ) in Eq. since Λc is a stable matrix, we know that there
exists a unique positive definite symmetric matrix
fˆ ( x θf ) and
n × n matrix P which satisfies [12]
ΛTc P + PΛc = −Q (15)
(9) Our design objective involves specifying

fˆ ( x θ f ) = θ f ξ ( x ) = ξ T ( x )θ f the control u and adaptive laws θf and θg

T
(10) , so
that output tracking performance is achieved.
where ξ( x ) is a vector of fuzzy bases, θf and
First, let us define the optimal parameter estimates
θg are corresponding parameters of fuzzy
θf* and θg* as follows:
systems. Consequently the following controller is
obtained θ f ∗ = arg min θ [sup x∈Ωx fˆ ( x / θ f ) − f ( x ) ]
f ∈Ω f

u=
1
gˆ ( x θ g )
[
− fˆ ( x θ f ) + y m
( n)
+kT e ] (11)
(16)

θg ∗ = arg min θg∈Ωg [sup x∈Ωx gˆ ( x / θg ) − g ( x ) ]

applying Eq. (11) to Eq. (1), after some
manipulations, we obtain the tracking error dynamic (17)
equation as where Ωf , Ωg ,and Ωx denote sets of
e ( n ) = −k T e +[ fˆ ( x / θ f ) − f ( x )] +[ gˆ ( x / θg ) − g ( x )] u
suitable bounds on θf , θg and x respectively.
(12) We assume that the parameters never exceed
or equivalently their bounds. Then the tracking error Eq. (13) will
ˆ
e = Λc e + bc [( f ( x / θ f ) − f ( x )) + ( gˆ ( x / θ g ) − g ( x ))become
u]

(13) e = Λce + bc [( fˆ ( x / θ f ) − fˆ ( x / θ f* )) + ( gˆ ( x / θg ) − gˆ ( x / θg* )) u

where (18)
 0 1 0 0 .. .. 0 0  From Eq. (9) and Eq. (10), Eq. (18) can be written
 0 0 1 0 .. .. 0 0 
  as
Λc =  .. .. .. .. .. .. .. ..  ~ ~
  e = Λc e +bc [ξ T ( x )θ f +ξ T ( x )θg u ] (19)
 0 0 0 0 .. .. 0 1  ~ ~

− k n − k n −1 .. .. .. .. .. − k1 
 where θ f = θ f −θ f* and θ g = θ g −θg* . And the

0 above system to be stable the Lyapunov function

..  V to be positive definite and its derivative should
 
bc = ..  (14) be a negative definite, let the Lyapunov function
 
..  be chosen as

1  1 T 1 ~T ~ 1 ~T ~
V = e Pe + θf θf + θg θg (20)
2 2γ 1 2γ 2

5
For this Lyapunov function to be positive definite and
its derivate to be negative definite the adaptive laws
chosen as

θ f = −γ 1ξ ( x )bc T Pe (21)

θ g = −γ 2ξ ( x )bc T Pe u (22)

Summarizing all the above points to implement an

indirect adaptive fuzzy control for a given SISO
system the following design procedure has to be Fig. 2. Inverted pendulum system
followed Consider the inverted pendulum system
as in Fig. 2. The dynamic equations of the inverted
Design procedure: pendulum system are [5]
Step 1: Select membership functions µi (x ) for x1 = θ
i =1,2,…..M and compute the fuzzy basis x1 = x2 ,
functions ξ( x ) as in Eq. (7).  mlx22 cos x1 sin x1   4 m cos 2 x1 
x 2 =  g sin x1 −  l ( − )
Step 2: Select matrix Q, γ and r.  mc + m   3 mc + m 
Step 3: Specify the coefficients ki, i = 1,2,..,n.  cos x1   4 m cos 2 x1 
+  l ( − ) u + d
Step 4: Solve the equation Eq. (15) to get matrix P.
 mc + m   3 mc + m 
Step 5:Compute the indirect adaptive fuzzy control y = x1
law as
(23)
u=
1
gˆ ( x θ g )
[− fˆ ( x θ f ) + y m
(n)
+ kT e ] where g=9.8m/s2 is the acceleration due to gravity,
mc is the mass of the cart, m is the mass of the
and the adaptive laws are implemented as in Eq.
pole, l is the half-length of the pole, u is the
(21)and Eq. (22).
applied force. The reference signal assumed to be
V. Simulation Example
a sinusoidal signal with amplitude as 1. Also we
For illustrating the above-mentioned method the
assume that mc = 10kg, m = 1kg, l =3m.the
control problem of inverted pendulum has been
external disturbance d is assumed to be a square
taken as an example.
wave of amplitude ± 0.05 and the period 2π .
The system is simulated without
considering a controller, and also by making the
system as linear taking the x1 as very small value.
The result is given in Fig. 3. A fuzzy controller is
implemented to track the output of the system and
the result is shown in Fig.4. Then an adaptive
fuzzy controller designed for this inverted

6
pendulum following the below steps and the result is
shown in Fig. 5.
Step 1:Selected the membership functions µi (x )
for i =1,2 and computed the fuzzy basis
functions ξ( x ) as in Eq. (7). Here
membership functions taken as
Gaussian membership functions.
Step 2:Selected Q as 10 I 2×1 ,γ 1=0.1, γ 2=0.01
and r=0.08.
Step 3: Coefficients selected as k1=2 and k2=1.
Step 4: Eq. (15) has solved for getting the matrix P.
Step 5:Computed the direct adaptive fuzzy control
law as in Eq. (11) and the adaptive control
laws as in Eq. (21) and Eq. (22).
Fig. 3. Output of the inverted pendulum system
without any controller
Fig. 4. Output of the inverted pendulum system with
fuzzy controller
the
Fig. 5. Output of the inverted pendulum system
with adaptive fuzzy controller
First the system is simulated with out any
controller the output (Fig. 3) of this system is not
following the input, and then the system is made
linear by approximating the x1 as very small
quantity simulated the system by using the fuzzy
controller and the result (Fig. 4) shows that the
output tracking the input. But in this case if we
apply input with combining two waves it is not
following the input. The system is simulated with
the adaptive fuzzy controller in the loop. The result
(Fig. 5) shows that the output following the input
almost without any disturbance and if we apply
even a disturbance in the system output is tracking
the input. Even if we give the input as combination
of the waves the output is seen tracking the given
input.
The adaptive fuzzy control algorithm is
applied to the MIMO system and the simulation of
the system will be done in the next stage of work.
Conclusion
Adaptive fuzzy tracking control method for
the case of SISO system has been presented and
also the method was applied to the inverted
pendulum by considering it as a nonlinear system.
The results of the inverted pendulum for two cases
linear and nonlinear model are shown. The
unknown nonlinear functions were approximated
using fuzzy logic and result shows that output is
7
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adaptive fuzzy control method to MIMO system is systems and application to chemical
the future work pending. processes,” Automatica, vol. 40, no. 3, pp.
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