Based on intuition and judgment No need for a mathematical model Provides a smooth transition between members and nonmembers

rs Relatively simple, fast and adaptive Less sensitive to system fluctuations Can implement design objectives, difficult to express mathematically, in linguistic or descriptive rules.

Applications Domain
Fuzzy Logic Fuzzy Control
Neuro-Fuzzy System Intelligent Control Hybrid Control

Some Interesting Applications

Ride smoothness control Camcorder auto-focus and jiggle control Braking systems Copier quality control Rice cooker temperature control High performance drives Air-conditioning systems

Fuzzy Pattern Recognition Fuzzy Modeling

Conventional or crisp sets are binary. An element either belongs to the set or doesn't. {True, false} {1, 0}

B =1 C =1

Crisp Set/Subset A =0 A =1
Subset A Subset B

Universe (X)
Subset C

Fuzzy Indicators
Examples of fuzzy measures include close, heavy, light, big, small, smart, fast, slow, hot, cold, tall and short.
Can you distinguish between American and French person? Some Rules:
If If If If If If speaks English then American speaks French then French loves perfume then French loves outdoors then American good cook then French plays baseball then American

e.g. On a scale of one to 10, how good was the dive?

10

9 9.5

Fuzzy Indicators
Rules may give contradictory indicators {good cook, loves outdoors, speaks French} The right answer is a question of a degree of association Fuzzy logic resolves these conflicting indicators
Membership of the person in the French set is 0.9 Membership of the person in the American set is 0.1

Fuzzy Probability Probability deals with uncertainty and likelihood Fuzzy logic deals with ambiguity and vagueness

Fuzzy Probability Example #1

Billy has ten toes. The probability Billy has nine toes is zero. The fuzzy membership of Billy in the set of people with nine toes, however, is nonzero.
(cite: Professor Marks)

Example #2
A bottle of liquid has a probability of of being rat poison and of being pure water. A second bottles contents, in the fuzzy set of liquids containing lots of rat poison, is . The meaning of for the two bottles clearly differs significantly and would impact your choice should you be dying of thirst. 50% probability means 50% chance that the water is clean. 50% fuzzy membership means that the water has poison.
(cite: Bezdek)

#1

#2

 Crisp membership functions () are either one or zero. e.g. Numbers greater than 10.
A ={x | x>10} 1 x 10

The set, B, of numbers near to 2 can be represented by a membership function

B(x)

A(x)

B ( x) = e | x 2|
0 1 2 3

Fuzzy Sets
A fuzzy set, A, is said to be a subset of B if

A ( x) B ( x)
e.g. B = far and A=very far. For example...
2 A ( x) = B ( x)
Tall Tall or Short? Short

Very Tall

Fuzzy Measures

7 Tall 6 Medium 5 4 Very Short Short

Very Short 1.0

Membership Function
Short Medium Tall Very Tall

= [vs , s , m , t , vt ]


Very Short 1.0

Membership Function
Short Medium Tall Very Tall

Fuzzy Logic Operations

Fuzzy union operation or fuzzy OR

4 Short

6 Medium Tall

= [0, 1, 0, 0, 0] = [0, 0, 0.5, 0.5, 0]

A+ B ( x) = max [ A ( x), B ( x)]

Fuzzy Logic Operations

Fuzzy intersection operation or fuzzy AND

Fuzzy Logic Operations

Complement operation

AB ( x) = min [ A ( x ), B ( x)]

A ( x) = 1 A ( x)

AB ( x) = min [ A ( x ), B ( x)]

Fuzzy Logic Operations

Fuzzy union operation or fuzzy OR
1

A(x)

B(x)

A+ B ( x) = max [ A ( x), B ( x)]

0 1 2 3

Fuzzy intersection operation or fuzzy AND

AB ( x) = min [ A ( x ), B ( x)]
Complement operation

AB(x)

A ( x) = 1 A ( x)
0 1 2 3

 A+ B ( x) = max [ A ( x), B ( x)]

A(x)
1

B(x)

A+B (x)

Fuzzifier converts a crisp input into a fuzzy variable. Definition of the membership functions must
reflects the designer's knowledge provides smooth transition between member and nonmembers of a fuzzy set simple to calculate

Typical shapes of the membership function are Gaussian, trapezoidal and triangular.

Assume we want to evaluate the health of a person based on his height and weight. The input variables are the crisp numbers of the persons height and weight. Fuzzification is a process by which the numbers are changes into linguistic words

Very Short 1.0

Fuzzification of Height
Short Medium Tall Very Tall

Very slim 1.0

Fuzzification of Weight
Slim Medium Heavy Very heavy

4 VS = very short S = Short M = Medium etc.

150lb VS = very slim S = Slim M = Medium etc.

200lb

250lb

300lb

Rules reflect experts decisions. Rules are tabulated as fuzzy words Rules can be grouped in subsets Rules can be redundant Rules can be adjusted to match desired results

Rules are tabulated as fuzzy words

Healthy (H) Somewhat healthy (SH) Less Healthy (LH) Unhealthy (U)

Rule function f

f = {U , LH , SH , H }

f
Height
Very Short Short Medium Tall

Weight
Very Slim Slim Medium Heavy Very Heavy

H SH LH U U

SH H H SH LH

LH SH H H H

U LH LH SH SH

U U U U LH

f = {U , LH , SH , H }

Very Tall

Membership of Height
For a given person, compute the membership of his/her weight and height Example:
Assume that a person height is 6 1 Assume that the persons weight is 140 lb

Very Short 0.7 0.3 4 5 6 7 Short Medium Tall Very Tall

height = {VS S M T VT} height = {0 0 0.7 0.3 0}

Membership of Weight

Very Slim 0.8 Slim Medium Heavy Very Heavy

Weight
Very Slim Slim Medium Heavy Very Heavy Very Short Short Medium Tall Very Tall

Height

H SH LH U U

SH H H SH LH

LH SH H H H

U LH LH SH SH

U U U U LH

0.2 150 lb 200 lb 250 lb 300 lb

Weight = {VS S M H VH} Weight = {0.8 0.2 0 0 0}

Weight 0.8 0.2

SH H H SH LH
Medium Heavy Very Heavy

Weight 0.8 0.2

0 0
Medium (0) Heavy (0) V.Heavy (0) V. Short (0) Short (0)

Height

Short

SH LH U U

SH H H H

LH LH SH SH

U U U LH

Height

Very Short

LH

0 0

0 0 0 0 0

0 0 0 0 0

0 0 0 0 0

0.7 0.3
Very Tall

0.7 0.3
V. Tall (0)

0.7 0.3
0

0.2 0.2
0

f
Weight 0.8
V. Short (0) Short (0)

Weight
0.2
0 0
Very Short Short

0.7
0.2
SH H H SH LH H

0.8
SH LH U U

0 0

0.7 0.3
V. Tall (0)

0.7 0.3
0

0.2 0.2
0

0.7 0.3
Very Tall

0.3 0.2

f = {U , LH , SH , H } f = { 0.3, 0.7, 0.2, 0.2}

f = {U , LH , SH , H } f = { 0.3, 0.7, 0.2, 0.2}

 Use the fuzzified rules to compute the final decision. Two methods are often used. Maximum Method (not often used) Centroid

Fuzzy set with the largest membership value is selected. Fuzzy decision:

f = {U , LH , SH , H }

f = { 0.3, 0.7, 0.2, 0.2}

Final Decision (FD) = Less Healthy If two decisions have same membership max, use the average of the two.

f
0.7 0.3 0.2

FD =

D =

DU + LH DLH + ... ... U + LH + ... ...

FD =

0.3 0.2 + 0.7 0.4 + 0.2 0.6 + 0.2 0.8 = 0.4429 0.3 + 0.7 + 0.2 + 0.2

Crisp Decision Index (D) = 0.4429

f
0.7 0.3 0.2

f
0.75 0.25

Crisp Decision Index (D) is the centroid D = 0.4429

Fuzzy Decision Index (D) 75% in Less Healthy group 25% in Somewhat Healthy group

 Assume that we need to evaluate student applicants based on their GPA and GRE scores. Let us assume that the decision should be Excellent (E), Very Good (VG), Good (G), Fair (F) or Poor (P) An expert will associate the decisions to the GPA and GRE score. They are then Tabulated.

Assume that we need to evaluate student applicants based on their GPA and GRE scores. For simplicity, let us have three categories for each score [High (H), Medium (M), and Low(L)] Let us assume that the decision should be Excellent (E), Very Good (VG), Good (G), Fair (F) or Poor (P) An expert will associate the decisions to the GPA and GRE score. They are then Tabulated.

Excellent Very Good Good Fair Poor

= 95-100% = 90 - 94% = 80 - 89% = 70 - 79% = 0 - 69%

Fuzzifier converts a crisp input into a fuzzy variable. Definition of the membership functions must
reflects the designer's knowledge provides smooth transition between member and nonmembers of a fuzzy set simple to calculate

GRE

Typical shapes of the membership function are Gaussian, trapezoidal and triangular.

GRE

= {L , M , H }

GPA

Fn

GPA

= {L , M , H }

GRE=900
Assume a student with GRE=900 and GPA=3.6 A decision on the classification of the applicant is needed.
Excellent Very good Etc.

GRE

GRE

= {L = 0.8 , M = 0.2 , H = 0}

GPA=3.6

GRE

= {L = 0.8 , M = 0.2 , H = 0}

GPA

= {L = 0 , M = 0.6 , H = 0.4}

GPA

= {L = 0 , M = 0.6 , H = 0.4}

10

Fn
0.6 0.4 0.2

Converting the output fuzzy variable into a unique number Two defuzzifier methods are often used. Maximum Method (not often used) Centroid

Fuzzy set with the largest membership value is selected. Fuzzy decision: Fn = {P, F, G,VG, E} Fn = {0.6, 0.4, 0.2, 0.2, 0} Final Decision (FD) = Poor Student If two decisions have same membership max, use the average of the two.

Fn

FD = FD =

fn =
f i f i

E + VG VG + ..... E + VG + .....

0 100 + 0.2 90 + 0.2 80 + 0.4 70 + 0.6 60 = 70 0.2 + 0.2 + 0.4 + 0.6

Final Decision (FD) = Fair Student

11

F
Reference

Input

Fuzzy Controller

Output

System

Feedback (error, change in error)

Speed Regulation
LN MN SN E ZE SP MP LP LN LN LN LN LN SN ZE SP MN LN LN LN MN ZE ZE SP SN LN LN MN SN ZE SP MP CE ZE LN MN SN ZE SP MP LP
3.0

SP MN SN ZE SP MP LP LP

MP SN ZE ZE MP LP LP LP

LP SN ZE SP LP LP LP LP

2.5 Position 2.0 1.5 1.0 0.5 0.0 0 1 2 3 4 5 Time 6 7 8 9 10

Tracking (HPD)
3

Conventional non-adaptive Tracking Control

Requires mathematical models Nonlinear processes are linearized Poor Performance when model deviates Difficult to tune for unknown dynamics Poor performance for widely varying operation

Position

0 0 1 2 3

Time

12

Conventional non-adaptive Tracking Control

Poor performance in noisy environments Inclusion of some design objectives can be challenging (e.g. comfort of ride and safety)

Merits of Conventional Control

Engineers are comfortable with the classical control designs.

Well-established technologies Verifiable overall system stability Systems reliability can be evaluated.

Irony
Stability and reliability studies
Neural and Fuzzy Control Based on intuitions and judgments. Relatively simple, fast and adaptable Can implement design objectives, difficult to express mathematically, in linguistic or descriptive rules.

are based on linearized models linearly

Most systems do not behave

Most systems do drift

Why Fuzzy Control?

No need for mathematical model Less sensitive to system fluctuations. Design objectives difficult to express mathematically can be incorporated in a fuzzy controller by linguistic rules. Implementation is simple and straight forward.

Position Tracking of Induction Motor

25 Position (rev) Position Track Motor Position

Time(sec)

20

13

MULTI-LAYER FUZZY CONTROL

System Inputs Execution Layer ELC ELC ELC
CE
1

E
1

LN

MN

SN ZE

SP

MP

LP

0 -6 LN MN

-3 SN

-1

0 ZE

1 SP

3 MP

6 LP

Supervisor Layer MLFC outputs

0 -3

-2

-1

14