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Dec 04, 2018

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Fuzzy Modelling Using Sector Non linear

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Fuzzy Modelling Using Sector Non linear

© All Rights Reserved

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For the sake of simplicity, consider the following SISO nonlinear system:

𝑥̇ = 𝑓(𝑥)𝑥 + 𝑔(𝑥)𝑚

Where

𝑥 ∈ [−𝑑, 𝑑]

𝑓 ∈ [𝑓, 𝑓]

𝑔 ∈ [𝑔, 𝑔]

|𝑥|<𝑑 |𝑥|<𝑑 |𝑥|<𝑑 |𝑥|<𝑑

Then the T-S fuzzy model is given by: 𝑀𝑓2 𝑀𝑓1 𝑀𝑔2 𝑀𝑔1

R2: If f(x) is Mf1 and g(x) is Mg2 Then 𝑥̇ = 𝑓𝑥 + 𝑔𝑚

𝑓 𝑓 𝑔

R3: If f(x) is Mf2 and g(x) is Mg1 Then 𝑥̇ = 𝑓𝑥 + 𝑔𝑚 𝑔

R4: If f(x) is Mf2 and g(x) is Mg2 Then 𝑥̇ = 𝑓𝑥 + 𝑔𝑚

Where, Mf1 , Mf2 , Mg1 , Mg2 is given by

𝑀𝑓1 = , 𝑀𝑓2 = 1 − 𝑀𝑓1 = and 𝑀𝑔1 = 𝑔−𝑔 , 𝑀𝑔2 = 1 − 𝑀𝑔1 = 𝑔−𝑔

𝑓−𝑓 𝑓−𝑓

1

𝜇𝑅1 = 𝑀𝑓1 ∙ 𝑀𝑔1

𝜇𝑅1 𝜇𝑅1 𝜇𝑅1

ℎ1 = 𝑟 = = = 𝑀𝑓1 ∙ 𝑀𝑔1

∑1 𝜇𝑅𝑖 𝜇𝑅1 + 𝜇𝑅2 + 𝜇𝑅3 + 𝜇𝑅4 1

𝜇𝑅2 𝜇𝑅2

ℎ2 = 𝑟 = = 𝑀𝑓1 ∙ 𝑀𝑔2

∑1 𝜇𝑅𝑖 1

𝜇𝑅3 𝜇𝑅3

ℎ3 = 𝑟 = = 𝑀𝑓2 ∙ 𝑀𝑔1

∑1 𝜇𝑅𝑖 1

𝜇𝑅4 𝜇𝑅4

ℎ4 = = = 𝑀𝑓2 ∙ 𝑀𝑔2

∑𝑟1 𝜇𝑅𝑖 1

Note that:

ℎ1 𝑓 + ℎ2 𝑓 + ℎ3 𝑓 + ℎ4 𝑓 = (ℎ1 + ℎ2 )𝑓 + (ℎ3 + ℎ4 )𝑓

= 𝑀𝑓1 𝑓 + 𝑀𝑓2 𝑓

𝑓−𝑓 𝑓−𝑓

= 𝑓+ 𝑓=𝑓

𝑓−𝑓 𝑓−𝑓

Then

Example 1

Let 𝑥̇ = −𝑥 3 , 𝑥 ∈ [−𝑑, 𝑑]

2

𝑓−𝑓 −𝑥 2 +𝑑 2 𝑓−𝑓 𝑥2

𝑀𝑓1 = = and 𝑀𝑓2 = 1 − 𝑀𝑓1 = =

𝑓−𝑓 𝑑2 𝑓−𝑓 𝑑2

R2: If f(x) is Mf2 Then 𝑥̇ = 𝑑2 𝑥

Then

𝜇𝑅1 𝜇𝑅1 𝜇𝑅1

ℎ1 = 𝑟 = = = 𝑀𝑓1

∑1 𝜇𝑅𝑖 𝜇𝑅1 + 𝜇𝑅1 1

𝜇𝑅2 𝜇𝑅2

ℎ2 = 𝑟 = = 𝑀𝑔2

∑1 𝜇𝑅𝑖 1

𝑥2

𝑥̇ = (ℎ1 𝑓 + ℎ2 𝑓)𝑥 = −𝑑2 ∙ 𝑥 = −𝑥 3

𝑑2

3

4

5

6

7

Example 2

Let 𝑥̇ = −𝑥 3 − 𝑥, 𝑥 ∈ [−𝑑, 𝑑]

Example 3

Example 4

Consider

𝑥̇ 1 = 𝑥1 𝑠𝑖𝑛𝑥1 − 4𝑥2

𝜋 𝜋

Where 𝑥 ∈ [− 2 , 2 ]

Example 5

Consider

𝑥̇ 1 = 𝑥2

𝑥̇ 2 = −(2 + 𝑔(𝑡))𝑥1 − 𝑥2

Example 6

Consider

𝑥̇ = −𝑥 + 𝑥 3 + 𝑥𝑚 and 𝑥 ∈ [−𝑑, 𝑑]

Example 7

Consider

𝑥̇ = −𝑥 3 + 𝑥𝑚 and 𝑥 ∈ [−𝑑, 𝑑]

Example 8

Consider

𝜋 𝜋

𝑥̇ = 𝑥 2 𝑠𝑖𝑛𝑥 + (𝑥 + 2)𝑚 and 𝑥 ∈ [− , ] , 𝑠𝑖𝑛𝑥 ∈ [−1,1]

2 2

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