Nama : Muhammad Rizky Nur Fatony

NIM : 18502244009

Praktik Sistem Kendali Cerdas

Fuzzy Sliding Mode Controller

1. Tulislah program sebagaimana pada percobaan diatas, lakukan eksekusi, lakukan analisis
dan amati hasilnya.
Program :

clear all;
close all;
%%%%%%%%%%%%%%%%%%%%% Fuzzy System Design %%%%%%%%%%%%%%%%%%%%
a=newfis('fuzz_smc');
k1=1.0;
a=addvar(a,'input','s',[-3*k1,3*k1]); % Parameter s
a=addmf(a,'input',1,'NB','zmf',[-3*k1,-1*k1]);
a=addmf(a,'input',1,'NM','trimf',[-3*k1,-2*k1,0]);
a=addmf(a,'input',1,'NS','trimf',[-3*k1,-1*k1,1*k1]);
a=addmf(a,'input',1,'Z','trimf',[-2*k1,0,2*k1]);
a=addmf(a,'input',1,'PS','trimf',[-1*k1,1*k1,3*k1]);
a=addmf(a,'input',1,'PM','trimf',[0,2*k1,3*k1]);
a=addmf(a,'input',1,'PB','smf',[1*k1,3*k1]);
k2=1.0;
a=addvar(a,'input','ds',[-3*k2,3*k2]); % Parameter ds
a=addmf(a,'input',2,'NB','zmf',[-3*k2,-1*k2]);
a=addmf(a,'input',2,'NM','trimf',[-3*k2,-2*k2,0]);
a=addmf(a,'input',2,'NS','trimf',[-3*k2,-1*k2,1*k2]);
a=addmf(a,'input',2,'Z','trimf',[-2*k2,0,2*k2]);
a=addmf(a,'input',2,'PS','trimf',[-1*k2,1*k2,3*k2]);
a=addmf(a,'input',2,'PM','trimf',[0,2*k2,3*k2]);
a=addmf(a,'input',2,'PB','smf',[1*k2,3*k2]);
k3=1.0;
a=addvar(a,'output','du',[-3*k3,3*k3]); % Parameter du
a=addmf(a,'output',1,'NB','zmf',[-3*k3,-1*k3]);
a=addmf(a,'output',1,'NM','trimf',[-3*k3,-2*k3,0]);
a=addmf(a,'output',1,'NS','trimf',[-3*k3,-1*k3,1*k3]);
a=addmf(a,'output',1,'Z','trimf',[-2*k3,0,2*k3]);
a=addmf(a,'output',1,'PS','trimf',[-1*k3,1*k3,3*k3]);
a=addmf(a,'output',1,'PM','trimf',[0,2*k3,3*k3]);
a=addmf(a,'output',1,'PB','smf',[1*k3,3*k3]);
rulelist=[1 1 1 1 1; % Fuzzy rule base
1 2 1 1 1;
1 3 2 1 1;
1 4 2 1 1;
1 5 3 1 1;
1 6 3 1 1;
1 7 4 1 1;
 2 1 1 1 1;
2 2 2 1 1;
2 3 2 1 1;
2 4 3 1 1;
2 5 3 1 1;
2 6 4 1 1;
2 7 5 1 1;

3 1 2 1 1;
3 2 2 1 1;
3 3 3 1 1;
3 4 3 1 1;
3 5 4 1 1;
3 6 5 1 1;
3 7 5 1 1;

4 1 2 1 1;
4 2 3 1 1;
4 3 3 1 1;
4 4 4 1 1;
4 5 5 1 1;
4 6 5 1 1;
4 7 6 1 1;

5 1 3 1 1;
5 2 3 1 1;
5 3 4 1 1;
5 4 5 1 1;
5 5 5 1 1;
5 6 6 1 1;
5 7 6 1 1;

6 1 3 1 1;
6 2 4 1 1;
6 3 5 1 1;
6 4 5 1 1;
6 5 6 1 1;
6 6 6 1 1;
6 7 7 1 1;

7 1 4 1 1;
7 2 5 1 1;
7 3 5 1 1;
7 4 6 1 1;
7 5 6 1 1;
7 6 7 1 1;
7 7 7 1 1];

a=addrule(a,rulelist);
%showrule(a) % Show fuzzy rule base
%ruleview(a)
a1=setfis(a,'DefuzzMethod','centroid');% Defuzzy
writefis(a1,'fsmc'); % Save to fuzzy file "fsmc.fis"
a2=readfis('fsmc');
%%%%%%%%%%%%%%%%%%%%% Fuzzy SMC Control %%%%%%%%%%%%%%%%%%%%
ts=0.001;
sys=tf([133],[1,25,0]);
dsys=c2d(sys,ts,'z');
[num,den]=tfdata(dsys,'v');
e_1=0;de_1=0;s_1=0;
u_1=0.0;u_2=0.0;
y_1=0.0;y_2=0.0;
for k=1:1:2000
time(k)=k*ts;
M=1;
if M==1
rin(k)=1; % Step Signal
end
if M==2
rin(k)=sign(sin(1*2*pi*k*ts)); % Square Signal
end
if M==3
rin(k)=sin(2*2*pi*k*ts); % Sine Signal
end
%Linear model
yout(k)=-den(2)*y_1-den(3)*y_2+num(2)*u_1+num(3)*u_2;
e(k)=rin(k)-yout(k);
de(k)=(e(k)-e_1)/ts;
c=15;
s(k)=c*e(k)+1*de(k);
s1(k)=s(k)-s_1;
du(k)=evalfis([s(k) s1(k)],a2); % Fuzzy Slide Mode Controler
u(k)=u_1+du(k);
if u(k)>=10
u(k)=10;
end
if u(k)<=-10
u(k)=-10;
end
e_1=e(k);
de_1=de(k);
s_1=s(k);
u_2=u_1;u_1=u(k);
y_2=y_1;y_1=yout(k);
end
figure(1);
plot(time,rin,'r',time,yout,'b');
xlabel('time(s)');ylabel('rin,yout');
figure(2);
plot(e,de,'b',e,-c*e,'r');
xlabel('e');ylabel('de');
figure(3);
plot(time,s,'r');
xlabel('time(s)');ylabel('s');
figure(4);
plot(time,u,'r');
xlabel('time(s)');ylabel('u');
figure(5);
plotmf(a2,'input',1);
figure(6);
plotmf(a2,'input',2);
figure(7);
plotmf(a2,'output',1);

Hasil Running :
 Figure 1

 Figure 2
 Figure 3

 Figure 4
 Figure 5

 Figure 6
  Figure 7

2. Lakukan perubahan nilai parameter, nilai input menjadi gelombang yang berbeda dengan
mengubah nilai M pada program (step, square, sine), kemudian amati hasilnya, lakukan
analisis data, dan buat kesimpulan.
M=2
 Figure 1

 Figure 2
 Figure 3

 Figure 4
 Figure 5

 Figure 6
  Figure 7

M=3
 Figure 1
 Figure 2

 Figure 3
 Figure 4

 Figure 5
 Figure 6

 Figure 7
3. Lakukan perubahan fuzzy membership pada input dan output yang dihasilkan program
tersebut diatas menjadi triangle (segitiga).
4. Setelah langkah No. 3 dilakukan, Ulangi langkah 2
M=1
 Figure 1

 Figure 2
 Figure 3
  Figure 4

M=2
 Figure 1
 Figure 2

 Figure 3
  Figure 4

M=3

 Figure 1
 Figure 2

 Figure 3
  Figure 4