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Contents lists available at ScienceDirect

Applied Soft Computing

journal homepage: www.elsevier.com/locate/asoc

Online identification of evolving Takagi–Sugeno–Kang fuzzy models

for crane systems
Radu-Emil Precup a,∗ , Horaţiu-Ioan Filip a , Mircea-Bogdan Rădac a , Emil M. Petriu b ,
Stefan Preitl a , Claudia-Adina Dragoş a
a
Politehnica University of Timisoara, Department of Automation and Applied Informatics, Bd. V. Parvan 2, RO-300223 Timisoara, Romania
b
University of Ottawa, School of Electrical Engineering and Computer Science, 800 King Edward, Ottawa, ON K1N 6N5, Canada

a r t i c l e i n f o a b s t r a c t

Article history: This paper suggests new evolving Takagi–Sugeno–Kang (TSK) fuzzy models dedicated to crane systems. A
Received 31 August 2012 set of evolving TSK fuzzy models with different numbers of inputs are derived by the novel relatively sim-
Received in revised form 2 April 2013 ple and transparent implementation of an online identification algorithm. An input selection algorithm
Accepted 17 January 2014
to guide modeling is proposed on the basis of ranking the inputs according to their important factors
Available online xxx
after the first step of the online identification algorithm. The online identification algorithm offers rule
bases and parameters which continuously evolve by adding new rules with more summarization power
Keywords:
and by modifying existing rules and parameters. The potentials of new data points are used with this
Crane systems
Evolving Takagi–Sugeno–Kang fuzzy
regard. The algorithm is applied in the framework of the pendulum–crane system laboratory equipment.
models The evolving TSK fuzzy models are tested against the experimental data and a comparison with other
Online identification algorithms TSK fuzzy models and modeling approaches is carried out. The comparison points out that the proposed
Pendulum–crane laboratory equipment evolving TSK fuzzy models are simple and consistent with both training data and testing data and that
Potentials of new data points these models outperform other TSK fuzzy models.
Sum of squared errors © 2014 Elsevier B.V. All rights reserved.

1. Introduction
The evolving Takagi–Sugeno–Kang (TSK) fuzzy systems are
characterized by the continuous online learning for rule base learn-
ing [1–5]. Several algorithms for recursive parameter estimation,
eventually associated with online clustering, are used with this
regard accepting that the model structure evolves similarly to the
model parameters, much slower as mentioned in [1].
The online identification algorithms dedicated to evolving TSK
fuzzy models have wide applications in several fields with some
recent results outlined as follows. A hybrid evolving architecture
with incremental learning which consists of two sequential and
incremental learning modules is proposed in [6]. A semi-supervised
classification method based on fuzzy pattern matching is suggested
in [7] to aim the learning of membership functions with a limited
initial data set. An incremental fuzzy rule-based system for clas-
sification applications is given in [8]. Approaches to handling drift
∗ Corresponding author. Tel.: +40 256 40 32/29/30/26; fax: +40 256 40 3214.
E-mail addresses: radu.precup@aut.upt.ro (R.-E. Precup),
filiphoratiu@yahoo.com (H.-I. Filip), mircea.radac@aut.upt.ro (M.-B. Rădac),
petriu@eecs.uottawa.ca (E.M. Petriu), stefan.preitl@aut.upt.ro (S. Preitl),
claudia.dragos@aut.upt.ro (C.-A. Dragoş).
and shift in on-line data streams by means of evolving TSK fuzzy
systems are offered in [9]. The application of the robust incremen-
tal FLEXFIS approach to fuzzy modeling of the NOx emissions of a
Diesel engine is discussed in [10]. The combination of a recursive
Gustafson–Kessel clustering algorithm and of the fuzzy recursive
least squares method is treated in [11] and applied to two chemical
processes. Approaches to reduce the complexity of evolving TSK
fuzzy systems by eliminating local redundancies during training,
evolving the models on on-line data streams are investigated in
[12]. An unsupervised pattern recognition method for the cluster-
ing step of the identification of temporally switched linear hybrid
dynamic systems is proposed in [13]. The combination of evolv-
ing classifiers with tree-based user profiling is suggested in [14]
to create and recognize automatically the behavior profile of com-
puter users. Evolving TSK fuzzy systems for pricing fixed income
options are analyzed in [15]. The sliding mode control approach
is integrated in incremental learning algorithms and validated by
simulation of two nonlinear system identification problems in [16].
The crane control systems are important in industry as transla-
tional electromechanical systems. These systems can also operate
in combination with pendulum systems resulting in inverted
pendulum systems or pendulum–crane systems in the framework
of Multi Input–Multi Output (MIMO) systems. The crane control

http://dx.doi.org/10.1016/j.asoc.2014.01.013
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Please cite this article in press as: R.-E. Precup, et al., Online identification of evolving Takagi–Sugeno–Kang fuzzy models for crane
systems, Appl. Soft Comput. J. (2014), http://dx.doi.org/10.1016/j.asoc.2014.01.013
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systems can focus on either the cart position control as Single
Input-Single Output (SISO) control systems or on the position
control of the cart and on the downward angular position control
of the pendulum. The process models for crane systems can involve
the cart position, as considered in this paper, and the pendulum
angular position as well.
Attractive examples of fuzzy models of crane systems, referred
to also as gantry crane systems or as cart systems, were recently
reported in the literature. The fuzzy modeling of a container gantry
crane is included in [17] in a fault detection scheme for fault tolerant
control. The universal fuzzy control problem based on generalized
TSK fuzzy models is discussed in [18] and applied to pendulum
systems. A three-rule TSK fuzzy model with a saturated input is
suggested in [19] to model an overhead crane system and to control
it by means of state-feedback fuzzy control. These results are con-
sidered in the general framework of fuzzy modeling of nonlinear
dynamic system with fuzzy logic control applications [20–30].
This paper proposes an online identification algorithm dedi-
cated to the derivation of evolving TSK fuzzy models. The new
functionalities of this algorithm are:
- The algorithm is inspired from [31], and it offers rule bases and
parameters which continuously evolve by adding new rules with
more summarization power.
- The existing rules and parameters are modified in terms of using
the potentials of new data points.
These functionalities are advantageous in comparison with
other online identification algorithms for evolving TSK fuzzy
models because our algorithm ensures a relatively simple and
transparent implementation. In addition, the algorithm leads to TSK
fuzzy models with improved performance for an illustrative class of
nonlinear systems represented by crane systems. These advantages
are highlighted by means of the following novel contributions of
this paper with respect to the state-of-the-art in evolving TSK fuzzy
models [1–16] and in fuzzy models for crane systems [17–30]:
- A novel, simplified and transparent implementation of an online
identification algorithm of evolving TSK fuzzy models is pro-
posed. Our algorithm is characterized by the already mentioned
two functionalities which make the evolving TSK fuzzy models
have the ability to evolve the rule base efficiently such that to
capture the nonlinearities of the process.
- A set of three evolving TSK fuzzy models with one to three
inputs for crane systems are offered. The experimental results
validate these models by the application of the algorithm on the
pendulum–crane system laboratory equipment. The models are
compared with three other TSK modeling approaches: a batch
modeling approach represented by the adaptive-network-based
fuzzy interference system (ANFIS) [32] which is very popular
ẋ1 = x3 ,
ẋ2 = x4 ,
{Jp /(mc + mp )ld [(p1 u/(mc + mp )ld ) − x42 sin x2 − ((fc − p2 )x3 /(mc + mp )ld )] + [g sin x2 − (fp x4 / (mc + mp )ld )] cos x2 }
ẋ3 =
[(Jp /(mc + mp )ld2 ) − cos2 x2 ]
{[(p1 u/(mc + mp )ld ) − x42 sin x2 − ((fc − p2 )x3 / (mc + mp )ld )] cos x2 + (1/ld )[g sin x2 − (fp x4 /(mc + mp )ld )]}
ẋ4 =
[(Jp /(mc + mp )ld2 ) − cos2 x2 ]
in fuzzy modeling of crane systems [17–30], the eFS Lab imple-
mentation [33,34] of the online identification algorithm of
evolving TSK fuzzy models proposed in [31], and the evolving
TSK fuzzy modeling approach represented by Dynamic Evolving
Neural-Fuzzy Inference System (DENFIS) [35–37]. The compar-
ison with these TSK fuzzy models shows that the proposed
evolving TSK fuzzy models ensure the performance enhancement
Please cite this article in press as: R.-E. Precup, et al., Online identification of evolving Takagi–Sugeno–Kang fuzzy models for crane
systems, Appl. Soft Comput. J. (2014), http://dx.doi.org/10.1016/j.asoc.2014.01.013
on both training and validation data in a computationally unde-
manding manner.
The input selection is an important problem for the online
identification algorithm suggested in this paper. A straightforward
approach to select the most important input variables is to compare
all possible combinations by using a predefined evaluation crite-
rion applied in [38] to select the most relevant inputs for ANFIS
learning. Using the importance factor of a certain input defined in
[39] in the framework of input selection based on neural networks,
this paper proposes an input selection algorithm which ranks the
inputs according to their importance factors after the first step of
the online identification algorithm. This algorithm is useful to guide
modeling.
This paper addresses fuzzy modeling. The fuzzy models will next
be used in the model-based design of stable and optimal fuzzy con-
trol systems. The typical MIMO control system structure for the
pendulum–cart system employs the cart and pendulum controllers.
The low-cost design of linear controllers has been carried out suc-
cessfully and validated by experimental results in [40–42], and
the iterative experiment-based improvement of linear and of fuzzy
controllers for nonlinear processes has been addressed in [43,44].
The paper is organized as follows. Section 2 presents the
application-oriented derivation of the evolving TSK fuzzy models
and the new input selection algorithm. Section 3 gives the experi-
mental validation of the proposed TSK fuzzy models for a laboratory
pendulum–cart system and offers a discussion of the results.
Although the laboratory process is nonlinear and time-invariant,
it models industrial applications of crane systems which are char-
acterized by parametric disturbances that justify the derivation of
evolving TSK fuzzy models. This Section 4 highlights the conclu-
sions and presents future research directions.
2. Derivation of evolving Takagi–Sugeno–Kang fuzzy
models
Fig. 1 shows the block diagram of a pendulum–cart system [45],
where: x1 – the cart position (the distance from the center of the
rail), x2 – the angle between the upward vertical and the ray point-
ing at the center of mass cart (x2 = 0 for the upright position of the
pendulum), F–the control force, parallel to the rail, produced by the
direct current (DC) motor and applied to the cart, F is proportional to
the pulse-width modulation (PWM) voltage signal (the control sig-
nal) u constrained to |u(t)| ≤ umax > 0 and, mc – the equivalent mass
of the cart, mp – the mass of the pendulum (pole + load), and ld – the
distance from the axis of rotation to the center of mass. Introduc-
ing the cart velocity as the third state variable x3 and the pendulum
angular velocity as the fourth state variable x4 , the state equations
of the process (the independent time argument is omitted for the
sake of simplicity) are
(1)
,
,
where Jp the moment of inertia of the pendulum–cart system with
respect to the axis of rotation, p1 the control force to PWM signal
ratio, p2 the control force to cart velocity ratio,
F = p1 u + p2 x3 , (2)
fp – the rotational friction coefficient, and fc – the dynamic
cart coefficient. The specific parameter values used in our
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[31] Pk (pk )
1
Pk (pk ) = ⎧ ⎫,
⎨ 
k−1 
n+1
2
⎬
j
1 + (1/(k − 1)) (dl k )
⎩ ⎭
l=1 j=1

j j j
dlk = pl − pk , k = 2. . .D, (8)
j
where dlk is the projection of the distance between the data points
pl and pk on the axis pj , j = 1 . . . n + 1, and D is the number of
Fig. 1. Pendulum–cart system.
input–output data points. The calculation of the potential of a new
data sample is carried out by means of
experimental setup are [40,45]: umax = 0.5, mc = 0.76 kg,
k−1
mp = 0.052 kg, ld = 0.011 m, Jp = 0.00292 kg m2 , p1 = 9.4 N, Pk (pk ) = , (9)
(k − 1)(ϑk + 1) + k − 2k
p2 = −0.548 N s/m, fp = 6.65 × 10−5 N m s/rad and fc = 0.5 N s/m.
The unified expression of the rule base of the TSK fuzzy models where
of the crane system, viewed as a nonlinear dynamic process and

n+1
j 2
 
n+1 k−1
j 2

n+1

k−1
considered in this paper is ϑk = (pk ) , k = (pl ) , k =
j
(pk
j
pl ). (10)
Rule i : IF(z1 ISLTi1 )AND. . .AND(zn ISLTin ) THEN (yi = ai0 + ai1 z1 j=1 j=1 l=1 j=1 l=1

+ · · · + ain zn ), i = 1. . .nR, (3) The parameters in the rule consequents are computed using a
least squares approach. The expression of the TSK fuzzy model out-
where nR is the number of rules, zj , j = 1 . . . n, are the input variables, put in (6) is organized in terms of the following vector form to
n is the number of input variables, LTij , i = 1 . . . nR, j = 1 . . . n, are the enable this approach:
input linguistic terms, yi is the output of the local crisp system
T ,





yi = ai0 + ai1 z1 + · · · + ain zn in the rule consequent of rule i, i = 1 . . . nR, y= = 1 1 zT 2 1 zT ... nR 1 zT ,
and ail , i = 1 . . . nR, l = 0 . . . n, are the parameters in the rule conse-
T
= 1T 2T ... T
nR .
quents. The fuzzy sets of the input linguistic terms LTi j , i = 1 . . . nR,
(11)
j = 1 . . . n, are modeled by Gaussian membership functions which
produce the membership degrees
For the given set of input–output data
−(4/rs2 )(zj −z ∗ )2
ij (zj ) = e ij , i = 1. . .nR, j = 1. . .n, (4) 
pk |k = 1...D (12)
where rs , rs > 0, is the spread of all input membership functions
the global objective function is defined as
and zij∗ , i = 1. . .nR, j = 1. . .n, are the centers of input membership
functions ij , i = 1 . . . nR, j = 1 . . . n. 
D
T 2
Accepting the algebraic product t-norm to model the AND oper- JG ( ) = (yk − k
) ,
ator, each rule generates the firing degree  i (z) according to k=1

T
i (z) = AND(i1 (z1 ), i2 (z2 ), . . ., in (zn )) T
= 1 (zk )[ 1 zTk ]
T
2 (zk )[ 1 zTk ]
T
... nR (zk )[ 1 zTk ]
T
k
= i1 (z1 ) · i2 (z2 ). . .in (zn ), (5) (13)
T
where z = [ z1 z2 . . . zn ] is the input vector, and the super- where zk is the vector z at the discrete time step k. The minimiza-
script T indicates the matrix transposition. tion of the objective function JG ( ) can be achieved by the recursive
The weighted average defuzzification method leads to the out- least squares algorithm referred to also as the Kalman filter and
put y of the TSK fuzzy model: characterized by the recurrent equations [46,47]
nR 
nR

nR ˆ k = ˆ k−1 + Ck − T ˆ
i yi k−1 (yk k−1 k−1
),
T
y= i=1
nR
= i yi = i [ 1 zT ] i , (6) T (14)
 Ck−1 k−1 k−1 Ck−1
i=1 i i=1 i=1 Ck = Ck−1 − , k = 2. . .D,
1+ T C
k−1 k−1 k−1

nR
where i = i /[ i ], i = 1. . .nR, are the normalized firing degree with the initial conditions
T T
i=1
T
ˆ 1 = [ (1T )1 (2T )1 ... T ) ] =[
(nR 1
0 0 ... 0] , C1 = ˝I
of rule i, and i = [ ai0 ai1 ai2 . . . ain ] , i = 1. . .nR, is the
parameter vector of rule i. (15)
Considering the following data point as the vector p in the
where Ck ∈ RnR(n+1)×nR(n+1)
is the covariance matrix, I is the
input–output data space Rn+1 :
nR(n + 1)th order identity matrix, ˝ = const, ˝ > 0, is a large number,
T T and ˆ k is an estimation of the parameters in the rule consequents
p = [ zT y ] = [ z1 z2 ... zn y]
at the discrete time step k.
T The online identification algorithm, which leads to evolving
= [ p1 p2 ... pn pn+1 ] ∈ Rn+1 , (7)
TSK fuzzy models, consists of seven steps. The steps of the online
the online identification algorithm uses the potential of the data identification algorithm are presented as follows by the novel
T
point pk = [ p1k p2k . . . pn+1 ] , which corresponds to p at the application-oriented implementation of the recursive procedure
k
discrete time step k, defined as the first order Cauchy type function given in [31].

Please cite this article in press as: R.-E. Precup, et al., Online identification of evolving Takagi–Sugeno–Kang fuzzy models for crane
systems, Appl. Soft Comput. J. (2014), http://dx.doi.org/10.1016/j.asoc.2014.01.013
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Step 1. The initialization of the rule base structure, viz. the initial- nR = nR + 1, z∗nR = zk , Pk (p∗nR ) = Pk (pk ). (23)
ization of the parameters in the rule antecedents. The rule base is
The parameters in the rule consequents and the covariance
initialized such that to contain a single rule, nR = 1, and the subtrac-
matrices are reset by [31]
tive clustering [46] can be applied to obtain the parameters of the
TSK fuzzy models using the first data sample p1 . The parameters
T 
nR

are initialized using (15), the default value rs = 0.4, and ˆ k =  T

ˆ 1(k−1)  T
ˆ 2(k−1) ...  T
ˆ nR(k−1) T
ˆ (nR+1)k
 , ˆ (nR+1)k =
 ˆ i(k−1) ,
i 

k = 1, nR = 1, z∗1 = zk , P1 (p∗1 ) = 1, (16)

⎡
ς11 ...
ς1nR(n+1) 0 ... 0
⎤ i=1

where p∗1 is the first cluster center, z∗1 is center of rule 1 and a ⎢ ... ... ... ... ... ... ⎥
⎢ ⎥
projection of p∗1 on the axis z. ⎢
ςnR(n+1)1
Ck = ⎢
...
ςnR(n+1)nR(n+1) 0 ... 0 ⎥,
⎥
= [(nR)2 + 1]/(nR)2 ,
⎢ 0 ⎥
Step 2. At the next time step, k is set to k = k + 1, and the next data
⎣ 0 0 ˝ ... 0
⎦
... ... ... ... ... ...
sample pk is read. 0 0 0 0 ... ˝
Step 3. The potential of each new data sample is computed using (24)
(9) and (10).
Step 4. The potentials of the centers of existing rules (clusters) are where ς ij is an element of the co-variance matrix, i, j = 1 . . . nR(n + 1).
recursively updated by [48]
Step 6. The parameters in the rule consequents are recursively
(k − 1)Pk−1 (p∗l ) updated using (14) with the initializations (15).
Pk (p∗l ) = n+1 2
, (17) Step 7. The evolving TSK fuzzy model’s output at the next discrete
j
k − 2 + Pk−1 (p∗l ) + Pk−1 (p∗l ) j=1
(dk(k−1) ) time step k+1 is predicted by the particular expression of (11):
where Pk (p∗l ) is the potential at the discrete time step k of the cluster Tˆ
center, which is a prototype of rule l. ŷk+1 = .
k k
(25)

The algorithm continues with step 2 until all data points are
Step 5. The possible modification or upgrade of rule base struc- read. Step 1 is carried out offline, and steps 2–7 are carried out
ture is carried out on the basis of the potential of the new data online.
compared to the potential of existing rules’ centers. The rule base The dynamics is introduced in the TSK fuzzy models of the crane
structure is modified if the condition pointed out in the sub-step system in terms of considering several past values of the control sig-
5.1 is fulfilled, and a new rule is added if the condition specified in nal u and eventually of the cart position y = x1 . An input selection
the sub-step 5.2 is fulfilled. algorithm is proposed as follows in order to select the important
Sub-step 5.1. If the potential of the new data point is higher than input variables from all possible input variables as an important
the potential of the existing centers: problem in system modeling. The algorithm consists of the follow-
ing steps that guide modeling.
Pk (pk ) > Pk (p∗i ), i = 1. . .nR, (18)
and the new data point is close to an old center, i.e., Step A. The algorithm is initialized in terms of setting its param-
eters , 0 <  < 1 – the importance threshold, and , 0 <  < 1 – the
Pk (pk ) ımin nR
− ≥1, ımin = min||zk − z∗i ||2 , significance threshold.
nR rc i=1 Step B. The step 1 of the online identification algorithm is run to
maxPk (p∗i )
l=1 obtain the initial TSK fuzzy model. The input variable zj , j = 1 . . . n,
nR is applied to this TSK fuzzy model, the outputs yj,k of the initial TSK
l = arg min||zk − z∗i ||2 , (19) fuzzy model at the discrete time moment k, k = 1. . .D, are read. The
i=1 change range Rzj that corresponds to the input variable zj , j = 1. . .n,
where ımin is the distance from the new data point to the closest is calculated:
of the existing rule centers, supposed to have the index l, rc = const,
D D
rc > 0, determines the radius of the neighborhood that will have Rzj = maxyj,k − minyj,k , (26)
measurable reductions in the potential because of the closeness to k=1 k=1
an existing center, and the recommended value of is rc = rs /1.5 [47], and the importance factor Izj of the input variable zj , j = 1. . .n, is also
then the new data point pk replaces it. calculated:
In this sub-step, the new data point is used as a prototype of the
Rzj
rule center, supposed to have the index j: Izj = . (27)
n
nR maxRzj
p∗j = arg min||pk − p∗i ||, (20) j=1
i=1
As shown in [39], the most important input variable is charac-
the new center is characterized by terized by Izj = 1. Eqs. (26) and (27) show that a large change range
z∗j = zk , Pk (p∗j ) = Pk (pk ), (21) Rzj and a large importance factor Izj indicate a big influence of the
corresponding input variable zj , j = 1. . .n. Contrarily, small values
and the parameters in the rule consequents and the covariance of Rzj and Izj point out a relatively unimportant input variable zj ,
matrices are inherited from the rule to be replaced: j = 1. . .n.
j j
ˆk = 
 ˆ k, Ck = Ck . (22)
Step C. The importance of all input variables is ranked according
to the values of the importance factors Izj , j = 1. . .n.
Sub-step 5.2. If the potential of the new data point is higher than the
Step D. All input variables that fulfill the condition
potential of the existing centers as shown in (18) and the condition
(19) is not fulfilled, then the new data point is added to the rule
base as the center of a new rule: Izj <  (28)

Please cite this article in press as: R.-E. Precup, et al., Online identification of evolving Takagi–Sugeno–Kang fuzzy models for crane
systems, Appl. Soft Comput. J. (2014), http://dx.doi.org/10.1016/j.asoc.2014.01.013
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Table 1 As mentioned in Section 1, the algorithm and the model per-

Definition of inputs of TSK fuzzy models.
Model number Inputs
1 uk−1
2 uk−1 , yk−1
3 uk−8 , uk−1 , yk−1
are removed. The condition (28) indicates that the corresponding
input variable is unimportant and, therefore, it can be removed.
The step D yields the set of remaining nr input variables which are
selected out of the initial n input variables, nr < n.
Step E. The closely related input variables are recognized in order to
conduct the independent input variable testing by the calculation
of the correlation functions, Corr(zi ,zj ), between the selected input
variables zi and i, j = 1. . .nr :
formance have been compared with the following three TSK fuzzy
modeling approaches:
- a batch modeling approach represented by the ANFIS [32], with
the popular Matlab’s Fuzzy Logic Toolbox implementation based
on the initial generation of a TSK fuzzy model by the genfis1 func-
tion using a grid partition on the data followed by ten epochs of
model training using the anfis function,
- the eFS Lab implementation [33,34], available online from
http://eden.dei.uc.pt/∼dourado/, of the online identification algo-
rithm of evolving TSK fuzzy models proposed in [31],
- the evolving TSK fuzzy modeling approach represented by DEN-
FIS [35–37], available as the ECOS-DENFIS implementation from
http://www.tech.plym.ac.uk/spmc/links/fuzzy/fuzzy DENFIS.html.

D The links are included for the sake of reproducibility and the
1/D [(zi,k − z̄i )(zj,k − z̄j )] default parameters have generally been used in these fuzzy mod-
Corr(zi , zj ) = k=1
 , 0 ≤ Corr(zi , zj ) ≤ 1(29)
eling approaches. Three TSK fuzzy models have been obtained for
zi zj
each modeling approach, and the inputs of these models are those
where z̄i and z̄j are the means of the vectors zi and zj , i, j = 1. . .nr , specified in Table 1. The numbers of input membership functions
respectively, and zi and zj are the variances of the vectors zi and
zj , i, j = 1. . .nr , respectively. If the following condition is fulfilled:
Corr(zi , zj ) > ,
then the input variable zi is closely related with the input variable
zj . The condition (30) is involved in keeping the independent input
variables among the nr selected input variables. The condition (30)
also allows to remove one of the two input variables zi or zj . There-
fore, the step E results in the set of remaining ni independent input
variables out of the nr selected input variables, ni < nr .
3. Experimental results
The online identification algorithm presented in the previous
sections has been applied and exemplified in order to obtain the
evolving TSK fuzzy models of the crane system which belongs to
the pendulum–crane system laboratory equipment. A part of the
results and of the implementation details is presented as follows.
The input selection algorithm given in the previous section is
applied for three values of the importance threshold, viz.  = 0.4,
 = 0.3 and  = 0.2, and one value of the significance threshold, i.e.,
 = 0.5. This leads to three TSK fuzzy models with the inputs spec-
ified in Table 1. The output of all these three TSK fuzzy models is
yk .
Fig. 2. Control signal versus time: training data and validation (testing) data.
Please cite this article in press as: R.-E. Precup, et al., Online identification of evolving Takagi–Sugeno–Kang fuzzy models for crane
systems, Appl. Soft Comput. J. (2014), http://dx.doi.org/10.1016/j.asoc.2014.01.013
and of rules have been set such that to be close to these numbers
in case of the fuzzy models 1–3 mentioned in Table 1 for the sake
of a fair comparison of all fuzzy models.
(30) Setting the sampling period Ts = 0.01 s, the control signal u con-
sidered as the input of the crane system has been generated as
two weighted sums (one for training and one for validation) of
pseudo-random binary signals in order to cover different ranges
of magnitudes and to benefit from the advantages of pseudo-
random binary signals used as input signals in system identification
(spectral characteristics, persistent excitation, noise reduction).
The evolution of the control signal versus time is presented in
Fig. 2 which includes the input data for both training and validation
(testing).
The input signal of the crane system illustrated in Fig. 2 has
been applied to the laboratory equipment in order to generate the
input–output data points (zk , yk ), k = 1 . . . D. Fig. 2 outlines a total
number of 600 data points which is separated in training data and
validation data for cross-validation and to assess the performance
of the evolving TSK fuzzy models and of the identification algo-
rithm. A set of D = 300 data points represent the validation data
and another set of D = 300 data points represents the testing data.
The seven steps of the identification algorithm have been
applied to derive the three evolving TSK fuzzy models specified
in Table 1. The value of the parameter ˝ in step 1 has been set to
˝ = 10,000.
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Fig. 3. Cart position versus time of TSK fuzzy model 1 and of real-world process: training and validation.

Table 2 - the TSK fuzzy model 5, with the inputs uk−1 , yk−1 and the out-
Parameter values of TSK fuzzy model 1.
put yk , with 2 membership functions for uk−1 , four membership
Rule number i ∗
zi1 rs ai0 ai1 functions for yk−1 and eight rules
1 −0.2 0.4 0.04679 −0.00935
- the TSK fuzzy model 6, with the inputs uk−8 , uk−1 , yk−1 and the
2 0.1032 0.4 0.11665 −0.42519 output yk , with 2 membership functions for uk−8 , two member-
3 0 0.4 0.26133 0 ship functions for uk−1 , three membership functions for yk−1 and
12 rules.

The TSK fuzzy model 1 has evolved to nR = 3 rules. The parameter The following evolving TSK fuzzy models have been obtained by
values of the TSK fuzzy model 1 obtained after the application of the the application of eFS Lab:
online identification algorithm for n = 1 are presented in Table 2.
The evolutions of the cart position y versus time of the TSK fuzzy
- the TSK fuzzy model 7, with the input uk−1 and the output yk , with
model 1 and of the real-world process (i.e., the equipment) are pre-
four input membership functions and four rules
sented in Fig. 3. Fig. 3 illustrates the responses of the TSK fuzzy
- the TSK fuzzy model 8, with the inputs uk−1 , yk−1 and the output
model 1 and of the equipment for both training and validation data.
yk , with five seven membership functions and seven rules
The TSK fuzzy model 2 has evolved to nR = 8 rules. The parameter
- the TSK fuzzy model 9, with the inputs uk−8 , uk−1 , yk−1 and the
values of the TSK fuzzy model 2 obtained after the application of the
output yk , with ten input membership functions and 10 rules.
online identification algorithm for n = 2 are presented in Table 3.
The evolutions of the cart position y versus time of the TSK fuzzy
model 2 and of the real-world process are presented in Fig. 4 for The following evolving TSK fuzzy models have been obtained by
both training and validation data. the application of DENFIS:
The TSK fuzzy model 3 has evolved to nR = 11 rules. The parame-
ter values of the TSK fuzzy model 3 obtained after the application of
the online identification algorithm for n = 3 are presented in Table 4. - the TSK fuzzy model 10, with the input uk−1 and the output yk ,
The evolutions of the cart position y versus time of the TSK fuzzy with four input membership functions and four rules
model 3 and of the real-world process are presented in Fig. 5 for - the TSK fuzzy model 11, with the inputs uk−1 , yk−1 and the output
both training and validation data. yk , with eight input membership functions and eight rules
The following TSK fuzzy models have been obtained by the - the TSK fuzzy model 12, with the inputs uk−8 , uk−1 , yk−1 and the
application of ANFIS: output yk , with ten input membership functions and ten rules.

- the TSK fuzzy model 4, with the input uk−1 and the output yk , with The comparative analysis of the models is carried out in terms
three input membership functions and three rules of the root mean square error (RMSE) between the crane position

Table 3
Parameter values of TSK fuzzy model 2.
∗ ∗
Rule number i zi1 zi2 rs ai0 ai1 ai2

1 −0.2 −0.485 0.4 −0.0186 −0.0037 0.0037

2 0.1305 0.0002 0.4 −0.0071 0 −0.0009
3 0.1301 0.0002 0.4 −0.0248 0 −0.0025
4 0 0 0.4 0.034 0 0
5 0 −0.0004 0.4 0.1099 0 0
6 0 −0.0232 0.4 −0.427 0 0
7 0 0.0182 0.4 1.1011 0 0
8 0 0.0128 0.4 0.2546 0 0

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Fig. 4. Cart position versus time of TSK fuzzy model 2 and of real-world process: training and validation.

Table 4
Parameter values of TSK fuzzy model 3.
∗ ∗ ∗
Rule number i zi1 zi2 zi3 rs ai0 ai1 ai2 ai3

1 0.2 −0.2 0.4024 0.4 0.0556 0.0111 −0.0111 0.0223

2 0.1220 0.1 0.0421 0.4 0.0353 0.0043 0.0035 0.0014
3 0.1130 0.1209 0.0397 0.4 0.0356 0.04 0.0043 0.0014
4 0.1253 0.1168 0.0345 0.4 0.1644 0.0206 0.0192 0.0056
5 0.1170 0.1088 0.0365 0.4 −0.0830 −0.0097 −0.009 −0.003
6 0.1019 0.1175 0.0378 0.4 0.1955 0.0199 0.0229 0.0074
7 0 0.1304 0.0324 0.4 0.023 0 0.03 0.0007
8 0 0.1031 0.0312 0.4 0.3549 0 0.0366 0.011
9 0 0 0.0311 0.4 −0.3234 0 0 −0.01
10 0 0 0.0312 0.4 0.0202 0 0 0.0006
11 0 0 0.0315 0.4 0.2686 0 0 0.0084

Fig. 5. Cart position versus time of TSK fuzzy model 3 and of real-world process: training and validation.

of the TSK fuzzy models and of the real-world process. The RMSE is Table 5
Results for 12 TSK fuzzy models on validation and testing data.
viewed as a global performance index defined as
 Model number Approach Inputs nR RMSE RMSE
D training testing
(y
k=1 k
− x1,k )2
RMSE = , (31) 1 Section 2 uk−1 3 0.5368 0.5785
D
4 ANFIS uk−1 3 0.7833 0.8376
where yk is the output (the cart position) of the TSK fuzzy models 7 EFS Lab uk−1 4 1.1118 1.3285
10 DENFIS uk−1 4 0.9234 1.0347
and x1,k is the output (the cart position) of the laboratory equipment
2 Section 2 uk−1 , yk−1 8 0.4532 0.5193
at the discrete time moment k. The RMSE has been computed and 5 ANFIS uk−1 , yk−1 8 0.6685 0.7879
measured for the training data and for the testing data. The results 8 EFS Lab uk−1 , yk−1 7 1.0004 1.2711
obtained by the 12 TSK fuzzy models on the validation and on the 11 DENFIS uk−1 , yk−1 8 0.8122 0.9351
9 Section 2 uk−8 , uk−1 , yk−1 11 0.4481 0.4673
testing data are summarized in Table 5.
10 ANFIS uk−8 , uk−1 , yk−1 12 0.5269 0.5632
Table 5 and Figs. 2–5 show that the best performance on both 11 EFS Lab uk−8 , uk−1 , yk−1 10 0.9532 1.0532
the validation data and the testing data is ensured by the TSK fuzzy 12 DENFIS uk−8 , uk−1 , yk−1 10 0.6857 0.7783
model 3 obtained by the algorithm with the implementation data

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systems, Appl. Soft Comput. J. (2014), http://dx.doi.org/10.1016/j.asoc.2014.01.013
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presented in Section 2. The TSK fuzzy model 3 offers the lowest
value of RMSE and also the lowest maximum absolute differences
D 49–62.
between the output of models and of real-world process max|yk −
k=1
x1,k |. Table 5 shows the performance enhancement exhibited by
the proposed algorithm compared to the other three algorithms on
both the validation data and the testing data for the fuzzy models
with the same inputs.
The results presented in Table 5 and in Figs. 3–5 also shows that
the performance of the proposed TSK fuzzy models are consistent
with both training data and testing data. The further performance
improvement can be ensured by the application of nature-inspired
evolutionary-based optimization algorithms [49–54] focused on
solving optimization problems where the variables of the objective
functions are a part of the parameters of the TSK fuzzy models.
4. Conclusions
This paper has suggested a set of TSK fuzzy models dedicated to
crane systems. The models are derived by the application of a novel
implementation of an online identification algorithm which gives
continuously evolving rule bases and parameters. The application
of the online identification algorithm is assisted by a new input
selection algorithm to guide modeling.
The main advantages of our approach are the simplicity of TSK
fuzzy models, their consistency with both training data and testing
data, and the simplicity and transparency of the online identifi-
cation algorithm. These advantages should be also emphasized in
other suggestive applications.
The TSK fuzzy models are validated against experimental
data which correspond to a pendulum–crane system labora-
tory equipment as a representative nonlinear dynamic system.
The comparison of experimental results shows the performance
improvement ensured by the proposed TSK fuzzy models with
respect to other fuzzy models obtained by other similar approaches.
The comparison can continue accounting for other state-of-the-
art algorithms for evolving fuzzy systems [5] and for other input
selection algorithms [55–58].
Future research will deal with the extension of the online iden-
tification algorithm to the modeling of MIMO nonlinear dynamic
systems. The development of fuzzy models for the pendulum angle
x2 will be addressed as well and the combination of fuzzy models
for both x1 and x2 will target the reduction of oscillations in crane
control systems. The data-driven experiment-based calculation of
gradients of objective functions will be included in order to ensure
the online identification of closed-loop fuzzy control systems. The
objective of these fuzzy models is the model-based design of stable
and optimal fuzzy control systems.
Acknowledgements
This work was supported by a grant in the framework of the
Partnerships in priority areas – PN II program of the Romanian
National Authority for Scientific Research ANCS, CNDI–UEFISCDI,
project number PN-II-PT-PCCA-2011-3.2-0732, and by a grant
from the NSERC of Canada. The cooperation between the Óbuda
University, Budapest, Hungary, the University of Ljubljana, Slove-
nia, and the Politehnica University of Timisoara, Romania, in the
framework of the Hungarian-Romanian and Slovenian-Romanian
Intergovernmental Science & Technology Cooperation Programs is
acknowledged.
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