Intelligent Control

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Lecturer: VU VAN PHONG

Dr. Van-Phong Vu-Department of Automatic Control

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 Instructor: Dr. Vu Van Phong

 Email: phongvv@hcmute.edu.vn
 Websites: https://phongvuac.wixsite.com/vuphong/

Dr. Van-Phong Vu-Department of Automatic Control

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Chapter 2: Fuzzy sets

Dr. Van-Phong Vu-Department of Automatic Control

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Contents
Definition of fuzzy set
Basic Operations on Fuzzy sets

Dr. Van-Phong Vu-Department of Automatic Control

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2.1 Definition of Fuzzy Sets

Dr. Van-Phong Vu-Department of Automatic Control

6 2.1 Definition of Fuzzy Sets
 Consider two Sets as follows
Fuzzy boundary
b
Clear boundary

c
a
a
b
Set A
Set B
Point (a): belongs to set A Point (a): belongs to set B
Point (b): does not belong to set A Point (b): does not belong to set B
Point (c): is on the boundary of set B

Dr. Van-Phong Vu-Department of Automatic Control

7 2.1 Definition of Fuzzy Sets
Definition of Universe Set (tập cơ sở):
 a collection of objects all having the same
characteristics.
For example: temperature, pressure, speed of
motor, and so on.

Dr. Van-Phong Vu-Department of Automatic Control

8 2.1 Definition of Fuzzy Sets

Definition of Fuzzy Sets

Fuzzy set A on the universe set X is a set in
which each elements of fuzzy set is a pair of
value (𝑥, 𝜇𝐴 𝑥 ) , where 𝑥 ∈ 𝑋 and 𝜇𝐴 𝑥 is a
mapping:
 𝜇𝐴 𝑥 : 𝑋 → [0,1]
 𝜇𝐴 𝑥 is membership function of fuzzy set A

Dr. Van-Phong Vu-Department of Automatic Control

9 2.1 Definition of Fuzzy Sets
 Continuous fuzzy set

Dr. Van-Phong Vu-Department of Automatic Control

10 2.1 Definition of Fuzzy Sets
 Discrete time fuzzy set

 Universe set: 𝑋 = {𝑥1 , 𝑥2 , … }

𝜇𝐴 (𝑥1 ) 𝜇𝐴 (𝑥2 ) 𝜇𝐴 (𝑥3 )
A= { + + +…}
𝑥1 𝑥2 𝑥3

Dr. Van-Phong Vu-Department of Automatic Control

11 2.1 Definition of Fuzzy Sets
 Fuzzy Sets should satisfy objectivity and reasonable

Dr. Van-Phong Vu-Department of Automatic Control

12 2.1 Definition of Fuzzy Sets
 Membership function:
The membership function maps each element of X to
a continuous membership value between 0 and 1.
 Typical Membership function:
 Triangle MFs

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 Trapezoidal MFs

 Gaussian MFs

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14  Generalised bell MFs

 Signmoid MFs

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15  Definition of Height of fuzzy set:

A(x)
1 High(A(x))

 Support of fuzzy set Support of A(x)

Dr. Van-Phong Vu-Department of Automatic Control

16 ⍺-cut and strong ⍺-cut
⍺-cut is a crisp set and not a fuzzy set.

⍺-cut A :

A =  x A( x)   
Strong ⍺-cut:  + A =  x A( x)    ( we remove two terminal
point of ⍺-cut.
 Consider fuzzy set A(x) and 𝛼 ∈ [0,1]
1

⍺
Strong ⍺-cut

Dr. Van-Phong Vu-Department of Automatic Control

⍺-cut
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 Two fuzzy sets A, B with universal set X，  [0, 1]

A  B   A   B ; A  B  + A  +B ;
A = B   A =  B ; A = B  + A = +B .

 A

‧  ‧
A
‧  ‧
B

Dr. Van-Phong Vu-Department of Automatic Control

18  Normal Fuzzy sets:
 A fuzzy set A(x) on universe X is called normal fuzzy set if
only if A(x) is a convex set and height of A(x) is equal to 1.

Dr. Van-Phong Vu-Department of Automatic Control

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2.2 Operation on Fuzzy sets

Dr. Van-Phong Vu-Department of Automatic Control

20 2.2 Operation on Fuzzy sets
 2.2.1 Compliment:
A fuzzy set A is defined in the universal set X . A(x)
represents the degree of how much does an
element x  X , belong to A .
 Ac is used to represent the complement of fuzzy set A .
Ac (x) is regarded as “the degree of x belongs to Ac “ or
“the degree of x does not belong to A”.
To simplify the operation, the condition 0  A c ( x)  1
is necessary.

𝑐 𝜇𝐴(𝑥) = 𝜇𝐴𝑐 (𝑥) = 1 − 𝜇𝐴(𝑥)

Dr. Van-Phong Vu-Department of Automatic Control
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 Continuous time:

Ac(x) Bc(x)
A(x) B(x)
1 1

0 0

Dr. Van-Phong Vu-Department of Automatic Control

22  Discrete time:
 Consider the discrete time fuzzy set A(x) on the Universe set X={1, 2, 3, 4, 5}

0 0.5 1 0.5 0
𝐴 𝑥 ={ + + + + ቋ
1 2 3 4 5
1 0.5 0 0.5 1
𝐴𝑐 𝑥 ={ + + + + ቋ
1 2 3 4 5
 Consider the discrete time fuzzy set B(y) on the Universe set Y={y1, y2, y3, y4,
y5 , y6, y7}

0 0.25 0.75 1 0.75 0.25 0

𝐵 𝑥 ={ + + + + + + ቋ
𝑦1 𝑦2 𝑦3 𝑦4 𝑦5 𝑦6 𝑦7

Dr. Van-Phong Vu-Department of Automatic Control

23  2.2.2 Intersection (t-norm)
 Consider two fuzzy set 𝐴(𝑥) and B(𝑥) on the same universe X
 Standard Intersection：

𝑡 𝜇𝐴(𝑥), 𝜇𝐵 𝑥 = min 𝜇𝐴(𝑥), 𝜇𝐵 𝑥

 Algebraic Product：

𝑡 𝜇𝐴 𝑥 , 𝜇𝐵 𝑥 = 𝜇𝐴(𝑥) 𝜇𝐵 𝑥

 Bounded Difference

𝑡 𝜇𝐴 𝑥 , 𝜇𝐵 𝑥 = max(0, 𝜇𝐴 𝑥 + 𝜇𝐵 𝑥 − 1)

Dr. Van-Phong Vu-Department of Automatic Control

  Example:
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 Continuous:
B(x) B(x)
A(x) A(x)
1 1

0 0

Standard intersection Algebraic Product

Dr. Van-Phong Vu-Department of Automatic Control

25  Discrete time

0.1 0.2 0.8 1 0.7 0.2 0

𝐴 𝑦 ={ + + + + + + ቋ
𝑦1 𝑦2 𝑦3 𝑦4 𝑦5 𝑦6 𝑦7
0 0.25 0.75 1 0.75 0.25 0
𝐵 𝑦 ={ + + + + + + ቋ
𝑦1 𝑦2 𝑦3 𝑦4 𝑦5 𝑦6 𝑦7
Standard intersection:

0 0.2 0.75 1 0.7 0.2 0

𝐴 𝑦 ⋂𝐵 𝑦 = { + + + + + + ቋ
𝑦1 𝑦2 𝑦3 𝑦4 𝑦5 𝑦6 𝑦7
Product:
0 0.05 0.6 1 0.525 0.05 0
𝐴 𝑦 ⋂𝐵 𝑦 = { + + + + + + ቋ
𝑦1 𝑦2 𝑦3 𝑦4 𝑦5 𝑦6 𝑦7
Dr. Van-Phong Vu-Department of Automatic Control
26  Consider two fuzzy set A(x) on universe set X={1, 2, 3, 4, 5}
and B(y) on the universe set Y={a1, a2, a3}
0.1 0.2 1 0.5 0
𝐴 𝑥 ={ + + + + ቋ
1 2 3 4 5
0.2 1 0.1
𝐵 𝑦 ={ + + ቋ
𝑎1 𝑎2 𝑎3

 Find 𝐴 𝑥 ⋂𝐵 𝑦 -Standard intersection

0.1 0.1 0.1 0.2 0.2
𝐴 𝑥 ⋂𝐵 𝑦 = { + + + +
1, 𝑎1 1, 𝑎2 1, 𝑎3 2, 𝑎1 1, 𝑎2
0.1 0.2 1 0.1 0.2 0.5 0.1 0 0 0
+ + + + + + + + + +
(2,𝑎3) 3,𝑎1 3,𝑎2 3,𝑎3 4,𝑎1 4,𝑎2 4,𝑎3 5,𝑎1 5,𝑎2 5,𝑎3

Dr. Van-Phong Vu-Department of Automatic Control

27  2.2.3 Union(S- norm):
 Consider two fuzzy set 𝐴(𝑥) and B(𝑥) on the same universe X
 Standard Union：

s 𝜇𝐴(𝑥), 𝜇𝐵 𝑥 = m𝑎𝑥 𝜇𝐴(𝑥), 𝜇𝐵 𝑥

 Algebraic Sum：

s 𝜇𝐵 𝑥 , 𝜇𝐵 𝑥 = 𝜇𝐴(𝑥) + 𝜇𝐵 𝑥 − 𝜇𝐴(𝑥) 𝜇𝐵 𝑥

 Bounded Sum：

s 𝜇𝐵 𝑥 , 𝜇𝐵 𝑥 = min(1, 𝜇𝐴(𝑥) + 𝜇𝐵 𝑥 )

Dr. Van-Phong Vu-Department of Automatic Control

28

B(x) B(x)
A(x) A(x)
1 1

0 0

Dr. Van-Phong Vu-Department of Automatic Control

  Discrete time:
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0.1 0.2 0.8 1 0.7 0.2 0
𝐴 𝑦 ={ + + + + + + ቋ
𝑦1 𝑦2 𝑦3 𝑦4 𝑦5 𝑦6 𝑦7

0 0.25 0.75 1 0.75 0.25 0

𝐵 𝑦 ={ + + + + + + ቋ
𝑦1 𝑦2 𝑦3 𝑦4 𝑦5 𝑦6 𝑦7
 Standard union:

0.1 0.25 0.8 1 0.75 0.25 0

𝐴 𝑦 ∪𝐵 𝑦 ={ + + + + + + ቋ
𝑦1 𝑦2 𝑦3 𝑦4 𝑦5 𝑦6 𝑦7
 Find the union based on the Algebraic Sum and Bounded Sum

Dr. Van-Phong Vu-Department of Automatic Control

30

 Consider two fuzzy set A(x) on universe set X={1, 2, 3, 4, 5} and B(y)
on the universe set Y={a1, a2, a3}

0.1 0.2 1 0.5 0

𝐴 𝑥 ={ + + + + ቋ
1 2 3 4 5
0.2 1 0.1
𝐵 𝑦 ={ + + ቋ
𝑎1 𝑎2 𝑎3

 Find 𝐴 𝑥 ∪𝐵 𝑦 based on standard union

Dr. Van-Phong Vu-Department of Automatic Control

31 𝟐. 𝟐. 𝟒 𝐇𝐲𝐛𝐫𝐢𝐝 𝐨𝐩𝐞𝐫𝐚𝐭𝐢𝐨𝐧𝐬:
 DeMorgan’s laws:
 For classical set:

A  B = A  B

 A B = A  B

 For fuzzy set:

 𝑐(𝑡 𝜇𝐴 𝑥 , 𝜇𝐵 𝑥 ) = 𝑠(𝑐 𝜇𝐴 𝑥 , 𝑐 𝜇𝐵 𝑥 )
 𝑐(𝑠 𝜇𝐴 𝑥 , 𝜇𝐵 𝑥 ) = 𝑡(𝑐 𝜇𝐴 𝑥 , 𝑐 𝜇𝐵 𝑥 )

Dr. Van-Phong Vu-Department of Automatic Control

 B(x)
A(x)
32  Find 𝐴 𝑥 ∩𝐵 𝑥
1

 Find 𝐴 𝑥 ∪𝐵 𝑥

B(x)
1 A(x)

Dr. Van-Phong Vu-Department of Automatic Control

33  Consider two discrete time fuzzy sets on universe set Y={y1, y2,
y3, y4, y5, y6, y7}:
0.4 0.6 0.8 1 0.7 0.2 0
𝐴 𝑦 ={ + + + + + + ቋ
𝑦1 𝑦2 𝑦3 𝑦4 𝑦5 𝑦6 𝑦7
0.3 0.5 0.9 1 0.8 0.1 0
𝐵 𝑦 ={ + + + + + + ቋ
𝑦1 𝑦2 𝑦3 𝑦4 𝑦5 𝑦6 𝑦7
 Find 𝐴 𝑦 ∩ 𝐵 𝑦 based on standard intersection and union
0.3 0.5 0.8 1 0.7 0.1 0
𝐴 𝑦 ∩𝐵 𝑦 ={ + + + + + + ቋ
𝑦1 𝑦2 𝑦3 𝑦4 𝑦5 𝑦6 𝑦7
0.7 0.5 0.2 0 0.3 0.9 1
𝐴 𝑦 ∩𝐵 𝑦 ={ + + + + + + ቋ
𝑦1 𝑦2 𝑦3 𝑦4 𝑦5 𝑦6 𝑦7
Dr. Van-Phong Vu-Department of Automatic Control
34

2.3 Fuzzy number

Dr. Van-Phong Vu-Department of Automatic Control

35 2.3.1 Definition
 Fuzzy number is a fuzzy set to express the number in
which the fuzzy set needs to satisfy the following
conditions:
 Fuzzy set must be a normal fuzzy set
 ⍺-cut with 𝛼 ∈ [0,1] have to be a closed interval
 Support of the fuzzy set is finite.

A(x) A(x)
1 1

0 0
1 2 3 5
Fuzzy number 2
Dr. Van-Phong Vu-Department of Automatic Control
Fuzzy number 5
 A(x)
36 0.5

0
1 2 3
Non-fuzzy number

Non-fuzzy number Non-fuzzy number

Dr. Van-Phong Vu-Department of Automatic Control
37 2.3.2 Decomposion theorems
 Define:

 A( x )    A( x)
 Continuous:

A(x)
1 1
⍺A(x)
⍺

0 0
1 2 3 1 2 3

Dr. Van-Phong Vu-Department of Automatic Control

38
 Discrete time:

0.1 0.2 0.8 1 0.7 0.2 0

𝐴 𝑦 ={ + + + + + + ቋ
𝑦1 𝑦2 𝑦3 𝑦4 𝑦5 𝑦6 𝑦7

0 0 0.5 0.5 0.5 0 0

𝛼𝐴 𝑦 = { + + + + + + ቋ
𝑦1 𝑦2 𝑦3 𝑦4 𝑦5 𝑦6 𝑦7

𝑤𝑖𝑡ℎ 𝛼=0.5

Dr. Van-Phong Vu-Department of Automatic Control

39  First Decomposition Theory (reference WJ Wang)
A=   A

[ 0 ,1]

5 A
5
2 A
2

‧ 2 ‧ x
A
‧ 5 A‧

 Any fuzzy set A can be composed many  i A (each  i A can be

see as a stair with height)

Dr. Van-Phong Vu-Department of Automatic Control

40 2.3.2 Operation on fuzzy number
 Operation on Interval
Consider two interval [a,b] and [c, d].
[a, b]+[c, d]=[a+c, b+d].
[a, b]-[c, d]=[a-d, b-c]
 Example:
 [1, 3]+[2, 4]=[3, 7]
 [2, 5]-[3, 6]=[-4, 2].

Dr. Van-Phong Vu-Department of Automatic Control

41  Operation on the fuzzy number ( Refer WJ Wang’s book
and lecturer)
 Consider two fuzzy number A and B.
 Based on definition of ⍺-cut, we have:

 where * is the plus (+), minus (-), 𝛼 ∈ [0,1]

 Based on the Decomposition Theory, it yields

 A and B are fuzzy set, therefore A*B is fuzzy set as well.

Dr. Van-Phong Vu-Department of Automatic Control

42 Example:
 Consider two fuzzy number as follows:

 Compute: A+B and A-B?

Dr. Van-Phong Vu-Department of Automatic Control

  Step 1: Draw the two fuzzy sets and carry out ⍺-cut

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 Step 2: calculate ⍺-cut of A, B and (A+B)

Dr. Van-Phong Vu-Department of Automatic Control

44  Step 3: compute the (A+B)
 Left side: choose ⍺=0 and ⍺=1 we have two points: (0,0) and (4, 1),
thus we can obtain the equation of left side

 Right side: choose ⍺=0 and ⍺=1, we have two points: (4,1) and (8,0),
Then we obtain the equation of right side

Dr. Van-Phong Vu-Department of Automatic Control

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Dr. Van-Phong Vu-Department of Automatic Control

46

Thanks for Listening

Dr. Van-Phong Vu-Department of Automatic Control