International Journal of Electrical Electronics & Computer Science Engineering

Volume 5, Issue 2 (April, 2018) | E-ISSN : 2348-2273 | P-ISSN : 2454-1222

Available Online at www.ijeecse.com

Designing the Controller Based on the Approach of Hedge Algebras and

Optimization through Genetic Algorithm
Duy Nguyen Tien1, Trung Ngo Kien2
1
Falcuty of Electronics, Thai Nguyen University of Technology, Thai Nguyen, Vietnam
1
Falcuty of Electrical Engineering, Thai Nguyen University of Technology, Thai Nguyen, Vietnam
1
duy.infor@tnut.edu.vn, 2trungokien@tnut.edu.vn

Abstract: The application of Hedge - Algebra in control and
automation is a new approach and has had remarkable
results in recent years. However, on methodology, there are
many issues that need to be studied extensively to show the
effectiveness of this approach. For that purpose, in this
paper we present a method of using approximate reasoning
for the design of the controller which is given by the
linguistic rule. The object chosen for that study was the
furnace. Through simulation, the results were evaluated and
compared with the PI controller showing that the controller
by Hedge algebra worked very efficiently, especially with the
controller whose parameters were adjusted by the algorithm
genetic.
Keywords: Hedge Algebra, PI controller, Fuzzy controller,
Genetic Algorithm, Heat Control.
I. INTRODUCTION
For industrial automation systems, the classical
controllers PID are often chosen for their simplicity and
ability to meet quality indicators. However, the PID
controller is not flexible because the coefficients Kp, Ki,
Kd are unchanged during system operation. This is a
major disadvantage of PID controllers, especially with
nonlinear systems. In order to improve the quality of
control, especially for nonlinear systems, new control
methods have been investigated by scientists, such as
the use of fuzzy set for adjustment to adjust Kp, Ki, Kd
of PID controllers, controllers based on fuzzy logic [1],
neural networks [2], etc.
Fuzzy logic [1] shows that there are many advantages in
the field of control with objects in which input/output
information is unclear, uncertain and without knowing
the mathematical model of the object [3] - [8]. Fuzzy
logic allows the modeling of a controller to be
constructed that is visually controlled by a set of
linguistic rules. However, it also has certain limitations.
The Fuzzy Logic Controller (FLC) often requires a
large computing time [7]. The design also depends on
the designer’s experience and understanding of the
system. The use of fuzzy sets to represent the semantics
of language is limited by the fact that there is a lack of
strong binding relations between fuzzy set and
semantics. The choice of shape and location of fuzzy
sets is primarily based on experience. According to the
fuzzy logic, there are many options for t-norm operator,
t-conorm, drag, defuzzification, etc., which greatly
affect the output result of the controller. These
limitations cause the inability to accurately depict the
computational model of the inference set against the
control rule set in some practical applications.
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When designing a controller based on a linguistic rule,
it is important to ensure a semantic order relationship
between linguistic elements. HA (Hedge Algebra) [9],
[10] is an algebraic structure on the domain of linguistic
values whose semantics assure order relations. There
are many applications that have been developed based
on this theory such as data mining, clustering,
classification, fuzzy database, control, … [3] - [8]. In
addition, the advantages of applying the HA in control
field have been internationally published [13]. HA
allows building a model calculation for LRBS
(Linguistic Rule Base System of the controller) - based
controllers that have been targeted by researchers in the
field of control and automation. According to the HA,
linguistic terms are computed based on their semantic
value which is always order and suitable for
constructing computational models in approximation
problems. In addition to using the advantages of the
fuzzy system, the HA controllers to promote the
advantages of computation based on the semantic
validity of the language and useful to avoid
identification mathematical model.
In this paper, with the aim of introducing a new
computational tool, we propose an application method
of HA to design the controller by the linguistic rule [4] -
[8].
II. APPLICATION OF THE HEDGE ALGEBRA IN
THE CONTROL
Suppose we have a set of linguistic values of a certain
linguistic variable which includes
These linguistic
values appears in linguistic rule bases of approximation
problems based on knowledge. Thus, it is necessary to
have a strict computational structure which preserves
the inherent order of the linguistic values. From this we
can calculate the semantic relationship of the linguistic
values in the rules.
HA [9], [10] is an orderly mathematical structure of the
set of linguistic terms, the order relations are defined by
the semantics of the linguistic terms in this aggregation.
Quantifying the semantic validity of linguistic terms
through semantic quantitative mapping functions -
SQMs (Semantic Quantitative Mapping functions) [11]
allows a full description of the model of the rule set and
the approximation reasoning process in a close and
 International Journal of Electrical Electronics & Computer Science Engineering
Volume 5, Issue 2 (April, 2018) | E-ISSN : 2348-2273 | P-ISSN : 2454-1222
reasonable way [3] - [7].
… the domain of variable real value of the output
As , and are linguistic variables, each
linguistic variable belongs to the base space and
the linguistic variable is in the base space ; , domains, and control rules with linguistic elements
( ) are the linguistic values
that belong to the corresponding base space. Each rule
"If ... then", identifies a "fuzzy point" in the
. parameter of generating elements, hedges and the
Then (Eq. 1) can be considered as a “hyper-surface” of
in this space. According to the approaching of the
HA theory, we construct the HA structure for linguistic
variables and use the SQMs function to convert each
fuzzy point to a real point in the semantic space
. Then, (Eq. 1) is represented respectively as a
real “hyper-surface” . It is likely to consider the
real “hyper-surface” as the mathematical
representation of the LRBS in which each fuzzy
(linguistic value) of the fuzzy variable (linguistic
variable) has been quantified into their semantic values
(QRBS - Quantified Rule Base System).
Suppose that real inputs belong to the corresponding
base space, the input values of the controller
, use the normalization of those values
in the value domain of HA we have
respectively. The approximation
reasoning problem is carried on by the interpolation
method on . The interpolation value received in
the domain is the quantitative semantic value of
the output linguistic variable that is transferred to the
real variable domain (base space of the variable) of
the output control value by denormalization. The model
of the controller based on HA approaching is described
in Fig. 1.
LRBS
QRBS
( )
Normalization IRMd Denormalization
Fig. 1 Controller’s Diagram Based on HA Approach
In Fig. 1, the components are included:
1) LRBS: Linguistic Rule Base System of the
controller.
2) QRBS: Quantifying rule based system of linguistic
values which is computed by mapping function
SQM ( ).
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3) Normalization: standardize values of the variables in
the semantic domain.
4) IRMd (Interpolation Reasoning Method):
Interpolation on the “hyper-surface” .
5) Denormalization: convert semantic control value to
variable.
Steps of designing the controller based on hedge
algebra as follows:
1) Step 1: Identify I/O variables, their variation
in HA.
2) Step 2: Select the structure ,( ) and
for variables and Determine the fuzzy
sign ralationship between the hedges.
3) Step 3: Compute quantitative semantic values for
linguistic labels in the rule set. Construct the “hyper-
surface” .
4) Step 4: Select the interpolation method on the
“hyper-surface” .
5) Step 5: Optimize the parameters of the controller.
III. OPTIMIZING THE PARAMETER OF THE
CONTROLLER BASED ON GENETIC
ALGORITHM
Genetic Algoritm (GA) is a method which find
solutions randomly for overall structure based on the
process of natural evolution. Genetic algorithms are part
of the broader class of evolutionary algorithms. Genetic
algorithms imitate the same mechanisms as those found
in nature (including reproduction, breeding and
mutation) to find the best solution [14].
By starting at some independent and parallel search
points, GA avoids extreme local extremes as well as
convergence to secondary optimization solutions. As a
result, GA has been shown to be able to locate high
performance areas in complex spaces without the
hassles involved in the dimension of space such as
gradient techniques or optimization search methods
based on information about derivatives.
GA enforcement is usually initiated with a random
population of 50 to several hundred individuals,
depending on the problem. Each individual is an
optimal set of parameters, usually represented by a real
or binary number sequence and is called a chromosome.
Each parameter corresponds to a segment of the
chromosome, called the gene. Replication and mutation
processes occur randomly to exchange and transfer
information of genes. Adaptation of the next
generations always inherit the adaptation of the
previous generation.
The assessment of an individual's adaptation is
measured by a finess function, called the finess value.
Normally, in optimization problems, the optimal goal is
 International Journal of Electrical Electronics & Computer Science Engineering
Volume 5, Issue 2 (April, 2018) | E-ISSN : 2348-2273 | P-ISSN : 2454-1222
Available Online at www.ijeecse.com

to minimize the target function. Through long-term

evolution and selection, adaptation to natural processes,
individuals will gradually adapt to the objective
function. Correspondingly, each instance will be an
optimal set of asymptotic parameters by fitness
function. Here, the fitness function is calculated
according to the IAE (Integrated of The Absolute
Magnitude of the Error). The control system model is
often modeled on a discrete domain over time, so the
IAE standard is transformed into the below form:
(Eq. 2)
Where: is the sample deviation at
the th simulation cycle, is the total number of data
samples of a simulation test. is the reference
value at the input, in many mathematical problem this is
a constant. is the true response value of the output
on the control object.
IV. GENERALIZATION AND NUMBER
SYNTHESIS
A. The PI Classic Controller:
Heating equipment is an object which is widely used in
industry, medical and civil. In the industry, it is often
used in heat treatment, melting ferrous and non-ferrous
metals. Industrial furnaces often use metal wire. In
other areas such as health or civil, the focus is on the
kilns. Temperature is the quantity that needs to be
adjusted. In controlling, the furnace temperature (the
furnace power) is usually done by controlling the power
supply.
In this paper, we use an object in Error! Reference
source not found. with transfer function:
(Eq. 3)
Where:
– gain factor
– Time constant (seconds).
- Time delay (seconds).
(Eq. 6)
The parameters of the PI controller are calculated using
the experimental method Ziegler & Nichols:
B. The HA Controller
The design of the HA controller is implemented
according to the steps presented in the previous section
as follows:
1) Step 1: Identify input/output variables, their
variation domains, and control rule set with linguistic
elements in HA. The controller has 02 inputs:
- – control deviation, variation in the
interval [-1, 1].
- – indicates the variable rate of e
in the range [-1, 1],
- Controller output is the control quantity to control
the voltage of the source, varying in the
interval = [-5, 5].
The input/output linguistic variables include the
following linguistic values:
- .
- .
Where:
, ,
, ,
.
The control rule is considered to be an LRBS and
presented as the following table I:
Table I. Control Rule Set

(Eq. 4)

The control signal of the PI classic controller

described by:

(Eq. 5) 2) Step 2: Choose the structure of ,( )

and for the variables and . Identify the fuzzy
Where is the scale factor, is the integration parameter of the generating elements and the hedges
factor and is the control error. Based on (Eq. 5), - The set of generating elements .
turn it to to discrete domain, we have: - The set of hedges is chosen: và
.

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Volume 5, Issue 2 (April, 2018) | E-ISSN : 2348-2273 | P-ISSN : 2454-1222
Available Online at www.ijeecse.com

- The fuzzy parameter of hedge algebra gives the

variable , and which include the fuzzy
measurement of the generating elements, the fuzzy
measurement of the hedges. According to the hedge
algebraic structure for the variables constructed
above, we need to choose the fuzzy measurement of
the negative elements
( )
the fuzzy measurement of the negative hedges
( ). The fuzzy
parameters are initially chosen as intuitive as in
Table II.
Table II. The Fuzzy Parameters Of HA
Fig. 2. Input/Output Relation Surface

0.50 0.50 0.50 Fig. 2 is , which corresponds to Table IV. It is a

mathematical model that expresses the input/output
0.50 0.50 0.50 relationship of the controller.
- The sign of the generating elements, hedges and 4) Step 4: Select interpolation method: The
sign relations between the hedges is determined by interpolation method on is chosen as bi-liner
the semantic nature of the linguistic terms. For interpolation.
example, , . Moreover, it 5) Step 5: Optimize fuzzy parameters of the controller
can be seen that . It can be seen that the variable domain of input/output
. In additions, it is variables is symmetric. The semantics of the linguistic
similar to other linguistic elements, so we define the element is zero by itself. When mapping to the semantic
sign relation as in table III.
domain in the range [0,1], the semantic value
Table IIII. Sign Relation . Therefore, we stably choose for value variables,
We only need to optimize the fuzzy
measurement of the hedges. The set of hedges in the
hedge algebra is constructed by only two hedges, V
(Very) and L (Little). We have: (
). Therefore, we just need to optimize the fuzzy
measurement of the negative hedges , we will
3) Step 3: Compute quantitative semantic values for infer the fuzzy measurement of the positive hedges. We
linguistic labels in the rules. Construct “hyper-surface” have 3 HA structures for 3 variables , and .
in table IV. Correspondingly, we have three parameters to optimize
Table IIIV. QRBS of the Default Controller HAC alfa_e, alfa_ce and alfa_u. In theory, the fuzzy
measurement can be varied from 0 to 1. However, in
order to match the description of the language, we
0.1533 0.3763 0.5000 0.6238 0.8488 choose to search for the values of these parameters in
the interval [0.3, 0.7].
0.1533 0.1022 0.1022 0.2250 0.3762 0.5000
In the Matlab environment, GA is an existing function
0.3763 0.1022 0.2250 0.3762 0.5000 0.6238 as a tool that helps us to use it. In this study, we used
the ga() function in Matlab with the gene code by the
0.5000 0.2250 0.3762 0.5000 0.6238 0.7750
real number type double. The values set for GA include:
0.6238 0.3762 0.5000 0.6238 0.7750 0.8988 Population size, PopulationSize = 150; Generation =
450. The target function is used as in formula (Eq. 2).
0.8488 0.5000 0.6238 0.7750 0.8988 0.8988
The result gained the set of parameters for the controller
With the selected fuzzy parameters as in Table II and as shown in Table V.
the sign relationship between the hedges, between the
hedges and the elements as shown in Table III, using Table V. Optimal Parameters of the Controller HAC
the quantitative semantic function, we calculate the Based on GA
value quantitative semantic value of linguistic elements
in the rule table, we have Table IV.
0.312159 0.500708 0.696785

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Volume 5, Issue 2 (April, 2018) | E-ISSN : 2348-2273 | P-ISSN : 2454-1222
Available Online at www.ijeecse.com

Based on the optimal fuzzy parameters found in Table

V, we compute the quantitative semantic values of the
linguistic classes of the rule table, we obtain the QRBS
table of the optimal controller HAC as shown in Table
VI and corresponding input/output relation surface in
Fig. 3.
Table VIV. QRBS of the Optimal Controller HAC

0.2366 0.3926 0.5000 0.6074 0.7634

Fig. 5. Graphical Response of the System
0.1246 0.0460 0.0460 0.1516 0.3944 0.5000 Some of the measured values after the simulation are
0.3750 0.0460 0.1516 0.3944 0.5000 0.6056 summarized in Table VII.

0.5000 0.1516 0.3944 0.5000 0.6056 0.8484 Table VIV. Simulation Result
0.6250 0.3944 0.5000 0.6056 0.8484 0.9540 HAC HAC
PI (Default (Optimization
0.8754 0.5000 0.6056 0.8484 0.9540 0.9540 Parameters) Parameters)

Rise Time 82 57.5 50

Overshoot 1.11 1.1093 1.0439
Settling Time 263 205 50
IAE 58.0182 45.5915 28.7490

It can be seen in the simulation results, the system

Fig. 3. The Input/Output Relation Surface of the
Optimal Controller HAC
V. SIMULATION RESULTS
The system simulation model to PI-controller, HA-
controllers, and HA-controllers with optimized GA
parameters was implemented in a Matlab/ Simulink
environment as shown in Fig. 4. With the time 600s and
input reference signal Step = 1 in the system simulation,
we obtain the results of the response shown in Fig. 5.
output response to the HA controller is better than the
PI controller. In particular, with the optimal parameters
obtained by GA, the HA controller provides better
control of the quality control criteria such as Rise Time,
Overshoot, Settling Time and IAE.
VI. CONCLUSION
In this paper, we mainly present the application of
hedge algebra and genetic algorithms in the field of
control. For control problems in which control rules are
given by the LRBS, we can construct a controller with a
model of computing based on the hedge algebra.
According to this approach, the representative structure
of the LRBS is very tight, the number of computations
is not much, so it can perfectly response to systems that
require real-time response. The controller has just a few
parameters so it is also convenient to optimize. To
optimize the controller effectively, we use GA.
By simulating the controller for the heater in Error!
Reference source not found., it can be seen that HA-
controllers work very well. The results show that
studying the application of hedge algebra in control is
an open field. In the future, it is essential to have more
practical researches on HA because of its advantages.

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