Introduction to Fuzzy Logic

and Fuzzy Control

Fuzzy logic
• Fuzzy Logic allows obtaining conclusions from vague,
ambiguous or imprecise information

• Linguistic variable
– A variable whose values are words or phrases in a natural or synthetic
language
– Knowledge is expressed through subjective concepts
• Tall, short, cold, hot, positive, zero, big, …

• Fuzzy rule: IF … THEN …

– A rule in which the antecedent and the consequent are propositions
containing linguistic variables

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 Fuzzy control

Fuzzy control, user’s view

• Rule based, linguistic, symbolic, qualitative, …

• The user’s view (interface)
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Fuzzy control

Fuzzy control, process’ view

• Non linear, Quantitative, ...

• The process’ view
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 Non linear control
• The reality (the process to be controlled) is non linear
• Linear systems are, in general, a good local approximation of a
non linear system
• Linear control is, in general, sufficient (PID, for example)
• However, there is an increasing need of non linear control
– Increasing functionality/complexity
– Fast production changes
– Higher precision
– Larger operating ranges

Larger operating range of an

inverted pendulum
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Need of non linear control

• Non linear process
– Non linear dynamics
– Non linear dynamics + constraints on the inputs, states, outputs
• “Non linear” specifications
– Time-optimal control
– Constraints
– Small signal vs large signal behaviour

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 Non linearities in control

• In the process model

– Basis for model based
controller design
– Part of a model based
controller

• In the controller
– Feedback path
– Direct path

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Non linear mappings

• Difficult representation
• Different approaches (parameterizations)
– Look-up tables
– Splines
– Fuzzy systems
– Neural networks
– Wavelets
– Analytic functions
– Radial basis functions
– Logic and selection

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 Fuzzy logic
• Introduced by Lotfi Zadeh in the early 1960s
• Fuzzy sets theory / logic for dealing with non probabilistic
uncertainties
• Application domains
– Control systems, supervision, maintenance
– Decision support systems
– Data classification, pattern recognition, computer vision
– Knowledge based systems

• First application – automatic control

– Abe Mamdani, Queen Mary College, 1974
– Steam turbine and boiler

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Fuzzy logic based control: motivation

Conceptual evolution of fuzzy logic based control

• Non linear connection

– Manual control is typically non linear, e.g. on-off control

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 Model-based control

Stages for implementation of model based control

• Conventional or fuzzy

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Heuristic fuzzy control

Stages for implementation of heuristic based fuzzy

control

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 Crisp sets
• The set A := {x | x ∈ A}
• The characteristic function

⎧1, x∈ A
μA ( x) = ⎨
⎩0, otherwise
• Set operations:

Membership value
– Intersection
– Union
– Complement
– Subset

Definition of crisp sets and

membership values of their elements
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Fuzzy sets.
Membership functions and membership value
• Membership function and membership value
μ A : x → [0,1]

A = {( x, μ A ( x )) | x ∈ U }
Membership value

Fuzzy sets definition

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 Typical membership functions

• Gaussian

Membership value
• Triangular/Trapezoidal
/Rectangular

Membership value
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Typical membership functions

• Singleton
Membership value

Membership function example: singleton

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 Support, nucleous and α-cut

A(x)

Characterization and properties of a fuzzy set

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Fuzzy set operations

• Intersection: AND A∩ B
μ A∩ B ( x ) = min (μ A ( x ), μ B ( x ))

• Union: OR A∪ B
μ A∪ B ( x ) = max (μ A ( x ), μ B ( x ))

• Complement: NOT A'

μ A' ( x ) = 1 − μ A ( x )

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 Intersection operators
• Probabilistic AND (product operator):

μ A∩ B ( x ) = μ A ( x ) ⋅ μ B ( x )

• Lukasiewicz AND (bounded difference):

μ A∩ B ( x ) = max (0, μ A ( x ) + μ B ( x ) − 1)

• Other T-Norm operators ...

[0,1]× [0,1] → [0,1]

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Union operators
• Probabilistic OR:

μ A∪ B ( x ) = μ A ( x ) + μ B ( x ) − μ A ( x ) ⋅ μ B ( x )

• Lukasiewicz OR (bounded sum):

μ A∪ B ( x ) = min (1, μ A ( x ) + μ B ( x ))

• Other T-Conorm operators ...

[0,1]× [0,1] → [0,1]

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 Fuzzy logic
• Generalization of ordinary boolean logic
• Propositions have truth values between 0 and 1, the membership
values in the fuzzy sets

Truth values of simple propositions

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Fuzzy logic
• AND, OR and NOT connect simple propositions into compound
propositions
( x1 is A1i ) AND (x2 is A2i ) OR ...

• Fuzzy inference is expressed by:

IF <fuzzy proposition> THEN <fuzzy proposition>

IF (x1 is A1i ) AND (x2 is A2i ) OR ... THEN (u1 is B1i ) AND (u2 ...)

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 Fuzzy logic
• A very large body of theory has been developed
• Very little of this theory is needed to understand/use fuzzy
control

Fuzzy set theory and its use in control

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Architecture of a fuzzy control system

• A fuzzy system is consituted by:
– Knowledge Base, or Rule Base
– Inference mechanism
– Interfaces
– Fuzzification: numbers - > fuzzy sets
– Defuzzification: fuzzy sets -> numbers

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 Architecture of a fuzzy control system

Architecture of a fuzzy system with its input and output interfaces

• Which of the subsystems most influence the controller

performance?

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Inference systems
• Mamdani inference system:
– Prototype of a rule, being A and B fuzzy sets:

IF x is A THEN u is B

• Takagi-Sugeno inference system:

– Prototype of a rule, being A a fuzzy set:
IF x is A THEN u = f ( x)

A fuzzy set, the f(x) function, is, in general, a linear

combination of the inputs:
f ( x) = l0 + l1x1 + ... + ln xn

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 Steps of a Mamdani inference system
1. Input fuzzy set evaluation

Membership value
Fuzzy set evaluation, depending on the input crisp values

i. Temperature is Cold with a truth value of 0.7

ii. Temperature is OK with a truth value of 0.3
iii. Temperature is Hot with a truth value of 0.0

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Steps of a Mamdani inference system

2. Evaluate the firing level of each rule:

IF Temp is Low AND Pressure is Average THEN ...

Firing level of each rule Operators for the antecedent of a rule

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 Steps of a Mamdani inference system
3. Evaluate the fuzzy output of each rule:
IF ... THEN u is Zero
Depends of the definition of each operator ...

Determining the consequent of a rule

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Steps of a Mamdani inference system

4. Fuzzy output aggregation

Fuzzy output aggregation, including all active rules, using the max operator

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 Steps of a Mamdani inference system
5. Defuzzification. Defuzzifier: Fuzzy set B’-> number y’
– Common choice: Center of Gravity

(u)

∫ u ⋅ μU (u )du ∑in=1ui μU (ui )

u= U u=
∫U μU (u )du ∑in=1μU (ui )
Deffuzification with Centre of Gravity – COG, for continuous and
discrete fuzzy sets.
– Other choices: Centre of sums, Mean of maximum, ...
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Steps of a Mamdani inference system

5. Defuzzification (cont.)

Defuzzification methods: Centre of gravity (left) and Mean of maximum (right),

alternative: first maximum

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 Mamdani inference systems: internal vision

Architecture of a Mamdani controller

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Mamdani inference systems: external vision

• Example: Mamdani controller for two input variables

X, Y Z

Mamdani generic control surface (non linear)

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 Mamdani inference systems: look-up tables

(Z)

(Z)
Control

Control
X, Y Z

Mamdani system: inputs, look-up table and control surface

• Piecewise constant systems with extensive interpolation

• Overlap of the input membership functions define the interpolation
regions
• Very little reason to use anything but singletons as output
membership functions
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Takagi-Sugeno inference systems

• Rules for a Takagi-Sugeno inference system:
IF x is A THEN u = f ( x)

A fuzzy set, the f(x) function is, in general, a linear combination

of the inputs:
f ( x) = b0 + b1x1 + ... + bn xn

• The steps of the inference system are:

1. Input fuzzy set evaluation
2. Calculation of the firing degree (weight) of each rule
3. Calculation of the output of each rule
4. Calculation of the output by weighted average

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 Takagi-Sugeno inference systems

Takagi-Sugeno controller: rules firing level (weights) and rule output

• The global output of a Takagi-Sugeno inference system is:

∑N w u
u = i =N1 i i
∑i =1 wi
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Takagi-Sugeno inference systems: internal vision

Architecture of a Takagi-Sugeno controller

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 Takagi-Sugeno inference systems: external vision
• Example:
R1: IF X is N AND Y is N THEN
u1=b01+b11X+b12Y
X, Y Z
R2: IF X is N AND Y is P THEN
u2=b02+b21X+b22Y
R3: IF X is P AND Y is N THEN
u3=b03+b31X+b32Y
R4: IF X is P AND Y is P THEN Control surface (non linear) of a
u4=b04+b41X+b42Y Takagi-Sugeno controller

• Generally, the Takagi-Sugeno controller can be viewed as a set of

hyper surfaces with weighted connections
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Takagi-Sugeno inference systems: look-up tables

X, Y Z

Takagi-Sugeno system: inputs, look-up tables and control surface

• Piecewise linear systems with interpolation

• Operating regions interpolation regions
• Gain-scheduling

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 Summary
• Introduction to fuzzy logic and fuzzy logic based controllers
– Linguistic variables e linguistic values
– Linguistic rules
– Membership functions
– Fuzzy sets, operations with fuzzy sets
– Fuzzification, Inference and Defuzzification
– Fuzzy logic controller structures
• Mamdani
• Takagi-Sugeno

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References
• D. Driankov, H. Hellendorn, M. Reinfrank, “An Introduction to
Fuzzy Control”. Springer-Verlag, Berlin, 1993
• L. Reznik, “Fuzzy Controllers”. Newnes, 1997
• K. M. Passino, S. Yurkovich, “Fuzzy Control”. Addison-Wesley,
Menlo Park, 1998

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 Appendix: Fuzzy relations
• The classical relation between two universes, U and V is defined as:
U × V = {( u, v ) u ∈ U , v ∈ V }

• It combines any element of U with any element of V in ordered

pairs, and makes associations without restrictions between u and v
– The strength of the ordered pairs of the elements of each universe is
measured by the characteristic function, with values of 1 (complete relation)
or 0 (no relation)
• Example:
U = (1, 2 ) V = ( a, b, c ) U × V = {(1, a ) , (1, b ) , (1, c ) , ( 2, a ) , ( 2, b ) , ( 2, c )}
• In a matrix representation:
a b c
1 ⎡1 1 1⎤
R = U ×V = ⎢
2 ⎣1 1 1⎥⎦
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Fuzzy relations
• A fuzzy Relation, R, maps elements of one universe into the other
universe through the cartesian product of the two universes
– The relation strength between the pairs is measured by a membership
function:
R : U × V → [ 0,1]
• Example, using the min operator:
μ R ( u, v ) = μ A× B ( u, v ) = min ( μ A ( u ) , μ B ( v ) )
⎡0.2 ⎤
A1 = ( 0.2,0.9 ) A2 = ( 0.3,0.5,1) R = A1 × A2 = ⎢ ⎥ × [ 0.3 0.5 1]
⎣0.9 ⎦

⎡ min ( 0.2,0.3) min ( 0.2,0.5 ) min ( 0.2,1) ⎤ ⎡0.2 0.2 0.2 ⎤

R=⎢ ⎥=⎢ ⎥
⎣ min ( 0.9,0.3) min ( 0.9,0.5 ) min ( 0.9,1) ⎦ ⎣ 0.3 0.5 0.9 ⎦
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 Fuzzy relations
• R is a fuzzy relation between universes U and V. S is a fuzzy
relation between universes V and W. The fuzzy relation T, relating
the elements of U contained in R, with the elements of W contained
in S is given by the composition:

T = R D S = max {min ( μ R ( u , v ) , μ S ( v, w ) )}
v∈V

• Example, using min-max, the relation T=RoS:

⎡ 0.6 0.8⎤ ⎡ 0.3 0.1⎤ ⎡0.3 0.8⎤

R=⎢ ⎥ ; S=⎢ ⎥; RDS = ⎢ ⎥
⎣ 0.7 0.9 ⎦ ⎣ 0.2 0.8⎦ ⎣0.3 0.8⎦
• The element T(1,1) is obtained by: max{min(0.6, 0.3), (0.8, 0.2)}
• It is verified that: R D S ≠ S D R
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