Neural Networks And Fuzzy Control
Neural Networks And Fuzzy Control
Abhishek Kumar Tiwari
Boda Bag Road,
Geology and Mining Office
Civil Lines, REWA (M.P)
E-mail: abhi_sun02@yahoo.co.in
ABSTRACT
A Neural Network is basically a self-
adjusting network whose output is consistent
with the desired output and once the network is
‘trained’, only the input data are provided to the
network, which then ‘recalls’ the response that
it ‘learned’ during training. To add more
flexibility to the definition of the system,
incorporate vague inputs, describe general
boundaries for the system and hence to provide
a better control of the system, fuzzy logic is
implemented with the neural networks.
The various methodologies that are
required to adapt the synaptic weights, the
different learning algorithms used to implement
parallel distributed processing and robust
computation and the major applications of
neuro-fuzzy systems have been discussed in
brief in the paper. The paper also brings forth
the shortcomings of the various algorithms and
techniques that are currently used in numerous
applications, simultaneously proposing other
methods for more efficient control. In addition,
the paper demonstrates some fuzzy parameters
and principles in a neural network which adds
user flexibility and robustness to the system.
KEYWORDS
Neural network, modeling, learning, learning
algorithm, training, fuzzy logic.
1. INTRODUCTION
An ANN is an information processing paradigm
that is inspired by the way biological nervous
systems, such as the brain, process information.
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It works along two directions. Firstly, it deals
with realizing the anatomy and functioning of
the human brain in order to define models
adherent to its physical behavior. Secondly, it
aims at computing on the basis of the parallel
and distributed structure of the brain. [7.] This
is implemented by a process of self adjusting
the weights or inter-connection strengths,
known as Learning. There exist robust learning
algorithms that guarantee convergence in the
presence of uncertainties (in inputs). This
imprecision in the input values is dealt with the
help of fuzzy logics which usually uses IF-
THEN rules or equivalent constructs. Neural
network automatically generates and updates
fuzzy logic governing rules and membership
functions while the fuzzy logic infers and
provides crisp or defuzzified output when fuzzy
parameters exist. Thus neural network and
fuzzy control work hand in hand.
2. BIOLOGICAL NEURAL
NETWORKS
The biological neural network is an
interlinked structure of billions of neurons, each
of which is linked to thousands of other
neurons, either fully or partially connected.
Neurons are complex cells that respond to
electrochemical signals. They consist of a
nucleus, a cell body, numerous dendritic links
which provide “interconnection strengths” from
other neurons through synapses and an axon
that carries an action potential trunk which
carries an action potential output to other
neurons through synapses. There are two types
of connections: excitatory and inhibitory. If the
action potential value exceeds its threshold
value, neuron fires and thus either excites or
inhibits other neurons. [1.]
 International Conference on Systemics, Cybernetics and Informatics
3. NEED OF NEURAL NETWORKS
Conventional computers of the recent
times use algorithmic approach to solve a
problem. The problem solving capability of
these computers is thus, restricted to only what
they already know. Therefore, in the
development of the intelligent machines for
application areas, such as information
processing, control applications,
communication networks, this approach proves
to be a major hurdle [7.] Moreover, the
computer power, in terms of storage capacity
and speed, is continuously increasing for which
the microprocessors, that incorporate reduced
instruction set computer architecture, are used.
In order to meet the on-growing demand of this
exponential increase in performance/cost, more
potent machines are required that can "think".
And to create this "brain-like machine", such
theories need to be devised that can explain
"intelligence". [6.]
4. NETWORK ARCHITECTURES
Architecture defines the network
structure, that is, number of artificial neurons in
the network and their inter connectivity.
Network architecture is categorized into :
(i) Single layer and multilayer network
A network with a single output
layer and no intermediate hidden layers is
known as single layer network while a network
with one or more intermediate hidden layers in
between the input and output layers is termed as
multi layer network.
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(ii) Feed forward and Feed back network.
Feed forward network allows
signals to travel one way only, from input to
output. They tend to be straight forward and
their is no feedback(loops) and hence output of
any layer does not affect that same layer.
Feed back network consists of set of processing
units, the output of each unit is fed as input to
all other units including the same unit.
(iii) Fully connected and Partially connected
network.
The neural network is said to be fully
connected if every node in each layer of the
network is connected to every other node in the
adjacent forward layer. If, however, some of the
communication links are missing from the
network, the network is said to be partially
connected.
5. MODELING AND LEARNING
Neural networks process information
using parallel decomposition of complex
information into basic elements. So,
relationships can be established and stored and
similar to the brain, networks can use it later for
updation or to achieve certain desired response.
Modeling of the network is done to match its
problem solving ways with those of the brain
and can be viewed as our expression(attempt) to
approximate nature’s creation.
CONCEPT OF MODELING
In artificial neural networks, modeling can be
achieved fundamentally by artificial neurons. A
neuron has a set of ‘n’ inputs, each weighted by
the connection strength or weight factor, a
‘bias’ term i.e. threshold value (which when
exceeded, the neuron fires), a non-linearity that
Neural Networks And Fuzzy Control
acts on activation signal produced and an output
response.
The purpose of non-linear function is to
ensure that neuron’s response is bounded, i.e.,
neuron’s actual response is conditioned or
damped. Different non-linearity functions and
algorithms used in the network, are used:
(i)Linear or ramp function
It is also termed as hard-limiter and is
linear within upper and lower limits.
(ii)Threshold function
(iii)Sigmoid function
It is the most popular function used
and is monotonic and differentiable.
5.1 LEARNING
The Neural network resembles the human
brain by acquiring knowledge through learning
and by storing this knowledge within the
synaptic weights. Learning is the process of
determining the weights by adapting to an input
stimulus and producing a desired response.
When the actual output response is the same as
the desired one, the network is said to have
“acquired knowledge”.
On the basis of learning method used,
neural networks are classified as [9.]:
(i.) Fixed Networks
In these networks, the weights are
fixed a priori according to the
problem to solve and so cannot be
changed, i.e. dW / dt = 0.
(ii) Adaptive Networks
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In these networks, learning methods
can be applied to adjust the weights
according to the problem, i.e. dW / dt
≠ 0.
The various learning methods are classified
into:
(i) Supervised Learning
(ii) Unsupervised Learning
(iii) Reinforcement Learning
(iv) Stochastic Learning
(i) SUPERVISED LEARNING
The method of learning which is used to solve
the problem of error convergence, i.e., the
minimization of error between desired output
and the actual computed output is known as
Supervised Learning. It is also called “Learning
with teacher”. The various learning algorithms
that utilize the approach of Supervised Learning
are:
(a) LEARNING THROUGH ERROR
CORRECTION
It depends upon the availability of desired
output for a given input. The minimization
of error is resolved by various learning
rules:
1. DELTA RULE: It is based upon the idea
of continuous weight adjustments of the value
of weights such that the squared difference of
the error between the target output value and
the actual output is minimized. This is also
known as Widrow-Hoff learning rule or LMS.
[5.]
2. GRADIENT DESCEND RULE: the
values of the weights are adjusted by the
amount proportional to the first derivative of the
error between the desired o/p and the actual o/p,
w.r.t the value of the weight. [5.]
(ii) UNSUPERVISED LEARNING
This method uses no teacher and is based upon
local information as no target o/p exists. This
learning self-organizes the data presented to the
network. The paradigms of unsupervised
learning are:
(a) HEBBIAN LEARNING:
Donald Hebb formulated that the changes in the
synaptic strengths is proportional to the
correlation between the firing of the post and
pre-synaptic neurons. [2.]
 International Conference on Systemics, Cybernetics and Informatics

target output (T) is compared with the actual

output (O) and the error (E) is used to adjust the
weights.

(b). COMPETITIVE LEARNING:

When an input stimulus is applied, each o/p
neuron competes with the others to produce the
closest o/p signal to the target. This o/p then
becomes dominant and the others cease
producing an o/p signal for that stimulus. [2.]

(iii) REINFORCEMENT LEARNING:

This method is also termed as “Learning with a
Critic”. It is used to handle situations where the
desired o/p for a given i/p is not known, and
only a binary result that the result is right or
wrong is available.
(iv) STOCHASTIC LEARNING:
This method involves the adjustment of weights
of a neural network in a probabilistic manner. It
is used to determine the optimum weights of a
multilayer feed-forward network by
overcoming the local minima problem. [6.]
E=T–O
Change in synaptic weights is calculated as:
Δw = μ [ T – f ( w(k)x ) ] x
Sigmoidal non-linearity is used in multi-layer
perceptron model.[6.] Following deficiencies
are encountered in this model:
(a) Different perceptrons need to be trained for
different set of input patterns.
(b) It could not differentiate between two
linearly separable sets of patterns.

5.2 NETWORK MODELS AND THE

LEARNING ALGORITHMS USED
(i) McCULLOCH–PITTS MODEL(MP Model)
This model is quite simple, with no learning or
adaptation. The activation (x) is given by a
weighted sum of its M input values (ai) and a
threshold value (Θ).the output signal (s) is
typically a nonlinear function f(x) of the
activation value x. The output is represented by:

Oi = f [ j=1∑N (xijwij) – Θ ].
With the original MP model[7.], binary function
was used as nonlinear transfer function. The
major drawback of this model was that the
weights were fixed and no learning could be
incorporated. (iii) DELTA LEARNING ALGORITHM
(ii) PERCEPTRON MODEL This algorithm is based on the least-square-
This model was given by Frank Rosenblatt and error minimization method and its objective is
consists of outputs from sensory units to a fixed to express the difference of the actual and target
set of association units, the outputs of which are outputs in terms of the inputs and weights. The
fed to an MP neuron. The association units least- squared error is defined by:
perform predetermined manipulations on their E = ½ (Ti – Oi )2 = ½[Ti – f ( wixi ) ]2
inputs. This model incorporates learning and the

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Neural Networks And Fuzzy Control
(iv) ADALINE
This model[6.] consists of trainable signed
weights and +1 or -1 as inputs. The weighted
sum is applied to a quantizer transfer function
that restores the outputs to +1 or -1 based on the
mean-square learning algorithm and weights
are adjusted by the function:
E=T–R
(v) WINNER-TAKES-ALL ALGORITHM
This algorithm is best suited for the cases of
competitive unsupervised learning where there
is a single layer of N nodes and each node has
its own set of weights wn. An input vector x is
applied to all nodes, and each node provides an
output On = ∑j wnj xj. The node with the best
response to the applied i/p vector x is declared
the winner according to the winner selection
criteria:
On = max i = 1,2….N (wn x)
Now, the change in weights is calculated as:
Δwn = α(k) (x- wn )
(vi) BACK-PROPOGATION ALGORITHM
This algorithm is applied to the multilayer feed-
forward ANNs. During the training session of
the network, a pair of patterns is presented (Xk,
Tk), where Xk is the input pattern and Tk I the
target pattern. the Xk pattern causes o/p
responses at each neuron in each layer and,
hence, an actual output ok at the output layer. At
the o/p layer, the difference between the actual
and target o/ps yields an error signal
depending upon the weights of the neurons in
each layer. This error is minimized and new
weight values are obtained.
(vii) COGNITRON AND NEOCOGNITRON
MODELS
A neocognitron model is a hybrid hierarchical
multilayer feed forward (and feedback) network
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that is an outgrowth of an earlier multilayer
self-adapting neural model, proposed as a
model of visual pattern recognition in the brain,
called the cognitron model. The network
consists of several stages of simple cells(S) and
complex neurons(C) layer pairs arranged in
rectangular planes of cells. The S layers act as
feature detectors, while the C layers perform a
type of feature blurring on the S cell outputs to
make the network less sensitive to shift and
deformation in image patterns. The
Neocognitron can learn in either a supervised or
unsupervised mode using the competitive
learning. Only the weights on the S layer are
adaptable while those on C layer remain fixed.
(viii)ADAPTIVE RESONANCE THEORY
PARADIGM
This is an unsupervised paradigm based on
competitive learning[see 5.i.b] and is consistent
with cognitive and behavioral models. It has
two main layers: first is the input/comparison
layer, and the second is the output/recognition
layer; both of which interact extensively
through feed forward and feedback
connectivity.[5.]
(ix) HOPFIELD MODEL
This model conforms to the asynchronous
nature of the biological neurons. It is a more
abstract, fully connected, random, asynchronous
and a symmetrically weighted network which
accepts either bipolar (+1; -1) or binary (0; 1)
inputs.[8.] The outputs of each processing
element can be coupled back to the inputs of
any other processing element except itself. It
uses sigmoid function as nonlinearity. Based on
this model, Analog to Digital converter was
demonstrated.
(x) SELF-ORGANIZING MAP (SOM)
Developed by Teuvo Kohonen, SOM is a
clustering algorithm which creates a map of
relationships among input patterns. During
training, it finds the output node that has the
least distance from the training pattern and then
changes the node's weights to increase the
similarity to the training pattern. The overall
effect is to move the output nodes to "positions"
that map the distribution of the training
patterns. It has a single layer of nodes and the
output nodes do not correspond to known
classes but to unknown clusters that the SOM
finds in the data autonomously.
 International Conference on Systemics, Cybernetics and Informatics
(xi) CONTENT ADDRESSABLE MEMORY
(CAM)
It is a matrix memory, in which the patterns are
written during the learning phase. While
recalling, the input data pattern is presented at
the data bus at all locations simultaneously. If
matched, the CAM provides a confirmation
signal and the address where it is stored, hence,
providing match and no-match signals in a
single operation. The CAM may be viewed as
associating(mapping) data to address i.e. for
every data in memory,[7.] there corresponds
some unique address, thus, avoiding ambiguity
.It may also be viewed as a data correlator;
input data is correlated with stored data in the
CAM. It can be implemented with the help of
RAM by using iterative algorithm.
(xii) REGRESSION ANALYSIS
Regression analysis is used to fit a smooth
curve to a number of sample data points which
represent some continuously varying
phenomena. The fitting technique can be used
to predict the values of one or more variables on
the basis of the information provided by the
measurements on the other independent
variables. In regression analysis parameters
defining the functional relationship are
estimated using the statistical criteria.
6. TYPES OF ANN
The artificial neural networks are broadly
categorized into:
(A) PROBABILISTIC NEURAL NETWORK
(PNN)
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PNN stores the training patterns to avoid the
iterative process. It is a classifier paradigm that
instantly approximates the optimum boundaries
between categories. It has two hidden layers:
the first containing a dedicated node for each
training pattern and the second containing a
dedicated node for each class; both connected,
on a class-by-class basis. Each new input is
classified according to the weighted average of
the closest training examples.
(B) TIME DELAY NEURAL NETWORK
(TDNN)
A tapped delay line, or a shift register, and a
multilayer perceptron, with the tapped outputs
of the delay line as inputs, constitute the time
delay neural network. The output has a finite
temporal dependence on the input
u(k) = F[ x(k), x(k-1), ...., x(k-n) ]
F being a nonlinearity function. When this
function is a weighted sum, then TDNN is
equivalent to finite impulse response filter and
when the output is fed back via a unit delay to
the input, it is equivalent to the infinite impulse
response filter.
7. FUZZY LOGIC
It was proposed by Lotfi Zadeh, to generalize
classical set theory and to deal with subsets of
the universe which have no well defined
boundaries. Fuzzy language links language with
computing (reasoning) through linguistic
variables and quantifiers. The variables and
quantifiers are mapped to fuzzy membership
functions (possibility distributions) which
assumes values in the range [0,1].(‘0’
corresponds to member not included, ‘1’ to
fully included and values between 0&1 define
fuzzy members). This process of changing input
value to a fuzzy value is called
Fuzzification.[9.]
Fuzzy logic replaces Boolean truth
values with degrees of truth. Fuzzy truth
represents membership in vaguely defined sets,
not likelihood of some event/condition. Thus,
fuzzy logics are conceptually distinct from
probabilities.[10.]
Fuzzy logic is well suited to low-cost
implementations based on cheap sensors low
resolution A/D converters in 4-bit or 8-bit
microprocessor which can be easily upgraded.
7.1 FUZZY CONTROL
Neural Networks And Fuzzy Control
A fuzzy controller consists of an input stage, a
processing stage and an output stage. Input
stage maps inputs via appropriate membership
sets. Processing stage invokes each appropriate
rule and generates results for each i/p and
combines them. The output stage converts the
combined result back into an output value. Most
common shapes of the membership function are
triangular, trapezoidal etc. Logic rules are in the
form of IF-THEN statements(IF is called
antecedent and THEN, consequent).
The antecedents are combined using
fuzzy operators such as AND, OR and NOT.
AND uses minimum weight of antecedents, OR
uses maximum value and NOT for
complementary value of antecedents.[3.]
To define result of a rule, “MAX-
MIN” inference method, in which the output
membership function is given the truth value
generated by the premise, is used. Rules can be
solved in parallel in hardware, or sequentially
in software. The result of rules are
‘defuzzified’ to a crisp value by either Centroid
method (most popular method), in which center
of mass of the result provides the crisp value, or
Height method which takes the value of the
biggest contributor. In centroid method, the
values are OR’d and not added and results are
combined using centroid calculation.[11.]
7.2 BUILDING OF FUZZY CONTROLLER
Antecedents consist of logical combination of
the error and error delta signals while the
consequent is a control command output. The
rule outputs can be defuzzified using a discrete
centroid computation[9.]
8.NEURO–FUZZY COMPUTING
SYSTEM
While fuzzy logic provides a closed link
between natural language and “approximate
computational reasoning”, fuzzy computing
methods do not include the ability to learn
374
adaptively, to perform associative memory
feats, and to tolerate high levels of noise and
pattern deformations, and the capabilities that
are needed for tasks like perception, learning,
and predictive behavioral response. Thus,
neural networks are merged conceptually and
are implemented along with fuzzy logic
systems. This is known as SOFT
COMPUTING.[9.]
The neuro-fuzzy system has five
layers of neurons with selected feed-forward
interconnections. [8. ]
9. APPLICATIONS OF NEURO-FUZZY
SYSTEMS AND THEIR LIMITATIONS
(a) Sensors in Chemical Engineering
In this the problem was to relate values
produced by ultrasound sensors with actual
physical characteristics of air bubbles in
fermenter. Since this was a mapping problem,
Multilayer Perceptron was used. As few data
was available for training, simulation of
physical system was developed.
Suggestion: MLP nets are not robust as loss of
neurons results in MLP and thus, new method..
(b) Financial Data Modeling and
Prediction
The problem here was to predict if a
company would raise funds by issuing shares or
making debts. It’s also used in stock-market
predictions. The data comprised of many
parameters describing financial profiles and
decisions of hundreds of companies and a
number of techniques were tried such as MLP,
Linear Regression, NRBF.. But the setup and
the training of the network require skill,
experience and patience.
Suggestion: The data proved inconsistent with
accepted economic models and so the quality of
data must be assessed. There isn’t an
established track for the reliability and
robustness of such techniques. So, a back-
propagated neural network with two or more
hidden layers and more variables must be used.
(c )Forecasting
Considering forecasting requirements, a
differentiation between predictive classification
task, where forecasted values are class
memberships or probabilities of belonging to
certain class i.e., binary predictors, and
regression tasks i.e., point prediction-
based(with single number of scales).
 International Conference on Systemics, Cybernetics and Informatics
Suggestion: Thus distinct modeling approaches
and preprocessing is required in financial
modeling as neural networks have not yet been
established as a valid and reliable method in
business forecasting field either on a strategic,
tactical or operational level.
(d) Image Compression
Neural Network can accept a vast array of
input at once and process it quickly and so they
are useful in image compression. A bottleneck-
type network comprises of an input, an output
layers of equal sizes and an intermediate layer
of smaller size in between. The ratio of the size
of the input layer to size of intermediate layer
is- the Compression Ratio.
Pixels which are fed into input node
must be outputted after compression. The
outputs of the hidden layers are, however,
decimal values between -1 and 1 and so require
possibly an infinite number of bits. Therefore,
the image is quantized and is encoded (
compressed to about 1/10th of the original)
Suggestion: the encoding scheme used is not
lossless. The original image can’t be retrieved
because our information is lost in the process of
quantizing. Again, the actual results of original
compression can’t be seen. Also, we need to
train the network continuously if the output
isn’t of high quality.
(e)Intelligent Control
Neuro-fuzzy systems are used in many
vehicular applications, including trains, and
smart automobiles and intelligent robots.
Controller has to account for several variables,
many of them non-linear.
Suggestion: So for fuzzy logic control systems
controlling the idle speed of automatic engines
is required. This can be improved by using a
radial basis function neural network with a
Gaussian function.
9.1 LATEST APPLICATIONS
(a) Framsticks
Framsticks is a 3D life simulation project
both physical structure of the creatures and their
control systems are evolved. Evolutionary
algorithms are used with selections, crossovers
and mutations. These features enable us to
study the evolution of social behavior through
synthetic modeling of the evolutionary forces
that may have led to (co-operative or
competitive) social behavior.
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(b) In VLSI
VLSI provides a means of capturing truly
complex behavior in a highly hierarchical
fashion. The adaptation allows us to
compensate for inaccuracies in the physical
analog VLSI implementation besides
uncertainties and fluctuations in the system
under optimization. Adaptive algorithms based
on physical observation of the ``performance"
gradient in the parameter space are better suited
for robust analog VLSI implementation than are
algorithms based on a calculated gradient..
(c) Creatures – The World Most
Advanced Artificial Life!
Creature features the most advanced,
genuine Artificial Life software ever developed
in a commercial product, technology that has
blown the imaginations of scientists worldwide.
10. LIMITATIONS OF NEURO-
FUZZY SYSTEMS
(i)(a) Neural techniques are executed
sequentially and difficult to parallelize.
(b) When the quantity of data increases,
methods may suffer a combinatorial explosion.
(c) The learning process seems difficult to
simulate in a symbolic system.
( ii) in perceptron network,
(a) the output values of a perceptron can
take only one of two values (0,1) due to hard-
limiter transfer function.
(b) perceptrons can only classify linearly
separable sets of vectors[5.] else learning will
never reach a point where all vectors are
classified properly.
(iii) In computational approach of neural
networks,
(a)When we try to solve a stochastic
optimization problem,[6.] we need to
approximate. And hence one must decide on
how accurately to estimate the quantity before
using it for the purpose of updating. For a finite
computing budget, one can either spend most of
the budget on estimating each iterative step very
accurately and settle for fewer steps, or estimate
each step very poorly but use the budget to
calculate many iterative steps.
(b) In many problems/techniques, the
computations involved grow exponentially with
the size of the problem which renders such
techniques impractical.
Neural Networks And Fuzzy Control
(c ) Learning under dynamic constraints
imposes difficulty in identification of cause-
and-effect in the sense that future desired output
now depend on all past input and it isn’t
possible to know which past input deserves
credit for the success in current output. So,
dynamic programming must be invoked to
convert the problem to a series of static learning
problems.
(d) NP-hardness is a fundamental
limitation[11.] on what computation can do.
Quantifying Heuristics and acquiring structural
knowledge seems to be the only salvation for
the effective solution of complex real problems.
So, human expertise proves to be better.
(iv) A neural network is used to obtain some
information out of given data where other
methods are not available. But sometimes,
general mathematical models,[11.] can be
simulated faster & more effectively. eg.
drawing of a lottery does not need any past
inputs. Similarly, weather forecasting.
11. CONCLUSIONS
This paper has presented an overview of the
neuro-fuzzy systems, their uses, learning
methods to train them, their limitations in
various applications and suggestion to rectify
them in order to make them more efficient from
the implementation point of view. The major
issues that this paper has addressed are the
scalability problem, testing, verification, and
integration of neural network systems into the
modern environment. It also states that neuro-
fuzzy programs sometimes become unstable
when applied to larger problems. The defence,
nuclear and space industries are concerned
about the issue of testing and verification. The
mathematical theories used to guarantee the
performance of an applied neural network are
still under development.
As suggested, the solution for the time being
may be to train and test these intelligent
systems much as we do for humans .In addition
to this, the paper also proposes to solve the
problem of parallelism and sequential execution
by implementing neural networks directly in
hardware, which needs a lot of development
still.
This "programming” will require feedback
from the user in order to be effective but simple
and "passive" sensors (e.g. fingertip sensors,
gloves, or wristbands to sense pulse, blood
376
pressure, skin ionization, and so on),can provide
effective feedback into a neural control system
and other variables which the system can learn
to correlate with a person's response state.
Again the paper is trying to put forward a
number of possible alternatives that needs to be
applied to various modern day applications of
neuro-fuzzy systems so that they may serve the
purpose that they are designed for. It also
conveys, that side by side genetic algorithms,
artificial intelligence must be blended to make it
faster and thus can be implemented in VLSI
design. Neuro-Fuzzy system which indeed is a
powerful tool in realizing our daily needs and is
not just a far-out research trend must be dealt
with all efficient algorithms. Because a lot is to
be done as regards.
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