EXERCISE FUZZY LOGIC CONTROLLER
MATA KULIAH
TEKNOLOGI OTOMASI
Dosen : Andi Sudiarso, S.T., M.T., M.Sc., Ph.D.
HERI SUHUD KUSTOYO
TIKM A (Oktober 2009)
UNIVERSITAS GADJAH MADA
FAKULTAS TEKNIK
MAGISTER SISTEM TEKNIK
2010
EXERCISE
Using the input and output membership functions, FAM, min-max method, and COG explained
in the lecture note, calculate the output of the following inputs:
1. Fbreak = 0, Npart = 0
2. Fbreak = 6, Npart = 2
3. Fbreak = 15, Npart = 5
4. Fbreak = 30, Npart = 10
Answer
1. Fbreak = 0 , N part = 0
Step 1 ( Fuzzification)
Fbreak = 0
Npart = 0
L0 =0
S0 =0
M0 =0
M0 =0
H0 =0
L0 =0
Fuzzy Inputs
0 = 0 + 0 + 0 0 = 0 + 0 + 0
L M H S M L
Step2 (Rule Evaluation)
Use Min-Max Matrix
Process1 Min Matrix
Rule 1 : LL0-S0 = Min (L0, S0) = Min (0, 0) =0
Rule 2 : LL0-M 0 = Min (L0, M0) = Min (0, 0) =0
Rule 3 : ML0-L0 = Min (L0, L0) = Min (0, 0) =0
Rule 4 : LM0-S0 = Min (M0, S0) = Min (0 , 0) =0
Rule 5 : MM0-M0 = Min (M0, M0) =Min (0, 0) =0
Rule 6 : HM0-L0 = Min (M0, L0) = Min (0,0) =0
Rule 7 : MH0 –S0 = Min (H0, S0) = Min (0, 0) =0
Rule 8 : HH0-M0 = Min (H0, M0) = Min (0, 0) =0
Rule 9 : HH0-L0 = Min (H0, L0) = Min (0, 0) =0
Process 2 Max Matrix
L0-0 = Max (LL0-S0, LL0-M0, LM0-S0) = Max (0, 0, 0) =0
M0-0 = Max (ML0-L0, MM0-M0, MH0-S0) = Max (0, 0, 0) =0
H0-0 = Max (HM0-L0, HH0-M0 ,HH0-L0) = Max (0, 0, 0) = 0
Step3 (defuzzification)
COG method
= (L0-0 x 0,5) + (M0-0 x 2,5) + (H0-0 x 9,5)
L0-0 + M0-0 + H0-0
= 0
2. Fbreak = 6 , N part = 2
Step 1 ( Fuzzification)
Fbreak = 6 Npart = 2
L6 = S2 = 5-2
5-2
=1 =1
M6 = M2 = 2-2
5-2
=0 =0
H6 =0 L2 =0
Fuzzy Inputs
6 = 1 + 0 + 0 2 = 1 + 0 + 0
L M H S M L
Step2 (Rule Evaluation)
Use Min-Max Matrix
Process1 Min Matrix
Rule 1 : LL6-S2 = Min (L6, S2) = Min (1, 1) =1
Rule 2 : LL6-M 2 = Min (L6, M2) = Min (1, 0) =0
Rule 3 : ML6-L2 = Min (L6, L2) = Min (1, 0) =0
Rule 4 : LM6-S2 = Min (M6, S2) = Min (0 , 1) =0
Rule 5 : MM6-M2 = Min (M6, M2) =Min (0, 0) =0
Rule 6 : HM6-L2 = Min (M6, L2) = Min (0,0) =0
Rule 7 : MH6 –S2 = Min (H6, S2) = Min (0, 1) =0
Rule 8 : HH2-M2 = Min (H6, M2) = Min (0, 0) =0
Rule 9 : HH6-L2 = Min (H6, L2) = Min (0, 0) =0
Process 2 Max Matrix
L6-2 = Max (LL6-S2, LL6-M2, LM2-S2) = Max (1, 0, 0) =1
M6-2 = Max (ML6-L2, MM6-M2, MH6-S2) = Max (0, 0, 0) =0
H6-2 = Max (HM6-L2, HH6-M2 ,HH6-L2) = Max (0, 0, 0) = 0
Step3 (defuzzification)
COG method
= (L6-2 x 0,5) + (M6-2 x 2,5) + (H6-2 x 9,5)
L6-2 + M6-2 + H6-2
= (1 x 0,5) +( 0 x 2,5) + (0 x 9,5)
1+0+0
= 0,5
3. Fbreak = 15 , N part = 5
Step 1 ( Fuzzification)
Fbreak = 15 Npart = 5
L15 = 15-15 S5 = 5-5
15-6 5-2
=0 =0
M15 = 30-15 M5 = 10-5
30-15 10-5
=1 =1
H15 = 15-15 L5 = 5-5
30-15 10-5
=0 =0
Fuzzy Inputs
15 = 0 + 1 + 0 5 = 0 + 1 + 0
L M H S M L
Step2 (Rule Evaluation)
Use Min-Max Matrix
Process1 Min Matrix
Rule 1 : LL15-S5 = Min (L15, S5) = Min (0, 0) =0
Rule 2 : LL15-M 5 = Min (L15, M5) = Min (0, 1) =0
Rule 3 : ML15-L5 = Min (L15, L5) = Min (0, 0) =0
Rule 4 : LM15-S5 = Min (M15, S5) = Min (1 , 0) =0
Rule 5 : MM15-M5 = Min (M15, M5) =Min (1, 1) =1
Rule 6 : HM15-L5 = Min (M15, L5) = Min (1,0) =0
Rule 7 : MH15 –S5 = Min (H15, S5) = Min (0, 0) =0
Rule 8 : HH15-M5 = Min (H15, M5) = Min (0, 1) =0
Rule 9 : HH15-L5 = Min (H15, L5) = Min (0, 0) =0
Process 2 Max Matrix
L15-5 = Max (LL15-S5, LL15-M5, LM15-S5) = Max (0, 0, 0) =0
M15-5 = Max (ML15-L5, MM15-M5, MH15-S5) = Max (0, 1, 0) =1
H15-5 = Max (HM15-L5, HH15-M5 ,HH15-L5) = Max (0, 0, 0) = 0
Step3 (defuzzification)
COG method
= (L15-5 x 0,5) + (M15-5 x 2,5) + (H15-5 x 9,5)
L15-5 + M15-5 + H15-5
= (0 x 0,5) +( 1 x 2,5) + (0 x 9,5)
0+1+0
= 2,5
4. Fbreak = 30 , N part = 10
Step 1 ( Fuzzification)
Fbreak = 30
Npart = 10
L30 =0
S10 =0
M30 = 30-30
M10 = 10-10
30-15
10-5
=0
=0
H30 = 30-15
30-15 L10 = 10-5
10-5
=1
Fuzzy Inputs =1
30 = 0 + 0 + 1 10 = 0 + 1 + 0
S M L
L M H
Step2 (Rule Evaluation)
Use Min-Max Matrix
Process1 Min Matrix
Rule 1 : LL30-S10 = Min (L30, S10) = Min (0, 0) =0
Rule 2 : LL30-M 10 = Min (L30, M10) = Min (0, 0) =0
Rule 3 : ML30-L10 = Min (L30, L10) = Min (0, 1) =0
Rule 4 : LM30-S10 = Min (M30, S10) = Min (0 , 0) =0
Rule 5 : MM30-M10 = Min (M30, M10) =Min (0, 0) =0
Rule 6 : HM30-L10 = Min (M30, L10) = Min (0,1) =0
Rule 7 : MH30 –S10 = Min (H30, S10) = Min (1, 0) =0
Rule 8 : HH30-M10 = Min (H10, M10) = Min (1, 0) =0
Rule 9 : HH30-L10 = Min (H30, L10) = Min (1, 1) =1
Process 2 Max Matrix
L30-10 = Max (LL30-S10, LL30-M10, LM30-S10) = Max (0, 0, 0) =0
M30-10 = Max (ML30-L10, MM30-M10, MH10-S10) = Max (0, 0, 0) =0
H30-10 = Max (HM30-L10, HH30-M10 ,HH30-L10) = Max (0, 0, 1) = 1
Step3 (defuzzification)
COG method
= (L30-10 x 0,5) + (M30-10 x 2,5) + (H30-10 x 9,5)
L15-5 + M15-5 + H15-5
= (0 x 0,5) +( 0 x 2,5) + (1 x 9,5)
0+1+0
= 9,5
