Hindawi Publishing Corporation

Advances in Fuzzy Systems

Volume 2016, Article ID 8273019, 10 pages
http://dx.doi.org/10.1155/2016/8273019

Research Article
Type-2 Fuzzy Logic Controller of a Doubly Fed
Induction Machine

Keltoum Loukal and Leila Benalia

LGE Research Laboratory, Department of Electrical Engineering, Faculty of Technology, Mohamed Boudiaf University of M’sila,
BP 166, Ichbilia, 28000 M’sila, Algeria

Correspondence should be addressed to Keltoum Loukal; [email protected]

Received 24 October 2015; Revised 22 December 2015; Accepted 29 December 2015

Academic Editor: Mehmet Onder Efe

Copyright © 2016 K. Loukal and L. Benalia. This is an open access article distributed under the Creative Commons Attribution
License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly
cited.

Interval type-2 fuzzy logic controller (IT2FLC) method for controlling the speed with a direct stator flux orientation control of
doubly fed induction motor (DFIM) is proposed. The fuzzy controllers have demonstrated their effectiveness in the control of
nonlinear systems, and in many cases it is proved that their robustness and performance are less sensitive to parameters variation
over conventional controllers. The synthesis of stabilizing control laws design based on IT2FLC is developed. A comparative analysis
between type-1 fuzzy logic controller (T1FLC) and IT2FLC of the DFIM is shown. Simulation results show the feasibility and the
effectiveness of the suggested method to the control of the DFIM under different operating conditions such as load torque and in
the presence of parameters variation.

1. Introduction responsible for ensuring consistency between the network

frequency and that delivered by the device. The DFIM is
Since the early years of industrialization, the researchers were essentially nonlinear, due to the coupling between the flux
faced with “how to control the electric machines at variable and the electromagnetic torque. The vector control or field
speed.” Electric drives require high performance, increased orientation control allows a decoupling between the torque
reliability, and reduced cost. Among these machines, doubly and the flux [6, 7].
fed induction machine (DFIM) [1–3] is an asynchronous With the field orientation control (FOC) method, induc-
machine with wound rotor which can be supplied at the same tion machine drives are becoming a major candidate in
time by the stator and the rotor with external source voltages high-performance motion control applications, where servo
[4]. It was first studied to be used as a high-speed motor. The quality operation is required. Fast transient response is made
many benefits of this machine are reduced manufacturing possible by decoupled torque and flux control. The most
cost, relatively simple construction, higher speed, and not widely used control method is perhaps the proportional
requiring ongoing maintenance. In recent decades, with the integral control (PI). It is easy to design and implement, but
advances in technology of power electronics and micro- it has difficulty in dealing with parameter variations and load
computer, different applications of DFIM became possible. disturbances [8]. Recent literature has paid much attention to
Their interest lies mainly in the speed control options with the potential of fuzzy control in machine drive applications.
and without mechanical sensors as well as the regimes In the area of control of electrical machinery, research
in either motor or generator operations with flux control is increasingly oriented towards the application of modern
powers for hypo- and hypersynchronous features [5]. For control techniques. These techniques are involved with the
operation at different speeds a converter PWM (Pulse Width evolution of computers and power electronics. This enables
Modulation) must be inserted between the machine and the leading manufacturers to high-performance processes. These
network. Whatever the speed of the machine, the voltage is techniques are linear control [1], sliding mode control [1, 4],
rectified and an inverter connected to the network side is feedback linearization, adaptive control, and fuzzy control
2 Advances in Fuzzy Systems

q 𝜃obs = 𝜃
d

Ra

𝜃obs
𝜃r
Sa

Figure 1: Defining the real axes of DFIM from the reference (𝑑, 𝑞).

[9]. This last fuzzy logic controller (FLC) usually gives better 2.1. Reference Fixed Relative to the Rotating Field (𝑑, 𝑞). For a
results for nonlinear systems with variable parameters. The reference related to the rotating field, the following electrical
DFIM is an ideal candidate for testing the performance of equations are deduced:
fuzzy logic controllers [10]. Conventional type-1 fuzzy logic
system can be used to identify the behavior of this highly non- 𝑉𝑠𝑑 𝑅𝑠 0 𝐼𝑠𝑑 𝑑 Φ𝑠𝑑
[ ]=[ ][ ] + [ ]
linear system with various types of uncertainties. However, 𝑉𝑠𝑞 0 𝑅𝑠 𝐼𝑠𝑞 𝑑𝑡 Φ𝑠𝑞
type-1 fuzzy sets cannot fully capture the uncertainties in the
system due to the imprecision of membership functions and 0 −𝜔𝑠 Φ𝑠𝑑
knowledge base; thus, higher types of fuzzy sets have to be +[ ][ ],
𝜔𝑠 0 Φ𝑠𝑞
considered. It is clear that the computational complexity of (1)
operations on fuzzy sets increases with the increasing type of 𝑉𝑟𝑑 𝐼𝑟𝑑 𝑑 Φ𝑟𝑑
𝑅𝑟 0
the fuzzy set. In this work, for their simplicity and efficiency [ ]=[ ][ ] + [ ]
to capture the severe nonlinearities of the DFIM, the interval 𝑉𝑟𝑞 0 𝑅𝑟 𝐼𝑟𝑞 𝑑𝑡 Φ𝑟𝑞
type-2 fuzzy sets will be used. Till now, type-2 fuzzy logic
0 −𝜔 Φ𝑟𝑑
systems have been used in very few control applications +[ ][ ],
such as nonlinear control and the speed control of machines. 𝜔 0 Φ𝑟𝑞
Nevertheless, it is still possible to achieve robustness and
highly efficient dynamics using a control technique that where 𝐼𝑠 , 𝐼𝑟 , 𝑉𝑠 , and 𝑉𝑟 denote stator currents, rotor currents,
does not need a detailed model. This is the case with the stator terminal voltage, and rotor terminal voltage, respec-
controller presented herein where an interval type-2 fuzzy tively. The subscripts 𝑠 and 𝑟 stand for stator and rotor while
logic controller is designed to achieve the speed stabilization subscripts 𝑑 and 𝑞 stand for vector component with respect
of DFIM. The present work deals with an interval type-2 fuzzy to a fixed stator reference frame [12].
Expressions of flux are given by
logic controller (IT2FLC) method for controlling the speed of
DFIM in a vector control mode. 𝜙𝑠𝑑 = 𝑙𝑠 𝐼𝑠𝑑 + 𝑀𝐼𝑟𝑑 ,
The paper is organized as follows. In Section 2 mathemat-
ical model of the DFIM is presented. In Section 3, we begin 𝜙𝑠𝑞 = 𝑙𝑠 𝐼𝑠𝑞 + 𝑀𝐼𝑟𝑞 ,
with the DFIM oriented model in view of the vector control; (2)
next the stator flux 𝜙𝑠 is estimated. A number of controllers 𝜙𝑟𝑑 = 𝑙𝑟 𝐼𝑟𝑑 + 𝑀𝐼𝑠𝑑 ,
based artificial intelligence is introduced in Section 4. Inter-
𝜙𝑟𝑞 = 𝑙𝑟 𝐼𝑟𝑞 + 𝑀𝐼𝑠𝑞 .
val type-2 fuzzy logic systems and a type-2 fuzzy inference
engine are presented in Section 5 and the design procedure 𝜙𝑠 , 𝜙𝑟 , 𝑙𝑠 , 𝑙𝑟 , and 𝑀 denote stator flux, rotor flux, stator induc-
of the proposed controller with the simulation results is tance, rotor inductance, and mutual inductance, respectively.
given in Section 6. Finally, some conclusions are drawn in Replacing (2) with (1) we obtained
Section 7.
𝑑𝐼𝑠𝑑 𝑑𝐼
𝑉𝑠𝑑 = 𝑅𝑠 𝐼𝑠𝑑 + 𝑙𝑠 + 𝑀 𝑟𝑑 − 𝜔𝑠 𝑙𝑠 𝐼𝑠𝑞 − 𝜔𝑠 𝑀𝐼𝑟𝑞 ,
𝑑𝑡 𝑑𝑡
2. Description and Modeling of DFIM
𝑑𝐼𝑠𝑞 𝑑𝐼𝑟𝑞
In the training of high power as the rolling mill, there is a new 𝑉𝑠𝑞 = 𝑅𝑠 𝐼𝑠𝑞 + 𝑙𝑠 +𝑀 + 𝜔𝑠 𝑙𝑠 𝐼𝑠𝑑 + 𝜔𝑠 𝑀𝐼𝑟𝑑 ,
𝑑𝑡 𝑑𝑡
and original solution using a double feed induction motor (3)
(DFIM). The stator is feed by a fixed network and the rotor 𝑑𝐼 𝑑𝐼
𝑉𝑟𝑑 = 𝑅𝑟 𝐼𝑟𝑑 + 𝑙𝑟 𝑟𝑑 + 𝑀 𝑠𝑑 − 𝜔𝑙𝑟 𝐼𝑟𝑞 − 𝜔𝑀𝐼𝑠𝑞 ,
by a variable supply which can be either a voltage or current 𝑑𝑡 𝑑𝑡
source.
The electrical model of the DFIM presented in Figure 1 is 𝑑𝐼𝑟𝑞 𝑑𝐼𝑠𝑞
𝑉𝑟𝑞 = 𝑅𝑟 𝐼𝑟𝑞 + 𝑙𝑟 +𝑀 + 𝜔𝑙𝑟 𝐼𝑟𝑑 + 𝜔𝑀𝐼𝑠𝑑 ,
expressed in a (𝑑-𝑞) synchronous rotating frame. 𝑑𝑡 𝑑𝑡
Advances in Fuzzy Systems 3

where 𝜔𝑠 , 𝜔, 𝑅𝑠 , and 𝑅𝑟 denote stator pulsation, rotor where 𝑋, 𝐴, 𝐵, 𝑈, 𝑌, and 𝐶 represent the state vector,
pulsation, stator resistance, and rotor resistance, respectively. system state evolution matrix, matrix of control, vector of the
control system, output vector, and output matrix (observation
2.2. DFIM Model in the Form of State Equation. For the DFIM matrix), respectively, where
the control variables are the stator and rotor voltages [10] by
considering the following:
(i) An input-output current decoupling is set for all 𝑇
currents. 𝑋 = [𝑖𝑠𝑑 𝑖𝑠𝑞 𝑖𝑟𝑑 𝑖𝑟𝑞 ] ,
(5)
(ii) The (𝑑-𝑞) frame is oriented with the stator flux. 𝑇
𝑈 = [𝑉𝑠𝑑 𝑉𝑠𝑞 𝑉𝑟𝑑 𝑉𝑟𝑞 ] ,
(iii) Due to the large gap between the mechanical and
electrical time constants, the speed can be considered
as invariant with respect to the state vector.
Under these conditions, the electrical equations of the using the frequently adopted assumptions, like sinusoid
machine are described by a time variant state space system ally distributed air-gap flux density distribution and linear
as shown in magnetic conditions, and considering the stator voltages
(𝑉𝑠𝑑 , 𝑉𝑠𝑞 ) and rotor voltages (𝑉𝑟𝑑 , 𝑉𝑟𝑞 ) as control inputs and
𝑋̇ = 𝐴 ⋅ 𝑋 + 𝐵 ⋅ 𝑈, the stator current (𝐼𝑠𝑑 , 𝐼𝑠𝑞 ) and the rotor current (𝐼𝑟𝑑 , 𝐼𝑟𝑞 ) as
(4) state variables.
𝑌 = 𝐶 ⋅ 𝑋, From a matrix representation,

𝐼𝑠𝑑 𝐿𝑠 0 𝑀 0
−1
−𝑅𝑠 𝜔𝑠 𝐿 𝑠 0 𝜔𝑠 𝑀 𝐼𝑠𝑑
[ ] [ ] [ ] [𝐼 ]
[
𝑑 [ 𝐼 ] [ 0 𝐿 𝑠 0 𝑀] [ −𝜔𝑠 𝐿 𝑠 −𝑅𝑠 −𝜔𝑠 𝑀 0 ] [ 𝑠𝑞 ]
[ 𝑠𝑞 ] = [ ] [ ][ ]
[ ] [ ]
𝑑𝑡 [𝐼𝑟𝑑 ] [𝑀 0 𝐿 𝑟 0 ] [[ 0 (𝜔𝑠 − 𝜔) 𝑀 −𝑅𝑠 (𝜔𝑠 − 𝜔) 𝐿 𝑟 ]
][ 𝐼 ] ]
[ 𝑟𝑑 ]
[𝐼𝑟𝑞 ] [ 0 𝑀 0 𝐿 𝑟 ] [− (𝜔𝑠 − 𝜔) 𝑀 0 − (𝜔𝑠 − 𝜔) 𝐿 𝑟 −𝑅𝑠 ] [𝐼𝑟𝑞 ]
(6)
−1
𝐿𝑠 0 𝑀 0 𝑉𝑠𝑑
[ ] [ ]
[ 0 𝐿 𝑠 0 𝑀] [ 𝑉𝑠𝑞 ]
[
+[ ] [ ].
] [ ]
[𝑀 0 𝐿 𝑟 0 ] [𝑉𝑟𝑑 ]
[ 0 𝑀 0 𝐿 𝑟 ] [𝑉𝑟𝑞 ]

Let In analogy to (8) with (4) we find 𝐴 = [𝐿]−1 ⋅[𝑍] and 𝐵 = [𝐿]−1
[12]:
𝐿𝑠 0 𝑀 0 −𝑎1 𝑎𝜔 + 𝜔𝑠 𝑎3 𝑎5 𝜔
[ ] [ ]
[ 0 𝐿 𝑠 0 𝑀] [−𝑎𝜔 − 𝜔𝑠 −𝑎1 −𝑎5 𝜔 𝑎3 ]
[𝐿] = [ ]
[𝑀 0 𝐿 0 ] , [ ]
[ 𝑠 ] 𝐴=[
[ 𝑎 𝜔 ],
[ 4 −𝑎6 𝜔 −𝑎2 − + 𝜔𝑠 ]
]
[ 0 𝑀 0 𝐿𝑠] [ 𝜎 ]
𝜔
[𝑍]
𝑎6 𝜔 𝑎4 − 𝜔𝑠 −𝑎2
(7) [ 𝜎 ]
−𝑅𝑠 𝜔𝑠 𝐿 𝑠 0 𝜔𝑠 𝑀
[ ] 𝑏1 0 −𝑏3 0
[ −𝜔𝑠 𝐿 𝑠 −𝑅𝑠 −𝜔𝑠 𝑀 0 ] [ ]
=[
[
]. [ 0 𝑏1 0 −𝑏3 ]
(𝜔𝑠 − 𝜔) 𝐿 𝑟 ]
(9)
[ 0 (𝜔𝑠 − 𝜔) 𝑀 −𝑅𝑠 ] 𝐵=[
[−𝑏 0 𝑏
],
[ 3 2 0 ]
]
[− (𝜔𝑠 − 𝜔) 𝑀 0 − (𝜔𝑠 − 𝜔) 𝐿 𝑟 −𝑅𝑠 ]
[ 0 −𝑏3 0 𝑏2 ]

Then (4) becomes 1 0 0 0

[ ]
[ 0 1 0 0]
[
𝐶=[ ],
𝑑𝑋 ]
= [𝐿]−1 ⋅ [𝑍] ⋅ 𝑋 + [𝐿]−1 ⋅ 𝑈. (8) [ 0 0 1 0]
𝑑𝑡
[ 0 0 0 1]
4 Advances in Fuzzy Systems

where By replacing (13) with (1) we obtain

1−𝜎
𝑎= , 𝑉𝑠𝑑 = 𝑅𝑠 𝐼𝑠𝑑 ,
𝜎
𝑅𝑠 𝑉𝑠𝑞 = 𝑅𝑠 𝐼𝑠𝑞 + 𝜔𝑠 𝜙𝑠𝑑 ,
𝑎1 = ,
𝜎𝐿 𝑠
𝑉𝑟𝑑 = 𝑅𝑟 𝐼𝑟𝑑 − 𝜔𝜙𝑟𝑞 ,
𝑅
𝑎2 = 𝑟 , 𝑉𝑟𝑞 = 𝑅𝑟 𝐼𝑟𝑞 + 𝜔𝜙𝑟𝑑
𝜎𝐿 𝑟
𝑅𝑟 𝑀 ⇕ (14)
𝑎3 = ,
𝜎𝐿 𝑠 𝐿 𝑟 𝑀
𝜙𝑠𝑞 = 0 󳨐⇒ 𝐼𝑠𝑞 = − 𝐼 ,
𝑅𝑠 𝑀 𝐿 𝑠 𝑟𝑞
𝑎4 = ,
𝜎𝐿 𝑠 𝐿 𝑟 𝐼𝑠𝑑 = 0,
𝑀
𝑎5 = , (10) 𝜙𝑠∗
𝜎𝐿 𝑠 𝐼𝑟𝑑 = .
𝑀
𝑀
𝑎6 = , The torque equation becomes
𝜎𝐿 𝑟
1 𝑃𝑀 ∗
𝑏1 = , 𝐶𝑒 = − 𝜙 ⋅𝐼 ,
𝜎𝐿 𝑠 𝐿 𝑠 𝑠 𝑟𝑞
(15)
1 𝐿𝑠
𝑏2 = , 𝐼𝑟𝑞 = − ⋅ 𝐶𝑒 ∗ .
𝜎𝐿 𝑟 𝑃 ⋅ 𝑀 ⋅ 𝜙𝑠∗

𝑀 Equation (3) was

𝑏3 = ,
𝜎𝐿 𝑠 𝐿 𝑟
𝑑𝜃𝑠 (𝑅𝑠 𝑀/𝐿 𝑠 ) 𝐼𝑟𝑞 + 𝑉𝑠𝑞
𝑀2 = 𝜔𝑠 = . (16)
𝜎=1− . 𝑑𝑡 𝜙𝑠∗
𝐿 𝑠𝐿 𝑟
According to (2) of the stator flux, then
𝐿 𝑠 and 𝐿 𝑟 are stator and rotor cyclic inductances; 𝜎 is
redefined leakage factor [10]. 1
The generated torque of DFIM can be expressed in terms 𝐼𝑠𝑑 = (𝜙 − 𝑀𝐼𝑟𝑑 ) ,
𝐿 𝑠 𝑠𝑑
of stator currents and stator flux linkage as (17)
𝑃𝑀 1
𝐶𝑒 = (𝜙𝑠𝑞 ⋅ 𝑖𝑟𝑑 − 𝜙𝑠𝑑 ⋅ 𝑖𝑟𝑞 ) . 𝐼𝑠𝑞 = (𝜙 − 𝑀𝐼𝑟𝑞 ) .
𝐿𝑠
(11) 𝐿 𝑠 𝑠𝑞
𝑃 is number of pole pairs. In addition, the mechanical From relations (17) and (3),
dynamic equation is given by
𝑀 1
𝑑Ω 𝜙̇ 𝑠𝑑 = 𝑉𝑠𝑑 + 𝐼𝑟𝑑 − 𝜙𝑠𝑑 ,
𝐽 = 𝐶𝑒 − 𝐶𝑟 − 𝑓Ω. (12) 𝑇𝑠 𝑇𝑠
𝑑𝑡 (18)
𝐽, 𝐶𝑒 , 𝐶𝑟 , and 𝑓 denote the moment inertia of the motor, the 𝑀
𝜙̇ 𝑠𝑞 = 𝑉𝑠𝑞 + 𝐼𝑟𝑞 − 𝜔𝑠 𝜙𝑠𝑞 .
electromagnetic torque, the external load torque, and viscous 𝑇𝑠
friction coefficient, respectively. Ω is the mechanical speed.
The relationship of the rotor current is
3. Vector Control by Direct Stator Flux 1 1 𝑀2 𝑀
Orientation 𝐼̇𝑟𝑑 = − ( + )𝐼 − 𝑉
𝜎 𝑇𝑟 𝐿 𝑠 𝑇𝑠 𝐿 𝑟 𝑟𝑑 𝜎𝐿 𝑠 𝐿 𝑟 𝑠𝑑
To simplify the control we need to make a judicious choice 𝑀 1
reference. For this, we place ourselves in a reference (𝑑, 𝑞) + 𝜙𝑠𝑑 + (𝜔𝑠 − 𝜔) 𝐼𝑟𝑞 + 𝑉 ,
𝜎𝐿 𝑟 𝐿 𝑠 𝑇𝑠 𝜎𝐿 𝑟 𝑟𝑑
related to the rotating field with an orientation of the flux (19)
stator, according to the condition of the stator flux orientation 1 1 𝑀2 𝑀
[14, 15]: 𝐼̇𝑟𝑞 = − ( + )𝐼 − 𝑉
𝜎 𝑇𝑟 𝐿 𝑠 𝑇𝑠 𝐿 𝑟 𝑟𝑞 𝜎𝐿 𝑠 𝐿 𝑟 𝑠𝑞
𝜙𝑠𝑑 = 𝜙𝑠 ,
(13) 𝑀 1
+ 𝜔𝜙 − (𝜔𝑠 − 𝜔) 𝐼𝑟𝑑 + 𝑉 .
𝜙𝑠𝑞 = 0. 𝜎𝐿 𝑟 𝐿 𝑠 𝑠𝑑 𝜎𝐿 𝑟 𝑟𝑞
Advances in Fuzzy Systems 5

The relationship of the mechanical speed is Rules Outputs processing

𝑑Ω 𝑃 ⋅ 𝑀 𝐶 𝑓 Outputs
= (𝐼 ⋅ 𝜙 ) − 𝑟 − Ω, (20) Inputs Defuzzifier
𝑑𝑡 𝐽 ⋅ 𝐿 𝑠 𝑟𝑞 𝑠𝑑 𝐽 𝐽 Fuzzifier
Type-1
where 𝑇𝑠 = 𝐿 𝑠 /𝑅𝑠 and 𝑇𝑟 = 𝐿 𝑟 /𝑅𝑟 are stator and rotor time
constants, respectively [10]. Type reducer

3.1. Stator Flux Estimator. In the direct vector control stator Type-2
Inference
flux oriented DFIM, precise knowledge of the amplitude Fuzzy inputs Fuzzy outputs
and the position of the stator flux vector is necessary. In
motor mode of DFIM, the stator and rotor currents are Figure 2: Structure of type-2 fuzzy logic system [13].
measured whereas the stator flux can be estimated [10]. The
flux estimation may be obtained by the following equations:
then we use fuzzy sets type-2. So ideally we need to use fuzzy
𝜙𝑠𝑑 = 𝑙𝑠 𝐼𝑠𝑑 + 𝑀𝐼𝑟𝑑 , sets type-∞ to complete the representation of uncertainty. Of
(21) course, we cannot realize this in practice, because we have to
𝜙𝑠𝑞 = 𝑙𝑠 𝐼𝑠𝑞 + 𝑀𝐼𝑟𝑞 . use fuzzy sets of finite type. Therefore, type-1 fuzzy sets can
be considered as a first-order approximation of uncertainty,
The position stator flux is calculated by the following equa-
while type-2 fuzzy sets will be considered as a second-order
tions:
approximation [13].
𝜃𝑟 = 𝜃𝑠 − 𝜃 (22) Type-2 fuzzy sets are generalized forms of those of type-1
(with the FOU as an additional degree of freedom). Mathe-
in which matically, a type-2 fuzzy set, denoted as 𝐴,̃ is characterized
by a type-2 membership function 𝜇𝐴 ̃ (𝑥, 𝑢), where 𝑥 ∈ 𝑋 and
𝜃𝑠 = ∫ 𝜔𝑠 𝑑𝑡, 𝑢 ∈ 𝐽𝑥 ⊆ [0, 1]: that is,
(23) ̃ = {(𝑥, 𝑢) 𝜇̃ (𝑥, 𝑢) ∀𝑥 ∈ 𝑋, ∀𝑢 ∈ 𝐽𝑥 ⊆ [0, 1]}
𝐴 𝐴 (24)
𝜃 = ∫ 𝜔 𝑑𝑡.
in which 0 ≤ 𝜇𝐴 ̃ (𝑥, 𝑢) ≤ 1. For a continuous universe of
𝜔 = 𝑃 ⋅ Ω and 𝜃𝑠 is the electrical stator position; 𝜃 is the ̃ can be expressed as
discourse, 𝐴
electrical rotor position.
𝜇𝐴
̃ (𝑥, 𝑢)
̃=∫
𝐴 ∫ 𝐽𝑥 ⊆ [0, 1] , (25)
4. Context of Type-2 Fuzzy Logic Controller 𝑥∈𝑋 𝑢∈𝐽𝑥 (𝑥, 𝑢)

The classic fuzzy logic now called type-1 has been generalized where 𝐽𝑥 is referred to as the primary membership of 𝑥.
to a new type of fuzzy logic called fuzzy logic-2. In recent As in type-1 fuzzy logic, discrete fuzzy sets are represented
years, Mendel et al. [16, 17] and their colleagues have been by the symbol ∑ instead of ∫. The secondary membership
working on this new logic; they have built a theoretical basis function associated with 𝑥 = 𝑥󸀠 , for a given 𝑥󸀠 ∈ 𝑋, is type-1
󸀠
and demonstrated its effectiveness and superiority to type- membership function defined by 𝜇𝐴 ̃ (𝑥 = 𝑥 , 𝑢), ∀𝑢 ∈ 𝐽𝑥 .
1 fuzzy logic. This is new class of type 2 fuzzy systems in The structure of a fuzzy system type-2 is shown in
which the principle of membership values is sort of fuzzy- Figure 2.
1 sets. Type-2 fuzzy sets are very effective in circumstances
where it is difficult to determine accurately the membership 4.1. Type-2 Membership Functions. Type-2 fuzzy logic sys-
functions for fuzzy sets; therefore, they are very effective for tems are characterized by the form of their membership func-
incorporating uncertainties [13]. tions. Figure 3 shows two different membership functions: (a)
The concept of fuzzy sets type-2 was introduced by a typical type-1 membership function and (b) a blurred type-
Zadeh et al. [13, 18, 19] as an extension of the ordinary 1 membership function that represents a type-2 membership
fuzzy set concept called fuzzy-type-1. Type-2 fuzzy set is function.
characterized by a fuzzy membership function; that is, the The uncertainty in the primary membership of a type-2
value of membership (membership degree) of each element fuzzy set 𝐴̃ is represented by the FOU and is illustrated in
of the set is a fuzzy set in [0, 1]. Such sets can be used in Figure 3(b). Note that the FOU is also the union of all primary
situations where we have uncertainty about the values of the memberships:
same membership. Uncertainty can be in the form of either
the membership function or one of its parameters [13]. ̃ = ⋃ 𝐽𝑥 .
FOU (𝐴)
Consider the transition from normal sets to fuzzy sets. (26)
𝑥∈𝑋
When we cannot determine the degree of membership of
an element with a set of 0 or 1, using fuzzy sets type-1 and The upper and lower membership functions, denoted by
the fuzzy membership functions by real numbers in [0, 1], 𝜇𝐴
̃ (𝑥) and 𝜇̃ (𝑥), respectively, are two type-1 membership
𝐴
6 Advances in Fuzzy Systems

1 1

0.8 0.8

0.6 0.6
𝜇 𝜇
0.4 0.4

0.2 0.2

0 0
−0.4 −0.2 0 0.2 0.4 0.6 0.8 1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
(a) (b)

Figure 3: (a) Type-1 membership function and (b) footprint of uncertainty.

𝑖
functions that represent the upper and lower bounds for the where 𝑓𝑖 and 𝑓 are given as
footprint of uncertainty of an interval type-2 membership
̃ (𝑥, 𝑢), respectively [20].
function 𝜇𝐴
𝑓𝑖 = 𝜇 𝑖 (𝑥1 ) ∗ ⋅ ⋅ ⋅ ∗ 𝜇 𝑖 (𝑥𝑛 ) ,
𝐹1 𝐹𝑛
(29)
𝑖
4.2. Fuzzifier. The membership function type-2 gives several 𝑓 = 𝜇𝐹𝑖 (𝑥1 ) ∗ ⋅ ⋅ ⋅ ∗ 𝜇𝐹𝑛𝑖 (𝑥𝑛 ) .
1
degrees of membership for each input. Therefore, the uncer-
tainty will be more represented. This representation allows us
to take into account what has been overlooked by type-1. The 4.5. Type Reducer. After the rules are fired and inference is
fuzzifier maps the input vector (𝑒1 , 𝑒2 , . . . , 𝑒𝑛 )𝑇 onto a type-2 executed, the obtained type-2 fuzzy system resulting in type-
̃𝑥 , very similar to the procedure performed in 1 fuzzy system is computed. In this part, the available methods
fuzzy system 𝐴
to compute the centroid of type-2 fuzzy system using the
a type-1 fuzzy logic system.
extension principle [17] are discussed. The centroid of type-1
fuzzy system 𝐴 is given by
4.3. Rules. The general form of the 𝑖th rule of type-2 fuzzy
logic system can be written as ∑𝑛𝑖=1 𝑧𝑖 𝑤𝑖
𝐶𝐴 = , (30)
∑𝑛𝑖=1 𝑤𝑖

̃ 𝑖 and 𝑒2 is 𝐹
If 𝑒1 is 𝐹 ̃ 𝑖 and 𝑒𝑛 is 𝐹
̃ 𝑖 , then 𝑦𝑖 = 𝐺
̃𝑖 where 𝑛 represents the number of discretized domains of 𝐴,
1 2 𝑛
(27) 𝑧𝑖 ∈ 𝑅, and 𝑤𝑖 ∈ [0, 1]. If each 𝑧𝑖 and 𝑤𝑖 are replaced with a
𝑖 = 1, . . . , 𝑀, type-1 fuzzy system, 𝑍𝑖 and 𝑊𝑖 , with associated membership
functions of 𝜇𝑍 (𝑧𝑖 ) and 𝜇𝑊(𝑊𝑖 ), respectively, by using the
extension principle, the generalized centroid for type-2 fuzzy
where 𝐹 ̃ 𝑖 represent type-2 fuzzy system of the input state 𝑗 system 𝐴̃ is given by
𝑗
̃𝑖 is the output
of the 𝑖th rule, 𝑥1 , 𝑥2 , . . . , 𝑥𝑛 are the inputs, 𝐺
𝐺𝐶𝐴
̃
of type-2 fuzzy system for the rule 𝑖, and 𝑀 is the number
𝑛 𝑛
of rules. As can be seen, the rule structure of type-2 fuzzy [𝑇𝑖=1 𝜇𝑍 (𝑧𝑖 ) ∗ 𝑇𝑖=1 𝜇𝑊 (𝑧𝑖 )] (31)
=∫ ...∫ ∫ ...∫ 𝑛 𝑛 .
logic system is similar to type-1 fuzzy logic system except that 𝑧1 ∈𝑍1 𝑧𝑛 ∈𝑍𝑛 𝑤1 ∈𝑊1 𝑤𝑛 ∈𝑊𝑛 ∑𝑖=1 𝑧𝑖 𝑤𝑖 / ∑𝑖=1 𝑤𝑖
type-1 membership functions are replaced with their type-2
counterparts. 𝑇 is a t-norm and 𝐺𝐶𝐴̃ is a type-1 fuzzy system. For an interval
type-2 fuzzy system,
4.4. Inference Engine. In fuzzy system interval type-2 using
the minimum or product t-norms operations, the 𝑖th acti- 𝐺𝐶𝐴
̃ = [𝑦𝑙 (𝑥) , 𝑦𝑟 (𝑥)] = ∫ ...∫
𝑦1 ∈[𝑦𝑙1 ,𝑦𝑟1 ] 𝑦𝑀 ∈[𝑦𝑙𝑀 ,𝑦𝑟𝑀 ]
vated rule 𝐹𝑖 (𝑥1 , . . . 𝑥𝑛 ) gives us the interval that is deter- (32)
𝑖 1
mined by two extremes, 𝑓𝑖 (𝑥1 , . . . 𝑥𝑛 ) and 𝑓 (𝑥1 , . . . 𝑥𝑛 ) [21]: ...∫ ...∫ .
∑𝑀 𝑀
1 𝑀 𝑖 𝑖 𝑖
𝑓1 ∈[𝑓1 ,𝑓 ] 𝑓𝑀 ∈[𝑓𝑀 ,𝑓 ] 𝑖=1 𝑓 𝑦 / ∑𝑖=1 𝑓

𝑖
𝐹𝑖 (𝑥1 , . . . 𝑥𝑛 ) = [𝑓𝑖 (𝑥1 , . . . 𝑥𝑛 ) , 𝑓 (𝑥1 , . . . 𝑥𝑛 )] 4.6. Defuzzifier. To get a crisp output from a type-1 fuzzy
(28) logic system, the type-reduced set must be defuzzified. The
𝑖 most common method to do this is to find the centroid of the
≡ [𝑓𝑖 , 𝑓 ] ,
type-reduced set. If the type-reduced set 𝑌 is discretized to 𝑛
Advances in Fuzzy Systems 7

Uc
Ωd Ce
+ eΩ +
∫
Ke Type-2 Ki
+
− fuzzy Coordinate PMW
logic transform inverter
Ω
d Kde controller Kp
dt
DFIM

Network

Figure 4: Control scheme for DFIM using the IT2FLC.

points, then the following expression gives the centroid of the NB NM NS ZE PS PM PB

1
type-reduced set as

∑𝑛𝑖=1 𝑦𝑖 𝜇 (𝑦𝑖 )
𝑦output (𝑥) = . (33)
∑𝑚 𝑖
𝑖=1 𝜇 (𝑦 )
0.5

We can compute the output using the iterative Karnik Mendel

Algorithms [20, 22]. Therefore, the defuzzified output of an
IT2FLC is 0
−1 −0.8 −0.6 −0.4 −0.2 0 0.2 0.4 0.6 0.8 1
𝑦 (𝑥) + 𝑦𝑟 (𝑥)
𝑌output (𝑥) = 𝑙 (34) e(k), Δe(k), and Ki
2
Figure 5: Type-2 fuzzy membership functions of the speed error,
with their variation, and the control signal.

∑𝑀 𝑖 𝑖
𝑖=1 𝑓𝑙 𝑦𝑙
𝑦𝑙 (𝑥) = ,
∑𝑀
𝑖=1 𝑓𝑙
𝑖
(35) Table 1: Fuzzy rules for IT2FLC [11].
∑𝑀 𝑖 𝑖
𝑖=1 𝑓𝑟 𝑦𝑙
𝑦𝑟 (𝑥) = . Δ𝑒(𝑘)
∑𝑀 𝑖
𝑖=1 𝑓𝑟 𝑒(𝑘)
NB NM NS ZE PS PM PB
NB NB NB NB NM NS NVS ZE
5. Type-2 Fuzzy Controller Design
NM NB NB NM NS NVS ZE PVS
In this problem, vector control by direct stator flux orien- NS NB NM NS NVS ZE PVS PS
tation is used in the control of the DFIM; the bloc diagram ZE NM NS NVS ZE PVS PS PM
of the speed control was replaced by an IT2FLC. The DFIM PS NS NVS ZE PVS PS PM PB
system model was simulated first using a conventional T1FLC PM NVS ZE PVS PS PM PB PB
and then an IT2FLC. The rule base was the same for both PB ZE PVS PS PM PB PB PB
type-1 and type-2 fuzzy logic controllers. The fuzzy control
strategy is based on a human operator experience to interpret
a situation and initiate its control action. The IT2FLC used in
a vector control of DFIM is presented in Figure 4.
𝑒Ω and Δ𝑒Ω represent the output error and its derivative, The speed errors, their variation, and the control signal
respectively. For the speed Ω the error and its derivative are are chosen to be Gaussian identical shapes as indicated in
given by Figure 5. They are quantized into seven levels represented
by a set of linguistic variables which are negative big (NB),
𝑒Ω (𝑘) = Ω𝑑 − Ω,
negative medium (NM), negative small (NS), zero (ZE),
𝑒Ω (𝑘 + 1) − 𝑒Ω (𝑘) (36) positive small (PS), positive medium (PM), and positive big
Δ𝑒Ω (𝑘) = , (PB).
𝑇
In this work, the controller fuzzy rules are gathered in
where 𝑇 and Ω𝑑 are the sampling period and desired speed, Table 1.
respectively. The processed surface is shown in Figure 6.
8 Advances in Fuzzy Systems

160

1 140
120
0.5

Speed (rad/s)
100
Ce

0
80
−0.5
60
−1 40
1
0.5 1 20
0 0.5
0 0
de −0.5 −0.5
−1 −1 e 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time (s)
Figure 6: Surface for the torque 𝐶𝑒 .
Interval type-2 fuzzy logic controller
Desired
Table 2: Parameters of the DFIM [12]. Figure 7: Result of speed under a load Cr = 5 N⋅m in the interval
Definition Symbol Value [0.6 Sec–1.6 Sec].
DFIM mechanical power 𝑃𝑤 4 kW
Stator voltage 𝑈𝑠𝑛 380 V 35
Rotor voltage 𝑈𝑟𝑛 220 V 30
Nominal current 𝐼𝑛 3.8/2.2 A
25
Nominal mechanical speed Ω𝑛 1420 rpm
Torque (N·m)

Nominal stator and rotor frequencies 𝜔𝑠𝑛 50 Hz 20

Pole pairs number 𝑃 2 15
Stator resistance 𝑅𝑠 11.98 Ω
10
Rotor resistance 𝑅𝑟 0.904 Ω
Stator self-inductance 𝐿𝑠 0.414 H 5

Rotor self-inductance 𝐿𝑟 0.0556 H 0

Mutual inductance 𝑀 0.126 H −5
Moment of inertia 𝐽 0.01 Kg⋅m2 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Friction coefficient 𝑓 0.00 IS Time (s)

Torque Ce
Cr
6. Simulation and Results Figure 8: Result of torque under a load Cr = 5 N⋅m in the interval
Several simulations have been run using the MATLAB and [0.6 Sec–1.6 Sec].
Simulink software in order to validate the theoretical results.
The simulation system consists of 3 modules.
In this section, simulations results are presented to illus- 1
trate the performance and robustness of proposed controls
0.8
law, and the IT2FLC is applied to the DFIM with the speed
control. The DFIM used in this work is a 0.8 kW, whose 0.6
Stator flux (Wb)

nominal parameters are reported in Table 2. 0.4

The speed and flux regulation performance using the pro-
0.2
posed IT2FLC is checked in terms of load torque variations.
The motor is operated at 157 rad/s under no load; then a load 0
disturbance torque of 5 N⋅m is suddenly applied at 𝑡 = 0.6 s −0.2
and eliminated at 𝑡 = 1.6 s (−5 N⋅m). The simulation results
obtained for a load variation (Cr = 5 N⋅m, −5 N⋅m) in Figures −0.4
7, 8, and 9 show that the speed, the torque, and the flux are 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
inflated with this variation. Indeed the torque and the speed Time (s)
follow their reference values.
Flux-sd
In order to verify the robustness of the regulator under
Flux-sq
motor parameters variations we carried out a test for a
variation of 50% in the value of stator resistance at tile 𝑡 = Figure 9: Result of stator flux under a load Cr = 5 N⋅m in the
1.5 s. The speed is fixed at 157 rad/s and a resistant torque of interval [0.6 Sec–1.6 Sec].
Advances in Fuzzy Systems 9

40 160
30 140
20 Zoom
Rotor current (A)

120 159

Speed (rad/s)
10 158

Speed (rad/s)
100
0 157
80 156
−10 155
60 154
−20 1 1.5 2
40
−30 Time (s)
20
−40
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time (s) Time (s)

Figure 10: Result of rotor current under a load Cr = 5 N⋅m in the Interval type-2 fuzzy logic controller
interval [0.6 Sec–1.6 Sec]. Desired
Type-1 fuzzy logic controller

Figure 11: Simulated results comparison of IT2FLC and T1FLC

of speed control of DFIM under load variation with zoom in the
5 N⋅m is applied at 𝑡 = 12 s. Figure 6 shows, in order, the interval [0.6 Sec–2 Sec] under a load Cr = 5 N⋅m.
torque response, the current, the stator flux, and the speed.
The results indicate that the regulator is very sensitive to the Table 3: Performance error indexes comparison.
resistance change which results in the influence on the torque
and the stator flux. Error indexes
Controller
The responses of speed, torque, stator flux, and rotor IE SSE
current are shown in Figures 7, 8, 9, and 10; the IT2FLC IT2FLC 5.624 × 106 1.778 × 105
shows good performances to achieve tracking of the desired T1FLC 2.554 × 108 2.881 × 107
trajectory.
As can be seen from the response of speed (Figure 7), a sampling period ℎ = 0.01. The following expressions are the
the IT2FLC throws out the load disturbance very rapidly definition of IE and SSE, respectively:
with no overshoot and with a negligible static error while the
𝑇
decoupling of torque-flux is maintained in permanent mode. 󵄨 󵄨
IE = ∫ 󵄨󵄨󵄨𝑒Ω 󵄨󵄨󵄨 𝑑𝑡,
We can see that the control is robust from the point of view 0 (37)
of load variation. 𝑇
In order to compare the performance of interval type- SSE = 0.5 (𝑒Ω ∗ 𝑒Ω ) ,
2 fuzzy logic regulator with another regulator in the same where 𝑒Ω is the tracking errors for the speed of DFIM.
test, Figure 11 shows the simulated results comparison of Table 3 gives a quantitative comparison between the
interval type-2 fuzzy logic and type-1 fuzzy logic regulators proposed IT2FLC and the T1FLC technique in load variation.
of speed control of DFIM under load variation. The interval According to Table 3 it is clearly shown that the proposed
type-2 fuzzy logic controller based drive system can handle IT2FLC has the smallest IE and SSE performance indexes
the sudden change in load torque without overshoot and with respect to T1FLC which prove the good tracking capa-
undershoot and steady state error, whereas type-1 fuzzy logic bilities in both operating modes of the IT2FLC in healthy
controller has steady state error and the response is not as fast operation and variation of the parameters.
compared to interval type-2 fuzzy logic controller. Thus the
propose controller has been found superior to type-1 fuzzy 7. Conclusion and Future Works
logic controller.
The IT2FLC based drive system can handle the rapid In this paper a new approach for the speed control of DFIM
change in load torque without overshoot and undershoot based type-2 fuzzy logic controller is presented. To achieve
and steady state error, whereas the T1FLC has steady state our goal a mathematical model of DFIM is considered. The
error and the response is not as fast compared to the obtained simulation results illustrate the good performance
IT2FLC. of the proposed method in the case of load change and
resistance variation torque. Such controller performs well in
transient mode of DFIM and proved its robustness and its
6.1. Error Tracking Performance Comparisons. These errors performance are less sensitive to parameters variation with
indexes are, namely, integral of the error (IE) and sum of the respect to parametric uncertainties. In our ongoing work we
error value square (SSE). Actually these errors indexes are are currently implementing the proposed control system in
obtained at the end of the simulation time (𝑇 = 0.2 Sec) with the real DFIM.
10 Advances in Fuzzy Systems

Competing Interests [15] A. Farrokh Payam and M. Jalalifar, “Robust speed sensorless
control of doubly-fed induction machine based on input-output
The authors declare that they have no competing interests. feedback linearization control using a sliding-mode observe,”
World Applied Sciences Journal, vol. 10, no. 11, pp. 1392–1400,
2010.
References [16] J. M. Mendel, Uncertain Rule-Based Fuzzy Logic Systems: Intro-
[1] P. E. Vidal, Commande non-linéaire d’une machine asynchrone duction and New Directions, Prentice Hall, Upper Saddle River,
à double alimentation [Doct. Thesis], Department of Electri- NJ, USA, 1st edition, 2001.
cal Engineering, National Polytechnic Institute of Toulouse, [17] O. Castillo and P. Melin, “A review on interval type-2 fuzzy
Toulouse, France, 2004. logic applications in intelligent control,” Information Sciences,
[2] G. Salloum, Contribution à la commande robuste de la machine vol. 279, pp. 615–631, 2014.
asynchrone à double alimentation [Doct. thesis], Department [18] L. A. Zadeh, “The concept of a linguistic variable and its
of Electrical Engineering, National Polytechnic Institute of application to approximate reasoning—I,” Information Sciences,
Toulouse, Toulouse, France, 2007. vol. 8, pp. 199–249, 1975.
[3] M. S. Vicatos and J. A. Tegopoulos, “A doubly-fed induction [19] R. John and S. Coupland, “Type-2 fuzzy logic: a historical view,”
machine differential drive model for automobiles,” IEEE Trans- IEEE Computational Intelligence Magazine, vol. 2, no. 1, pp. 57–
actions on Energy Conversion, vol. 18, no. 2, pp. 225–230, 2003. 62, 2007.
[4] Y. Bekakra and D. Ben Attous, “Speed and flux control for [20] Q. Liang and J. M. Mendel, “Interval type-2 fuzzy logic systems:
DFOC of doubly fed induction machine using sliding mode theory and design,” IEEE Transactions on Fuzzy Systems, vol. 8,
controller,” Acta Electrotechnica et Informatica, vol. 10, no. 4, pp. no. 5, pp. 535–550, 2000.
75–81, 2010. [21] J. M. Mendel, R. I. John, and F. Liu, “Interval type-2 fuzzy logic
[5] J. C. Prescott and B. P. Raju, “The inherent instability of induc- systems made simple,” IEEE Transactions on Fuzzy Systems, vol.
tion motors under conditions of double supply,” Proceedings of 14, no. 6, pp. 808–821, 2006.
the IEE—Part C: Monographs, vol. 105, no. 7, pp. 319–329, 1958. [22] H. A. Hagras, “A hierarchical type-2 fuzzy logic control archi-
tecture for autonomous mobile robots,” IEEE Transactions on
[6] E. Blaschke, “The principe of field orientation as applied to the
Fuzzy Systems, vol. 12, no. 4, pp. 524–539, 2004.
new transvector closed loop control system for rotating field
machine,” Siemens Review, vol. 34, pp. 217–220, 1972.
[7] A. Chaari, M. Soltani, and M. Gossa, “Comparative study
between the conventional regulators and fuzzy logic controller:
application on the induction machine,” International Journal
on Sciences and Techniques of Automatic Control & Computer
Engineering, vol. 1, no. 2, pp. 196–212, 2007.
[8] B. Heber, L. Xu, and Y. Tang, “Fuzzy logic enhanced speed
control of an indirect field-oriented induction machine drive,”
IEEE Transactions on Power Electronics, vol. 12, no. 5, pp. 772–
778, 1997.
[9] Y. Harbouche, L. Khettache, and R. Abdessemed, “Sliding mode
control of the double feed asynchronous machine applied by
current sources,” Asian Journal of Information Technology, vol.
6, no. 3, pp. 362–368, 2007.
[10] D. Ben Attous and Y. Bekakra, “Speed control of a doubly fed
induction motor using fuzzy logic techniques,” International
Journal on Electrical Engineering and Informatics, vol. 2, no. 3,
pp. 179–191, 2010.
[11] S. Barkati, E. M. Berkouk, and M. S. Boucherit, “Application
of type-2 fuzzy logic controller to an induction motor drive
with seven-level diode-clamped inverter and controlled infeed,”
Electrical Engineering, vol. 90, no. 5, pp. 347–359, 2008.
[12] L. Benalia, “Control of a double feed and double star induction
machine using direct torque control,” in Torque Control, M. T.
Lamchich, Ed., chapter 5, pp. 113–126, InTech, Rijeka, Croatia,
2011.
[13] N. Ezziani, Commande adaptative floue backstepping d’une
machine asynchrone avec et sans capteur mecanique [Doct. Thesis
in Computer Engineering, Automatic and Signal Processing],
Reims University, Reims, France, 2010.
[14] M. Machmoum, F. Poitiers, L. Moreau, M. E. Zaim, and E.
Le Doeuff, “Etude d’éolienne à vitesse variable basées sur
des machines asynchrones (MAS-MADA),” GE44, Polytechnic
Institute of Nantes, Nantes, France, 2003.
 Advances in Journal of
Industrial Engineering
Multimedia
Applied
Computational
Intelligence and Soft
Computing
The Scientific International Journal of
Distributed
Hindawi Publishing Corporation
World Journal
Hindawi Publishing Corporation
Sensor Networks
Hindawi Publishing Corporation Hindawi Publishing Corporation Hindawi Publishing Corporation
http://www.hindawi.com Volume 2014 http://www.hindawi.com Volume 2014 http://www.hindawi.com Volume 2014 http://www.hindawi.com Volume 2014 http://www.hindawi.com Volume 2014

Advances in

Fuzzy
Systems
Modelling &
Simulation
in Engineering
Hindawi Publishing Corporation
Hindawi Publishing Corporation Volume 2014 http://www.hindawi.com Volume 2014
http://www.hindawi.com

Submit your manuscripts at

Journal of
http://www.hindawi.com
Computer Networks
and Communications  Advances in 
Artificial
Intelligence
Hindawi Publishing Corporation
http://www.hindawi.com Volume 2014 Hindawi Publishing Corporation
http://www.hindawi.com Volume 2014

International Journal of Advances in

Biomedical Imaging Artificial
Neural Systems

International Journal of
Advances in Computer Games Advances in
Computer Engineering Technology Software Engineering
Hindawi Publishing Corporation Hindawi Publishing Corporation Hindawi Publishing Corporation Hindawi Publishing Corporation Hindawi Publishing Corporation
http://www.hindawi.com Volume 2014 http://www.hindawi.com Volume 2014 http://www.hindawi.com Volume 2014 http://www.hindawi.com Volume 2014 http://www.hindawi.com Volume 2014

International Journal of
Reconfigurable
Computing

Advances in Computational Journal of

Journal of Human-Computer Intelligence and Electrical and Computer
Robotics
Hindawi Publishing Corporation
Interaction
Hindawi Publishing Corporation
Neuroscience
Hindawi Publishing Corporation Hindawi Publishing Corporation
Engineering
Hindawi Publishing Corporation
http://www.hindawi.com Volume 2014 http://www.hindawi.com Volume 2014 http://www.hindawi.com Volume 2014 http://www.hindawi.com Volume 2014 http://www.hindawi.com Volume 2014