International Journal of Scientific & Engineering Research Volume 2, Issue 6, June-2011 1

ISSN 2229-5518

Fuzzy Logic Based Hydro-Electric Power

Dam Control System
M. Abbas, M. Saleem Khan, Nasir Ali

Abstract — This research paper presents the construction design of Hydro-Electric Power Dam Control System using Fuzzy
Logic. In this design two input parameters: water level and flow rate and two output parameters: release valve control and drain
valve control are used. This proposed system uses a simplified algorithmic design approach with wide range of input and output
membership functions. The hardware of control system for fuzzifiers and defuzzifiers is designed according to the need of
system. The proposed simplified algorithmic design is verified using MATLAB simulation and results are found in agreement to
the calculated values according to the Mamdani Model of the Fuzzy Logic Control System.

Index Terms—Fuzzy Logic Control, Hydro-Electric Power Plant, Inference Engine, Rule Selection.

—————————— ——————————

1 INTRODUCTION

T HE modern-day technologies in the areas of

information storage and retrieval, web search, image
processing, control, pattern recognition, bio-
Central Queensland, Australia where fuzzy rules were
generated with explicit recognition of storage volume
non-specificity in the discrete Stochastic Dynamic
information and computational biology, e-markets, Programming (SPD) [3].
autonomous navigation, and guidance are benefited
using fuzzy sets. An integrated framework sustaining a Fuzzy dynamic programming model was used for
variety of facets of human-centric computing is Hirakud dam in the State of Orissa in India in which
developed by means of fuzzy sets. The current trends of irrigation; hydropower generation and flood control were
information technology have proved that the increasing considered as fuzzy variables [4].
level of intelligence, autonomy and required flexibility
comes true with the increased human centricity of The neural network and fuzzy systems were also adopted
resulting results. The holistic view covers concepts, for dam control in which a comparison was made
design methodologies, and algorithms with between reservoir operations using the fuzzy and neural
interpretation, analysis, and engineering knowledge. The network systems and actual one by operator, using
computing systems are based on predefined models of examples of floods during flood and non-flood seasons
two-valued logic and human information processing, [5].
concerned with two distinct words. In order to
communicate between these two words we need to Reports show that hydroelectric dams produce 20 percent of
develop an interface. This is the key motivation behind the world’s total production of electrical energy. The
the emergence of human-centric systems and human- development of a hydro-electric power dam control
centric computing [1]. system based on fuzzy logic with two inputs and two
outputs. Using water level and flow rate measuring
The construction of a dam is necessary for the electric devices for feedback control, and two control elements for
power generation, flood control, irrigation system, metropolitan draining and valve controlling (release), and formulated
and industrial water supply. Different kind of methods have fuzzy rules for water level and flow rate has been
been introduced and implemented to control the hydro- achieved.
electric power dam due to non-deterministic behavior of
water parameters such as flow rate and release etc. [2]. To control the water release, the controller reads the
water level and flow rate after every sampling period.
Fuzzy Set Theory along with its membership functions This proposed design work of Hydro-Electric Power Dam
was implemented to the Fairbairn reservoir in Emerald, System is the application of fuzzy logic control system
———————————————— consisting of two input variables: water level and flow
M. Abbas is working as Visiting Faculty in the Department of Electrical rate, and two output variables: Drain valve and
Engineering in National University of FAST Lahore and also Lecturer (Releasing) Valve control used in a reservoir plant of
Internee in Physics, Government Islamia College, Lahore, Pakistan Hydro-Electric Power Dam to monitor the system of
(e-mail: [email protected]) Dam.
Dr. M. Saleem Khan is with the GC University Lahore Pakistan, working
as Director Computer Science Department
(e-mail: [email protected], [email protected]) The basic structure of the proposed model is described in
Nasir Ali is an Assistant Professor of Physics in Govt. DS College, Section 2. Section 3 gives the simplified design algorithm
Lahore, Pakistan (e-mail [email protected])
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of fuzzy logic for Hydro-Electric Power Dam System. 3. DESIGN ALGORITHM

Section 4 describes the simulation results of this system.
Conclusion and future work is given in Section 5. The algorithm designed for this system consists of two
fuzzy input variables. Five triangular membership
2. BASIC STRUCTURE OF THE PROPOSED functions are equally determined over a scale range of 0
HYDRO-ELECTRIC POWER DAM m to 20 m for the water level and 0(m3s-1) to100000(m3s-1)
for flow rate inputs. The five fuzzy membership functions
for water level input are termed as: very low 0-5 m, low
0-10 m, below danger5-15 m, danger10-20 m and above
danger15-20 m. The five fuzzy membership functions for
flow rate input are: very slow 0m3s-1 -25000m3s-1, slow
0m3s-1-50000m3s-1, normal 25000m3s-1-75000m3s-1, fast
50000m3s-1-100000m3s-1, and very fast 75000m3s-1-
100000m3s-1.Two outputs of this proposed system are:
(release) control valve and drainage valve. The control
valves for release and drainage output variables consist of
five membership functions: fully closed 0-5, 25% Opened
0-50, 50% Opened 40-60, 75% Opened 50-90 and Fully
Opened 70-100.

Fig.1 Arrangement of proposed hydro–electric power system 3.1. Fuzzifier

The main parts of the proposed hydro-electric power The input crisp values are compared by the fuzzifier with
plant are shown in Fig. 1. Upper lake where water is certain levels and generate linguistic values of each input
stored presents the water level. The greater the vertical variable for inference engine. The inference engine
distance b/w the upper and lower lakes, the more is the simulates human decision with fuzzy concepts,
generation of electricity. In order to release or block water, a implication and rules of inference in fuzzy logic [7]. The
control valve is used according to the need. Water on releasing occupied region description, membership functions and
from the dam gets to the blades of the turbine all the way range for two input variables are given in Table 1 and
through the penstock. Its slope and thickness determines the Table 2.
efficiency of the dam. Turbine produces electrical energy and TABLE 1
water released from the turbine is released to lower lake where MEMBERSHIP FUNCTIONS AND RANGES OF INPUT
the drainage system is brought into action according to the VARIABLE WATER LEVEL (m)
requirements [6]. Membership Ranges Region Oc-
Function (MF) cupied
The schematic diagram of the proposed hydro-electric Very Low 0-5 1
power plant is shown in Fig. 2. Water level and flow rate Low 0-10 1-2
devices are used to monitor the status of water in the Below Danger 5-15 2-3
plant which is connected with the two fuzzifiers of the Danger 10-20 3-4
fuzzy logic control system after suitable amplification and
Above Danger 15-20 4
voltage adjustment unit. Two outputs of defuzzifiers are
the releasing control valve and drainage valve.
TABLE 2
MEMBERSHIP FUNCTIONS AND RANGES OF INPUT
VARIABLE FLOW RATE (m3/s)
Membership Region Occu-
Ranges
Function (MF) pied
Very Slow 0 -25000 1
Slow 0-50000 1-2
25000-
Normal 2-3
75000
50000-
Fast 3-4
100000
75000-
Very Fast 4
100000
Fig. 2 Block Diagram of Hydro-Electric Power Dam fuzzy control For each input variable, five membership functions are
system used as shown in Fig. 2 and in Fig. 3.
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TABLE 4
RULE MAPPING FOR REGIONS OCCUPIED
Regions Occupied Rules
fn[m]= Membership value,
Water Flow Rate
where n=No. of input
Case Level Input
variable,
No. Input variable 2
m=No. of membership
variable
function MF occupied
1
Fig.3 Plot of membership functions for input variable,
“WATER LEVEL” R1 = f1 ^ f3 =f1[1] ^ f2[1]
R2 = f1 ^ f4 =f1[1] ^ f2[2]
1. 1 1
The five membership functions, “very low”, “low”, R3 = f2 ^ f3 =f1[2] ^ f2[1]
“below danger”, “danger” and “above danger” are used R4 = f2 ^ f4 = f1[2] ^ f2[2]
to show the various ranges of input fuzzy variable R1 = f1 ^ f3 = f1[1] ^ f2[2]
“WATER LEVEL” in a plot consisting of four regions as R2 = f1 ^ f4 = f1[1] ^ f2[3]
2. 1 2
shown in Fig. 2. R3 = f2 ^ f3 = f1[2] ^ f2[2]
R4 = f2 ^ f4 = f1[2] ^ f2[3]
The five membership functions, “very slow”, “slow”, R1 = f1 ^ f3 = f1[1] ^ f2[3]
“normal”, “fast” and “very fast” are used to show the R2 = f1 ^ f4 = f1[1] ^ f2[4]
various ranges of input fuzzy variable “FLOW RATE” in 3. 1 3
R3 = f2 ^ f3 = f1[2] ^ f2[3]
a plot also consisting of four regions as shown in Fig. 3. R4 = f2 ^ f4 = f1[2] ^ f2[4]
R1 = f1 ^ f3 = f1[1] ^ f2[4]
R2 = f1 ^ f4 = f1[1] ^ f2[5]
4. 1 4
R3 = f2 ^ f3 = f1[2] ^ f2[4]
R4 = f2 ^ f4 = f1[2] ^ f2[5]
R1 = f1 ^ f3 = f1[2] ^ f2[1]
R2 = f1 ^ f4 = f1[2] ^ f2[2]
5. 2 1
R3 = f2 ^ f3 = f1[3] ^ f2[1]
R4 = f2 ^ f4 = f1[3] ^ f2[2]
R1 = f1 ^ f3 = f1[2] ^ f2[2]
R2 = f1 ^ f4 = f1[2] ^ f2[3]
6. 2 2
R3 = f2 ^ f3 = f1[3] ^ f2[2]
R4 = f2 ^ f4 = f1[3] ^ f2[3]
R1 = f1 ^ f3 = f1[2] ^ f2[3]
R2 = f1 ^ f4 = f1[2] ^ f2[4]
Fig. 4 Plot of membership functions for input variable, “FLOW RATE” 7. 2 3
R3 = f2 ^ f3 = f1[3] ^ f2[3]
The linguistic values are the mapping values of the fuzzy R4 = f2 ^ f4 = f1[3] ^ f2[4]
input variables with the membership functions occupied R1 = f1 ^ f3 = f1[2] ^ f2[4]
in the regions. As we are using two variables, therefore R2 = f1 ^ f4 = f1[2] ^ f2[5]
8. 2 4
four linguistic values are shown in Fig.4. The mapping of R3 = f2 ^ f3 = f1[3] ^ f2[4]
input fuzzy variables with the functions in four regions is R4 = f2 ^ f4 =f1[3] ^ f2[5]
listed in Table 3. R1 = f1 ^ f3 = f1[3] ^ f2[1]
R2 = f1 ^ f4 = f1[3] ^ f2[2]
9. 3 1
TABLE 3 R3 = f2 ^ f3 = f1[4] ^ f2[1]
LINGUISTIC VALUES OF FUZZIFIERS OUTPUTS IN R4 = f2 ^ f4 =f1[4] ^ f2[2]
ALL REGIONS R1 = f1 ^ f3 = f1[3] ^ f2[2]
R2 = f1 ^ f4 = f1[3] ^ f2[3]
Input Linguistic Region Region Region Region 10. 3 2
R3 = f2 ^ f3 = f1[4] ^ f2[2]
Variables Fuzzifiers 1 2 3 4
Outputs
R4 = f2 ^ f4 = f1[4] ^ f2[3]
Water f1 f1[1] f1[2] f1[3] f1[4] R1 = f1 ^ f3 = f1[3] ^ f2[3]
Level f2 f1[2] f1[3] f1[4] f1[5] R2 = f1 ^ f4 = f1[3] ^ f2[4]
11. 3 3
Flow f3 f2[1] f2[2] f2[3] f2[4] R3 = f2 ^ f3 = f1[4] ^ f2[3]
Rate f4 f2[2] f2[3] f2[4] f2[5] R4 = f2 ^ f4 = f1[4] ^ f2[4]

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Regions Occupied Rules

fn[m]= Membership value,
Water Flow Rate
where n=No. of input
Case Level Input
variable,
No. Input variable 2
m=No. of membership
variable
function MF occupied
1

R1 = f1 ^ f3 = f1[3] ^ f2[4]
R2 = f1 ^ f4 = f1[3] ^ f2[5]
12. 3 4
R3 = f2 ^ f3 = f1[4] ^ f2[4]
R4 = f2 ^ f4 = f1[4] ^ f2[5]
R1 = f1 ^ f3 = f1[4] ^ f2[1]
R2 = f1 ^ f4 = f1[4] ^ f2[2]
13. 4 1
R3 = f2 ^ f3 = f1[5] ^ f2[1]
R4 = f2 ^ f4 = f1[5] ^ f2[2]
R1 = f1 ^ f3 = f1[4] ^ f2[2]
R2 = f1 ^ f4 = f1[4] ^ f2[3]
14. 4 2
R3 = f2 ^ f3 = f1[5] ^ f2[2] Fig. 6 (a) Design of fuzzifier for Water Level Input
R4 = f2 ^ f4 =f1[5] ^ f2[3]
R1 = f1 ^ f3 = f1[4] ^ f2[3]
R2 = f1 ^ f4 = f1[4] ^ f2[4]
15. 4 3
R3 = f2 ^ f3 = f1[5] ^ f2[3]
R4 = f2 ^ f4 = f1[5] ^ f2[4]
R1 = f1 ^ f3 = f1[4] ^ f2[4]
R2 = f1 ^ f4 = f1[4] ^ f2[5]
16. 4 4
R3 = f2 ^ f3 = f1[5] ^ f2[4]
R4 = f2 ^ f4 = f1[5] ^ f2[5]

Fuzzification process for two input variables need two

separate fuzzifiers. Each fuzzifier consists of: input
voltage to crisp value converter, operational region for a
crisp value detector, fuzzy set membership value
mapping and selection arrangements [8]. The design of
such a fuzzifier is shown in Fig. 5.

Fig. 6 (b) Design of fuzzifier for Flow Rate Input

TABLE 5
RESULTS OF FUZZIFICATION

Input
Values Region Selec- Fuzzy Set Calcu-
Variables
tion lation
Water 10 x<15 f1=(15-13)/5=0.4
x=13
Level Region-3 f2=1-f1=1-0.4=0.6
75000 x<100000 f3=(100000-
Flow
x=95000 Region-4 95000)/25000=0.2
Rate
f4=1-f3=1-0.2=0.8
Fig. 5 Fuzzifier Block
3.2. Inference Engine
Table 5 gives the working results of two fuzzifiers using The inference engine contains four AND operators that
the given values of input variables. These results are select minimum value input for the output. This inference
achieved using the fuzzifier design for water level and engine accepts four inputs from fuzzifier and applies the
flow rate inputs shown in Fig. 6 (a) and Fig. 6 (b) [9]. min-max composition to obtain the output R values. The
min-max inference method uses min-AND operation
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between the four inputs. Fig. 7 shows this type of variables in a region corresponds to mapping of two
inference process. functions. The corresponding mapping values of f1 [3], f1
[4], f2[2], f2[3] were used to establish the 4 rules. Here f1 [3]
Number of active rules = mn, where m = maximum
means the corresponding mapping value of membership
number of overlapped fuzzy sets and n= number of in-
function “Below Danger” of water level in region-3 and
puts. For this design, m = 5 and n = 2, so the total number
the similar definitions are for the others.
of active rules are 25.The total number of rules is equal to
the product of number of functions accompanied by the
R1 = f1 ^ f3 = f1[3] ^ f2[4] = 0.4 ^ 0.2 = 0.2
input variables in their working range [10]. The two input
R2 = f1 ^ f4 =f1[3] ^ f2[5] = 0.4 ^ 0.8 = 0.4
variables described here consisted of five membership
R3 = f2 ^ f3 =f1[4] ^ f2[4] = 0.6 ^ 0.2 = 0.2
functions. Thus, 5 x 5 = 25 rules were required which are
R4 = f2 ^ f4 =f1[4] ^ f2[5] = 0.6 ^ 0.8 = 0.6
shown in Table 6.
TABLE 6
TOTAL NUMBER OF RULES
INPUTS OUTPUTS
Water Flow
Out-flow Drain
Level Rate
(Valve) Valve
(m) (m3/s)
Very Low Very Slow Fully closed Fully closed
Very Low Slow Fully closed Fully closed
Very Low Normal Fully closed Fully closed
Very Low Fast Fully closed Fully closed
Very Low Very Fast Fully closed Fully closed
Low Very Slow Fully closed Fully closed
Fig. 7 Block Diagram of Inference Engine
Low Slow Fully closed Fully closed
Low Normal Fully closed Fully closed
Low Fast Fully closed Fully closed 3.3. Rule Selector
Low Very Fast Fully closed Fully closed
Below Very Slow Fully closed 25% opened The rule selector receives two crisp values of water level
Danger and flow rate. It gives singleton values of output
Below Slow 25% 25% opened functions under algorithm rules applied on design model.
Danger opened For two variables, four rules are needed to find the
Below Normal 25% 25% opened corresponding singleton values S1, S2, S3 and S4 for each
Danger opened variable according to these rules are listed in Table 7.
Below Fast 50% 50% opened TABLE 7
Danger opened ILLUSTRATION OF RULES APPLIED MODEL
Below Very Fast 50% 75% opened
Danger opened INPUTS SINGLETON VALUES OF
Danger Very Slow 50% 50% opened Rule OUTPUTS Sin-
opened No. gleton
Release Control
Water Flow Drainage Val-
Danger Slow 50% 50% opened Valve ues
Level Rate Valve
opened
Danger Normal 75% Fully 1 Below Fast 0.50 50% opened S1
opened opened Danger =50% opened =0.50
Danger Fast 75% Fully 2 Below Very 0.50 75% opened S2
Danger Fast =50% opened =0.75
opened opened
3 Danger Fast 0.75 Fully S3
Danger Very Fast 75% Fully =75% opened Opened
opened opened =1.0
Above Very Slow 75% 75% opened 4 Danger Very 0.75 Fully S4
Danger opened Fast =75% opened Opened
=1.0
Above Slow 75% Fully
Danger opened opened
Above Normal Fully Fully
Danger opened opened The rule base accepts two crisp input values, distributes
Above Fast Fully Fully the universe of discourse into regions with each region
Danger opened opened containing two fuzzy variables, fires the rules, and gives
Above Very Fast Fully Fully the output singleton values corresponding to each output
Danger opened opened variable. Fig. 8 shows the main block diagram of the Rule
In this case only 4 rules are required for the particular Base.
values of two variables because each value of two
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The defuzzification process provides the crisp value

outputs after estimating its inputs [11]. In this system 8
inputs are given to each of the two defuzzifiers. Four
values of R1, R2, R3, R4 from the outputs of inference
engine and four values S1, S2, S3, and S4 from the rule
selector are shown in Fig. 10. Each defuzzifier estimates
the crisp value output according to the center of average
(C.O.A) method using the mathematical expression, i *
Ri Ri, where i = 1 to 4. Each output variable membership
Fig. 8 Rule Base function plot consists of five functions with the same
range values for simplification.
3.4. Deffuzifier

In this system, two defuzzifiers control the actuators;

Release (Valve Control and Drainage Valve. The member-
ship functions of the two output variables are shown in
Fig. 7 to Fig.9, and the detail of each plot is given in
Table 8.

TABLE 8
OUTPUT VARIABLES MEMBERSHIP FUNCTIONS Fig. 11 Defuzzifier Block

MFs Range Release(Valve) Drain Valve Fig. 11 shows the design arrangement of a defuzzifier.
MF1 0-5 Fully Closed Fully Closed One defuzzifier consists of: one adder for Ri, four
MF2 0-50 25% Opened 25% Opened multipliers for the product of Si*Ri, one adder for i * Ri,
MF3 40-60 50% Opened 50% Opened and one divider for i * Ri Ri. Finally a defuzzifier
MF4 50-90 75% Opened 75% Opened gives the estimated crisp value output.
MF5 70-100 Fully Opened Fully Opened
4. RESULTS AND DISCUSSION

The designed values for two outputs; Release (Valve

Control) and Drain Valve are given in the Table 9 and
Table 10. According to the results of inference engine
Ri = R1+R2+R3+R4 = 0.2+0.4 +0.2 +0.6 = 1.4

TABLE 9
DESIGNED VALUE FOR CONTROL VALVE (RELEASE)
i Ri Si Ri * Si
1 0.2 0.50 0.10
2 0.4 0.50 0.20
Fig. 9 Plot of Membership Functions for Output Variable, 3 0.2 0.75 0.15
“Drain Valve” 4 0.6 0.75 0.45
i * Ri= 0.90
i * Ri Ri= 0.90/1.4 = 0.6428= 64.28%
of the Valve will be Opened.

TABLE 10
DESIGNED VALUE FOR DRAIN VALVE
i Ri Si Ri * Si
1 0.2 0.50 0.1
2 0.4 0.75 0.3
3 0.2 1.0 0.2
4 0.6 1.0 0.6
i * Ri= 1.2
Fig. 10 Plot of Membership Functions for Output Variable, i * Ri Ri= 1.2/1.4 = 0.8571= 85.71 % of Drain Valve.
“Release (Valve Control)”

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Using mathematical expression i * Ri Rithe crisp TABLE 12

values for output variables were determined and the COMPARISON OF SIMULATED AND CALCULATED
results were found according to the MATLAB simulation RESULT
as shown in Fig. 12. These results are compared in Table Release
Result Drain Valve
12 and found correct according to the design model. ( Control Valve)
MATLAB simulation was adapted according to the Design Values 64.2 85.7
arrangement of membership functions for four rules as MATLAB Simula- 65.2 83.8
given in Table 11. tion
TABLE 11 % error 1.55 2.21
ARRANGEMENT OF MEMBERSHIP FUNCTIONS FOR-
SIMULATION 4.1. Simulation Graphs Discussion
INPUTS OUTPUTS
Rule
Water Flow Rate
No. Release(Valve) Drain Valve This system was simulated for the given range of input
Level
variables. The given value of: Water Level = 13 lies in
1 Below Fast 50% opened 50% opened
Danger region 3 of the range 10-15 and Flow Rate = 95000 lies in
2 Below Very Fast 50% opened 75% opened region 4 of the range 75000-100000. The four rules were
Danger applied for MATLAB simulation according to this range
3 Danger Fast 75% opened Fully scheme. In this design model, the release and drain
Opened control valves depends upon the selected values of water
4 Danger Very Fast 75% opened Fully level and flow rate. The simulated and calculated results
Opened are according to the dependence scheme.

In Fig. 12 the same values of input variables, Water Level Fig. 13(a) shows that the control valve is directly
= 13, and Flow Rate = 95000 are shown. Various values of proportional to water level and it does not depend upon
input and output variables match the dependency scheme the flow rate. Fig. 13(b) shows that the drain valve system
of the system design. The simulated values were checked is directly proportional to flow rate.
using MATLAB-Rule viewer as shown in Fig. 12.

The correctness of results shows the validity of the

simplified design work for processing system using
control system.

Fig. 13(a) Plot between Water Level - Flow Rate Release Valve
Opened/Closed

Fig. 12 MATLAB-Rule Viewer Fig. 14 Plot between Water Level and Flow Rate Drain Valve

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5. CONCLUSION [10] M. Berthold, D. Hand, “Intelligent Data Analysis, 2nd ed.”,

Springer-Verlag, Heidelberg (2006).
Both the design model and simulation results are same. [11] M. Saleem Khan and Khaled Benkrid, “Design of Liquids
The designed system can be extended for any number of Mixing Control System using Fuzzy Time Control
inputs and outputs. The drain valve control output can be Discrete Event Model for Industrial Applications”, World
Academy of Science, Engineering and Technology vol. 72 2010,
utilized further for land irrigation according to the need
p.p. 545-553, Directory of Open Access Journals (DOAJ).
and water release control valve for electric generation to
fulfill the dire need of this system in automation.
Mr. M. Abbas is working as Visiting Faculty
The design work is being carried out to design state of the in the Department of Electrical Engineering
art fuzzy logic Hydro-Electric control system in future in National University of FAST Lahore and
also Lecturer Internee in Physics, Government
using FPGAs.
Islamia College Lahore, Pakistan. He com-
pleted his Master Degree in Physics with
REFERENCES Specialization in Advanced Electronics from
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[1] E. Frias-Martinez, G. Magoulas, S. Chen and R. Lahore. His research interests include FPGAs and Fuzzy Logic
Macredie,“Modeling human behavior in user-adaptive systems: Control System and Industrial Applications.
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(e-mail: [email protected])
Expert Syst. Appl.29:2 (2005) 320-329.

[2] V. Ramani and M. Rom, “Fuzzy Logic Model on Operation and

Dr. M. Saleem Khan is an Assistant Professor
Control of Hydro-Power Dams in Malaysia” ICCES vol.4 2007,
at GC University Lahore Pakistan. He availed
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tronics & Engineering, University of Edin-
[3] Suharyanto and Goulter, “Use of fuzzy set theory for burgh, UK and completed his Ph.D thesis in
consideration of storage non-specificity in stochastic dynamic the field of control systems: design, simulation
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[4] Umamahesh and Chandramouli. Fuzzy dynamic programming
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[5] Hasebe and Nagayama (2002). Reservoir operation using the try.
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admixing System using Fuzzy Time Control Discrete Event
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