Lecture 14

Fuzzy logic Controller

How to Design Fuzzy Logic Controller

2
Fuzzy Linguistic variables

3
Basic Structure of Fuzzy Systems

4
Basic Structure of Fuzzy Systems

5
Basic Operations in Logic Fuzzy System

6
 Types of Fuzzy Inference

1. Mamdani Fuzzy Model

2. Sugeno Fuzzy Model
3. Tsukamoto Fuzzy Model

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 Fuzzy Inference

• The most used fuzzy inference technique is the so-called Mamdani

method.

• In 1975, Professor Ebrahim Mamdani of London University built one

of the first fuzzy systems to control a steam engine and boiler
combination. He applied a set of fuzzy rules supplied by
experienced human operators.

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 Mamdani Fuzzy Inference

• The Mamdani-style fuzzy inference process is

performed in four steps:

1. Fuzzification of the input variables

2.Rule evaluation (inference)
3. Aggregation of the rule outputs (composition)
4.Defuzzification.
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 Mamdani Fuzzy Inference
We examine a simple two-input one-output problem that includes
three rules:
Rule: 1
IF x is A3 IF project_funding is adequate
ORy is B1 ORproject_staffing is small
THEN z is C1 THEN risk is low
Rule: 2
IF x is A2 IF project_funding is marginal
AND y is B2 AND project_staffing is large
THEN z is C2 THEN risk is normal
Rule: 3
IF x is A1 IF project_funding is inadequate
THEN z is C3 THEN risk is high
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 Step 1: Fuzzification

The first step is to take the crisp inputs, x1 and y1 (project funding and
project staffing) and determine the degree to which these inputs belong
to each of the appropriate fuzzy sets.
Crisp Input Crisp Input
x1 y1

1 1 B1 B2
A1 A2 A3 0.7
0.5
0.2 0.1
0 0
x1 X y1 Y
 (x = A1) = 0.5  (y = B1) = 0.1
 (x = A2) = 0.2  (y = B2) = 0.7
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 Step 2: Rule Evaluation

• The second step is to take the fuzzified inputs, (x=A1) = 0.5, (x=A2) = 0.2,
(y=B1) = 0.1 and (y=B2) = 0.7 and apply them to the antecedents of the fuzzy
rules.

• If a given fuzzy rule has multiple antecedents, the fuzzy operator (AND or
OR) is used to obtain a single number that represents the result of the
antecedent evaluation.

• This number (the truth value) is then applied to the consequent

membership function.
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 Step 2: Rule Evaluation

RECAL:
To evaluate the disjunction of the rule antecedents, we use the OR fuzzy operation.
Typically, fuzzy expert systems make use of the classical fuzzy operation union:

AB(x) = max [A(x), B(x)]

Similarly, in order to evaluate the conjunction of the rule antecedents, we apply the
AND fuzzy operation intersection:

AB(x) = min [A(x), B(x)]

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 Step 2: Rule Evaluation
1 1 1
A3 B1 C1 C2 C3
0.1 OR 0.1
0.0
(max)
0 x1 X 0 y1 Y 0 Z
Rule 1: IF x is A3 (0.0) OR y is B1 (0.1) THEN z is C1 (0.1)
1 1 1
0.7
C1 C2 C3
A2 0.2 B2 AND 0.2
(min)
0 x1 X 0 y1 Y 0 Z
Rule 2: IF x is A2 (0.2) AND y is B2 (0.7) THEN z is C2 (0.2)
1 1
A1 0.5 0.5 C1 C2 C3

0 x1 X 0 Z
Rule 3: IF x is A1 (0.5) THEN z is C3 (0.5) 14
 Step 2: Rule Evaluation

• Now the result of the antecedent evaluation can be applied to the

membership function of the consequent.

• There are two main methods for doing so:

• Clipping
• Scaling

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 Step 2: Rule Evaluation

• The most common method of correlating the rule consequent with the
truth value of the rule antecedent is to cut the consequent membership
function at the level of the antecedent truth. This method is called
clipping (alpha-cut).

• Since the top of the membership function is sliced, the clipped fuzzy
set loses some information.

• However, clipping is still often preferred because it involves less

complex and faster mathematics, and generates an aggregated output
surface that is easier to defuzzify.
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 Step 2: Rule Evaluation

• While clipping is a frequently used method, scaling offers a better

approach for preserving the original shape of the fuzzy set.

• The original membership function of the rule consequent is adjusted by

multiplying all its membership degrees by the truth value of the rule
antecedent.

• This method, which generally loses less information, can be very useful
in fuzzy expert systems.
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 Step 2: Rule Evaluation

Degree of Degree of
Membership Membership
1.0 1.0

C2 C2

0.2 0.2

0.0 0.0
Z Z
clipping scaling
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 Step 3: Aggregation of the rule outputs

• Aggregation is the process of unification of the outputs of all rules.

• We take the membership functions of all rule consequents previously

clipped or scaled and combine them into a single fuzzy set.

• The input of the aggregation process is the list of clipped or scaled

consequent membership functions, and the output is one fuzzy set
for each output variable.
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 Step 3: Aggregation of the rule outputs

1 1 1
C1 C2 C3
0.5 0.5
0.2 0.2
0.1 0.1
0 Z 0 Z 0 Z 0 Z
z is C 1 (0.1) z is C 2 (0.2) z is C 3 (0.5) 

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 Step 4: Defuzzification

• The last step in the fuzzy inference process is defuzzification.

• Fuzziness helps us to evaluate the rules, but the final output of a

fuzzy system has to be a crisp number.

• The input for the defuzzification process is the aggregate output

fuzzy set and the output is a single number.

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 Step 4: Defuzzification

• There are several defuzzification methods, but probably the most

popular one is the centroid technique. It finds the point where a
vertical line would slice the aggregate set into two equal masses.
Mathematically this centre of gravity (COG) can be expressed as:
b
  A  x  x dx
COG  a
b
  A  x  dx
a

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 Step 4: Defuzzification

• Centroid defuzzification method finds a point representing the centre

of gravity of the fuzzy set, A, on the interval, ab.
• A reasonableestimate
(x)
can be obtained by calculating it over a sample
of points.
1.0
0.8
0.6 A

0.4

0.2
a b
0.0 X
150 160 170 180 190 200 210

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 Step 4: Defuzzification
Degree of
Membership
1.0
0.8
0.6

0.4
0.2
0.0
0 10 20 30 40 50 60 70 80 90 100
67.4 Z

(0  10  20)  0.1  (30  40  50  60)  0.2  (70  80  90  100)  0.5

COG   67.4
0.1  0.1  0.1  0.2  0.2  0.2  0.2  0.5  0.5  0.5  0.5

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 Sugeno Fuzzy Inference

• Mamdani-style inference, as we have just seen, requires us to find the centroid

of a two-dimensional shape by integrating across a continuously varying
function. In general, this process is not computationally efficient.

• Michio Sugeno suggested to use a single spike, a singleton, as the membership

function of the rule consequent.

• A singleton, or more precisely a fuzzy singleton, is a fuzzy set with a

membership function that is unity at a single particular point on the universe of
discourse and zero everywhere else.

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 Sugeno Fuzzy Inference

• Sugeno-style fuzzy inference is very similar to the Mamdani method. Sugeno

changed only a rule consequent. Instead of a fuzzy set, he used a mathematical
function of the input variable. The format of the Sugeno-style fuzzy rule is

IF x is A
AND y is B
THEN z is f(x, y)

where x, y and z are linguistic variables; A and B are fuzzy sets on universe of
discourses X and Y, respectively; and f(x, y) is a mathematical function.

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 Sugeno Fuzzy Inference

• The most commonly used zero-order Sugeno fuzzy model applies fuzzy rules in the
following form:

IF x is A
AND y is B
THEN z is k

where k is a constant.

• In this case, the output of each fuzzy rule is constant. All consequent membership
functions are represented by singleton spikes.

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1 Sugeno
1 Rule Evaluation
1
A3 B1
0.1 OR 0.1
0.0
(max)
0 x1 X 0 y1 Y 0 k1 Z

Rule 1: IF x is A3 (0.0) OR y is B1 (0.1) THEN z is k1 (0.1)

1 1 1
0.7
A2 0.2 B2 AND 0.2
(min)
0 x1 X 0 y1 Y 0 k2 Z
Rule 2: IF x is A2 (0.2) AND y is B2 (0.7) THEN z is k2 (0.2)
1 1
A1 0.5 0.5

0 x1 X 0 k3 Z
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Rule 3: IF x is A1 (0.5) THEN z is k3 (0.5)
 Sugeno Aggregation of the Rule Outputs

1 1 1 1
0.5 0.5
0.2
0.1 0.2 0.1
0 k1 Z 0 k2 Z 0 k3 Z 0 k1 k2 k3 Z

z is k1 (0.1) z is k2 (0.2) z is k3 (0.5) 

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Weighted Average (WA)
Sugeno Defuzzification

(k1)  k1  (k 2)  k 2  (k 3)  k 3 0.1 20  0.2  50  0.5  80

WA    65
(k1)  (k 2)  (k 3) 0.1  0.2  0.5

0 z1 Z

Crisp Output
z1
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 Mamdani or Sugeno?

• Mamdani method is widely accepted for capturing expert knowledge.

It allows us to describe the expertise in more intuitive, more human-
like manner. However, Mamdani-type fuzzy inference entails a
substantial computational burden.

• On the other hand, Sugeno method is computationally effective and

works well with optimisation and adaptive techniques, which makes
it very attractive in control problems, particularly for dynamic
nonlinear systems.
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