Fuzzy Set Theory

(i)
(ii)

Classical Set:- A classical set A is a collection

of elements or objects of any kind. Two methods
describing sets:
Listing method ( A{1,2,3,4,5} )
Membership rule
A x | p (x) is a predicate stating x has property p
Height of
a person

Is the predicate
that height x 1.8 m

Contd.

Fuzzy Set:- A fuzzy set is a set with a smooth

(unsharp) boundary. It is graded membership
over the interval [ 0 , 1 ] . A fuzzy set F is
defined as ordered pairs as
F x , F ( x)| x U , F ( x) [ 0, 1]
OR
F

F ( x)

, x U , F ( x) [ 0, 1]

Example : U 1, 2, 3,............20 , is a Universe of discourse.

small 11 1 2 0.9 3 0.6 4 0.3 5

Medium 0.11 0.3 2 15 0.5 8 0.2 9

Normal & Subnormal Fuzzy Set

Normal Fuzzy Set

A ( x)

A ( x)

0.5

10

20

0.5

0
10

20

A ( x)

A ( x)

Subnormal Fuzzy Set

Scaling

Clipping
0.4

x
Generated during rule based
reasoning process

Convex Fuzzy Set

Convex Fuzzy Set:- A fuzzy set A is convex

fuzzy if the membership values are strictly
monotonically
increasing
then
strictly
monotonically decreasing with increasing values of
elements in the universe.
A ( x) 1
Convex Fuzzy Set
0

z
A ( y (1 ) z ) min ( A ( y), A ( z))
y

Types of Membership Functions

Triangular Membership
Function

This membership function is

very often used in the
application of Fuzzy logic
controller.
Example: x= -3:0.1: 6; y=trimf
(x,[-1 1 4]); plot (x, y); xlabel
(trimf, p=[-1 1 4])

Trapezoidal Membership

Due to simple formulas and

computational efficiency this mf
very popular in control problem.
Example:x= -3:0.1: 6; y=trapmf
(x,[-1 1 4 5]); plot (x, y); xlabel
(trapmf, p=[-1 1 4 5])

Contd.

Gaussian Membership
Function
( x m)2
A ( x) exp

2
2

Example: x = -10:0.1:15;
y= gaussmf (x, [2 5]);
plot (x, y); xlabel ('gaussmf,
p =[2 5]')

Note: Gaussian membership

function
achieve
smoothness and it is
symmetric
about
the
center.
m & denote the the center
Note:
and width of the function.

Contd.

Bell Shaped
Membership Function

A ( x)

1
xc
1
a

2b

Adjust c & a to
vary center and width
of the function & use
b to control the
slopes at the crossing
points.

X = 0:.1:200;
Y = gbellmf (x,[20 4
120]);
Plot (x, y)
xlabel ('gbellmf, P =[20
4 120]')

Contd.

Sigmoid Function

A ( x)

1
1 e

a( x c)

Shape of the curve depends

on (a, c) parameters.

X = 0:.1:20;
y = sigmf (x,[1 10]);
plot (x, y)
xlabel ('sigmf, P =[1 10]')
* A fuzzy set A whose
support is a single point
in U with A ( x) 1
is
called a fuzzy Singleton

A ( x)
1

Basic Operation on Fuzzy Sets

Let A and B be two fuzzy sets in U with
membership function A ( x), B ( x) respectively.
A x , A ( x) , A ( x) [ 0, 1]
B x , B ( x) , B ( x) [ 0, 1]
Union ( Disjunction) : A B ( x) max[ A ( x), B ( x) ]
A ( x) B ( x)

Contd.
Inter sec tion (Conjunction): A B ( x ) min[ A ( x) , B ( x) ]

Most Popular
Complement : A ( x) 1 A ( x)

A ( x) B ( x)

* A fuzzy conjuction, also called a t norm, represrents a

generalized int er sec tion operator , while a fuzzy
disconjuction, also called a t conorm, ( s norm) represrents
a generalized union operator.

Contd.
t-norm:
(i) Fuzzy Standard Intersection

AB ( A ( x), B ( y)) min[ A ( x), B ( y) ]

(ii) Algebraic Product

AB ( A ( x), B ( y)) A ( x) B ( y)
(iii) Bounded Product

AB (A ( x), B ( y)) max 0, A ( x) B ( y) 1

Contd.
t-conorm (s-norm)
(i) Fuzzy Standard Union

AB ( A ( x), B ( y)) max[ A ( x), B ( y) ]

(ii) Algebraic Sum

AB ( A ( x), B ( y)) A ( x) B ( y) A ( x) B ( y)

(iii) Bounded Sum

AB (A ( x), B ( y)) min 1, A ( x) B ( y)

Fuzzy System

A fuzzy inference system (or fuzzy system) basically

consists of a formulation of the mapping from a given
fuzzy input set to an fuzzy output set using fuzzy
logic.
Fuzzy
Fuzzy
Fuzzy system
output
input

Step-1: Identify ranges of the inputs & outputs.

Create fuzzification (fuzzy sets) of each input and
output variable.
Step-2: Application of fuzzy operator (AND, OR,
NOT) in the IF (antecedent) part of the rule.

Contd.
Step-3: Implication from antecedent to
consequent (conclusion) is Then part of the
rule [ (i) crisp consequent (If < antecedent >
Then y = a (ii) fuzzy consequent ( If
<antecedent > Then y = A (A is Fuzzy Set)
Mamdani model) (iii) functional consequent
n
ai xi f ( x1 , x2 ,...xn )
( If <antecedent > Then y a0
i 1
Takagi-Sugeno model) ].

If antecedent Then y a

Contd.
Step-4: Aggregation of the consequent across the
rules.
Step-5: Defuzzification (it is a mapping from the
space of a fuzzy set to a space of crisp values.
Step-6: Implement the fuzzy system, test it, and
modify fuzzy rules if necessary.

Contd.

Architecture of Fuzzy Controller

Fuzzy Logic
Controller

Fuzzification

Data Base

Rule
Base

Defuzzification

Inference Engine

Dynamic
Filter

Plant

u (t )
f

Fuzzy Logic Controller Scheme

Dynamic
Filter

u (t )

Design Tips for Antecedent

Membership Function

(i) Each membership function Overlaps Only

with the closest neighboring membership
function.( Ai Aj (null set ) j i, i 1, i 1 )

For any possible input data, its membership

values in all relevant fuzzy sets should sum
equal to 1(or nearly so).( A ( x) 1 )
i

Control Design Process

(i) Selection of Control Design

Time Domain, PID

to LQ optimal
Frequency Domain,
Classical Loop shaping
to H .

(ii) Technical

Design Objectives

Steady state
error, rise time, settling time and Maximum overshoot; in
case of optimal control design
performance weights
play an important role to modify the system response.
(iii) Development of Mathematical Model from the
Physical Laws of the Systems.

Contd.
(iv) Simplification & Linearization of the Plant
Model( near an equilibrium or operating point).
(v) Selection of Controller Structure (Control
algorithm) & Parameters. This transform the
deviation in error into appropriate action in
terms of actuator position with a view to achieve
performance objectives.

Architecture of the generic fuzzy control

system:

Contd.

u (t ) u (t T ) d nu un

Fuzzy Multi-Term Controllers &

Structures

Fuzzy-PI Rule:
If e is " A" and e is " B " Then u is " D "
e
Fuzzy Rule

Base

u
Fuzzy-PI

Fuzzy-PD Rule:

z 1

If e is " A" and e is " B " Then u is " D "

e
e

Fuzzy Rule Base

Contd.

Fuzzy-PID

Fuzzy-PID Rule:
e

e
2

Fuzzy Rule
Base

If e is " A " and e is " B " and 2e is " c " Then u is " D "

Example-1:- Stabilization of Inverted

Pendulum System

Obtain of Control Law (i) Modern Control approach (ii)

Fuzzy logic Approach

Mathematical Modeling of cart &

pendulum System

Pendulum Dynamics:
F ml 2 sin
g sin cos

M m

(t )
4 m cos 2
l

3
M

Cart Dynamics :
x (t )

F ml 2 sin cos

M m

To stabilize in upright position 00 (nearly zero) & this in turn

implies that 2 can be neglected in the above expressions.

Contd.

Linearized model

Pendulum Dynamics

Cart Dynamics

F
g
F ml
M m
x (t )
(t )
4

m
m
l

3
M

Note: One can also linearize the above system by Taylor

series expansion (retaining only first order terms in the
expression.

Two coupled second-order linearized models are

then transformed into state-space form (assuming,
and position of the pendulum angle x1 & cart
position x3 are measurable & Syst. is controllable)
x1 x ; x2 x ; x3 ; x4
x1 0
x a
2 21
x3 0

x4 a41

1 0 0 x1 0
x1
x
0 0 0 x2 b2

u (t ); y 1 0 0 0 2
x3
0 0 1 x3 0


0 0 0 x4 b4
x4
x1

x2
X (t ) A X (t ) b u (t ); where u (t ) k1 k 2 k3 k 4
x3
x
4

System Parameters & Elements of

Matrices

l 1m ; M 1kg; m 0.5 kg & g 9.81

3 g ( M m)
3 g m
a21
9.81; a41
3.21;
l 4( M m) 3m
4( M m) 3m

3
3m
1
b2
0.667; b4

1
l 4( M m) 3m
M m 4( M m) 3m
0.889

System Matrices:
0
9.81
A
0

3.21

0 0
0
0.667
0 0 0
; c 1 0 0 0 ; d [0]
;b
0
0 0 1

0 0 0
0.889

Regulator Design Using PolePlacement Technique

Matlab Program to obtain controller gain K

% Stabilization of inverted pendulum using poleplacement technique
A=[0 1 0 0; 9.81 0 0 0; 0 0 0 1;-3.27 0 0 0];
B=[0;-0.667;0;0.889];
C=[1 0 0 0];
d=[0];
%Check for controllability
%Rank of controllabilty matrix(M)
%= Rank [ B AB A2 B ......... An1B ]
rank_of_M=rank(ctrb(A,B))

Contd.
%enter the desired characteristic equation
chareqn=[1 12 72 192 256]
%Calculate desired closed loop poles
desired_poles=roots(chareqn)
%Calculate feedback gain matrix ' K ' using
Ackermann's formula (K=[0 0 .1] M 1 ( A) )
K=acker(A,B,desired_poles)
Results: rank_of_M=4; chareqn= 1 12 72 192 256; -4.0
+j 4.0; -4 j 4.0; -2 +j 2 & -2 j 2.
K=[ - 174.82 -57.12 -39.14 -29.35 ]

Simulation Results ( based on poleplacement)

Either obtain the system

response through Matlab
program
or
through
Simulink.
Pendulum Angle
(rad.)
Pole Placement

PendulumVelocity
(rad./sec)

Pole Placement

Cart Position (m)

Cart Velocity (m/sec.)

Pole Placement
Pole Placement

Applied force to cart (N)

Pole Placement

Solution of Exam.-1 Using Fuzzy Logic

Controller

Two Inputs Single Output (Controller)

Fuzzy
Controller

u (t )

(i) For each input & output three linguistic terms are
considered as NB, Z & PB.

( )

( )
Z

NB
-0.1

PB

0.1

NB

-0.5

PB

0.5

Output Membership Function

(f)
Z

NB

PB

0
100
-100
To implement fuzzy controller the following Mamdanitype rule-base was constructed.

PB Then

is f PB

Z Then

is f PB

R4: If is Z and

NB Then

is f Z

PB Then

is f PB

is PB and
R2: If is PB and
R1: If

R3: If

is PB and

Contd.

R5: If is Z and Z Then is

R6: If is Z and NB Then is
R7: If is NB and
PB Then is

R8: If is NB and
Z Then is

R9: If is NB and NB Then is

R10: If PB Then is f PB
R11: If NB Then
is f NB

f Z
f NB
f Z
f NB
f NB

How to Implement Rule Fuzzy Controller using Fuzzy Inference

System (FIS) Editor, Membership editor, Fuzzy rule editor, Rule
viewer & Surface viewer.

Contd.

For the given rulebase the fuzzy and inference

process is used.

>> fuzzy

Solution of Exam.-1 Using Fuzzy Logic

Controller

Pendulum Velocity

Pendulum Angle
(rad.)

Fuzzy
Controller

(rad./sec.)
Fuzzy
Controller

Cart Position (m)

Cart Velocity
(m/sec.)

Fuzzy
Controller

Fuzzy
Controller

time

Force Applied to Cart (N)

Fuzzy
Controller

Control Surface for 11 Rule FLC

Summarize the Steps Involve in

Simulink Implementation of
Fuzzy logic Control Problem

>> fuzzy (this brings up the main menu screen)

Double-clicking on the input/output icon
brings up the membership editor.
Go to edit menu & then click Add MFs. You
can select no. of MFs according to your
requirement. Next adjust the range of variable
and select parameters of each membership
function( say, trimf(x,[1,3,5]) .

After adjusting all inputs & outputs membership

functions, Go to the main menu & double clicking
on the center box (Mamdani) will bring up the FIS
rule editor. Write all rules there only.
When editing is complete, go to file menu in the
rule editor & save to disk as a file name
pendulum.fis
The inverted pendulum fuzzy controller problem can
now be implemented in SIMULINK.
The fuzzy logic icon is obtained by opening the fuzzy
logic tool box within the simulink Library Browser, and
dragging it across.

Note, the properties of the fuzzy logic controller

have not been defined. So, at the MATLAB
prompt, type
>> fismat=readfis (this will allow you to select
from a directory a filename pendulum.fis
which is ready stored in a disk.)
This means that the fuzzy logic controller
parameters have been placed in the work space
under fismat, and one can now proceed for
simulation.

Remarks
Note: Design of conventional Controller is based
on mathematical model of a plant. Fuzzy
Controller is basically an adaptive and non-linear
control which gives robust performance for a
linear or non-linear plant with parametric
uncertainty and moreover, the controller does
not require any knowledge of mathematical
model of dynamic system.

Interpolate Between Piecewise Linear

Mappings Using Takagi-Sugeno Rules

Example-2: A linear equation is as described

below:
2 2 x
y
1 4 x

for

x 1

for

x 1

Take two fuzzy sets & they are described as

1
1 x

A1
2
0

if x 1

if x 1
0
1 x

if 1 x 1 ; A2
if 1 x 1
2
if 1 x
if 1 x
1

Contd.

A1

A2

Contd.
Rule-1:

If x1 is A1

Rule-2:

If x1 is A2

Then
Then

y1 f1 ( x1 ) 2 2 x1
y1 f 2 ( x1 ) 1 4 x1

Defuzzification (weighted Average):

A1 ( x1 ) f1 ( x1 ) A 2 ( x1 ) f 2 ( x1 )
1 1
1
y
x1 2 2 x1 x1 1 4 x1
A1 ( x1 ) A 2 ( x2 )
2 2
2

1 3
2
x1 x1
2 2
2 2 x1

1 4 x1

if

1 x1 1

if

x 1

if

x 1

T-S Fuzzy Model Based Control

The essential components of the TS are linear

local models which describe the plant dynamic
behavior at its different operating points. An
non-linear interpolation of a dynamic system
between dynamic linear systems. One can
construct a T-S model if local description of the
plant is available in terms of local linear dynamic
models.
X (i ) (t ) A(i ) X (i ) (t ) B (i )U (t ) ,

i 1, 2,......L

Contd.
th

i Rule :
IF

x1 is Ai1 And x2 is Ai 2 ... And xn is Ain

THEN

X (i ) (t ) A( i ) X (t ) B ( i )U (t )

Or X (k 1) F (i ) X (k ) G (i )U (k ); i 1, 2,...L

A non-linear interpolation between ' L ' linear systems is

presented as (Algebraic Product is used as inference
process)
L

X (t )

(i )
(i )

(
X
(
t
))[
A
X
(
t
)

B
U (t )]
i
i 1

i ( X (t ))
i 1

, where i ( X (t )) Aij ( x j )
j 1

Contd.
T
L (i )

L (i )

X (t ) A i ( X (t )) X (t ) B i ( X (t )) U (t ), where 1 2 .... L
i 1

i 1

X (t ) A X (t ) B U (t ) , Note, for i 1, 2,...... L, we have

i 0,

i 1

1, and 1 2 .... L 0, 1
T

A system model given by

X (t ) A X (t ) B U (t )

is also referred to as in the literature as the polytopic system.

Design of Fuzzy Logic Controller

(T-S Fuzzy Controller):

It is assumed that X (t ) is measurable and the

controller is another T-S fuzzy system with L
rules (same number of rules as was used to
describe the plant) of the form
IF

x1 is Ai1 And x2 is Ai 2 ... And xn is Ain

THEN

U (i ) K ( i ) X (t )

Or U (i ) (k 1) K ( i ) X (k ); i 1, 2,...L, and K

is the Control Matrix.

Note: The designed fuzzy controller shares the same fuzzy

sets with the fuzzy model in the premise parts.

Contd.
In this case,
L

U (t ) K
j 1

j ( X (t )) X (t ), where j

( j)

j ( X (t ))
L

j 1

( X (t ))

Using the above control law in X (t ) A X (t ) B U (t )

we get, the closed loop system as

L (i )

L (i )
L ( j)
X (t ) A i ( X (t )) X (t ) B i ( X (t )) K j ( X (t )) X (t )
i 1

i 1
j 1

which is in the form of X (t ) f ( X (t )). Our problem is

now to study the stability of the fuzzy log ic based
control system.

Stability Analysis Based on

LyapunovFunction

V ( X (t )) X T (t ) PX (t )

Let
is a Lyapunov function with
P>0. To check the Fuzzy closed-loop system is
globally asymptotically stable, V ( X (t )) 0, X (t )
V ( X (t )) X T (t ) P X (t ) X T (t ) P X (t )
L
L i

(
X
(
t
))

(
X
(
t
))

i
j
L
L

T
i
j
i 1
J 1
X (t ) P
B i ( X (t )) K j ( X (t )) X (t )
L

i 1
j 1

j ( X (t ))

J 1
T

i
A

(
X
(
t
))

(
X
(
t
))

i
j

L i
L j
T
i 1
J 1
X (t )
B i ( X (t )) K j ( X (t )) PX (t )
L

i 1
j 1

j ( X (t ))

J 1
L

Contd.
After simplification we get,

i
i
j
i
i
j
X (t ) i ( X (t )) j ( X (t )) A B K P P A B K X (t )
i, j

T
i
i
j
i
i
j
X (t ) A B K P P A B K X (t ), where 0 i ( X (t )) j ( X (t )) 1
i, j

For asymptotic stability the following condition must be satisfied,

A B K
i

P P Ai Bi K j 0, i 1, 2,...... L & j 1, 2,.... L

Note: We need to find out common matrix P such that the Lyapunov
equations are negative definite. Linear matrix inequality (LMI)
methods can be used to find P if it exists. A brief outline of LMI is
given below.

LMI- Problems
Definition: A LMI is linear matrixm inequality
expression of the form F ( X ) F0 xi Fi 0
i 0
where xi variables and Fi symmetric matrices
are given. The feasibility problem is to determine
the variables xi , i 1, 2,...m so that the above
Inequality holds. Multiple LMIs F (i ) 0, i 1, 2,...... p,
.
(1)
(2)
( p)
diag
F
F
.....
F

0.
can be expressed as a single LMI

Application of LMI Problems

Fuzzy Control Problem ( Discrete System)
Let us consider a discrete-time system (for one rule
only) X (k 1) AX (k ) BU (k ) for U (k ) FX (k ) is
(quadratically) stable if P 0 such that

A BF

P A BF P 0

The control problem is to find ' F ' such that the closed
loop system is stable. This stabilization problem can be
recast as an LMI problem in the following way.
P

A BF

P A BF P1 P1 0

 A BF X X 1 A BF X X 0, where X P 1
T

X AX BM X 1 AX BM 0, where M FX
T

For

X 0, we have F M X 1

This nonlinear (convex) inequality can now be converted to

LMI form using Schur Complements. The resulting LMI
.

AX BM

AX BM

Thus the closed loop discrete time system is quadratically

stable if X 0 and M such that the above LMI condition holds.
The state-feedback gain is F MX 1 .

Theorem:-1 (Continuous Time Fuzzy

TS System)

If for some P 0 the conditions

A B K
i

P P Ai Bi K i 0, i 1, 2,...... L

and

Gij P PGij 0,

Where,

Gij A B K

i jL

P P Aj B jKi , i j L

are satisfied, then the closed-loop system modeled by

L (i )

L (i )
L ( j)
X (t ) A i ( X (t )) X (t ) B i ( X (t )) K j ( X (t )) X (t )
i 1

i 1
j 1

is asymptotically stable.

Design of stable fuzzy controller for

discrete time system:

X (k 1) i ( X (k )) Ai X (k ) B iU (k )

TS Model:-

i 1

U (k ) i ( X (k )) F ( i ) X (k )

TS Controller:-

j 1

Combining the above two equations we get,

L

X (k 1) i ( X (k )) j ( X ( k )) Ai B i F j X ( k )
i 1 j 1

i ( X (k ))i ( X (k )) A B F X (k ) 2 i ( X (k ))i ( X (k )) Gij X (k )

i

i 1

i 1 j i

i
i
j
j
j i
Where, G A B F A B F ,
ij

i j

such that i j 0

Theorem:2(a) The equilibrium of a fuzzy control

system is globally asymptotically stable if
a common P 0 s.t the following two conditions
are satisfied.

A B F P A B F P 0,
i

and

i 1, 2,....L

Gij PGij P 0, i j L, s.t i j 0 or i j 0

Where,

Ai Bi F j A j B j F i
Gij
2

The above two nonlinear inequalities can now be converted

to LMIs using the Schur complement to check the stability
of the overall fuzzy system.

More specifically, find Z and M i , i 1, 2,......L

satisfying the resulting LMIs
1

Z P 0

Ai Z B i M i

A Z B M
i

0 , for i 1, 2,....L

T
Z
Gij Z

0; for i j L
G Z

Z
ij

1
i
Z

P
The feedback gain F and P can be obtained as

P Z 1 and

F i M i Z 1.

Theorem-2 (b)

If for some symmetric positive definite Z the

following conditions

Ai Z B i M i

A Z B M
i

0 , for i 1, 2,....L

T
Z
Gij Z

and
0; for i j L
G Z

Z
ij

are satisfied, then the closed-loop system (see below) is stable

L

X (k 1) i ( X (k ))i ( X (k )) A B F X (k ) 2 i ( X (k ))i ( X (k )) Gij X (k )

i

i 1

i 1 j i

Fuzzy System Stability Via Interval

Matrix Method:

Discrete time system:

X (k 1) A G(k ) X (k ), X (k ) X 0

Stable matrix Unknown Time-Varying Perturbed Matrix

where,

G.(k ) Gm for all k

& inequality holds

element-wise.
Theorem: The time-varying discrete-time system described
above asymptotically stable if

A Gm 1

note : A max

limk X (k ) 0

.....

Contd.

Definition: An interval matrix A I ( k ) is an

matrix whose elements consist of interval

AI

bij cij for i, j 1, 2,........ n

b11 c11 . . b1n c1n

b
c
.
.
b
c

21
21
2n
2 n

.
. .

bn1 cn1 . .

bnn

cnn

Contd.

Note: The center matrix AC , and the maximum

difference matrix Am of AI are defined by
BC
CB
Ac
, Am
2
2

, where B bij , and C cij .

Note: AI can be expressed.

AI (k ) Ac Am

Ac Am Ac A(k ) with A(k ) Am

Lemma: The interval matrix AI (k ) is asymptotically

stable if the matrix Ac is stable and Ac Am 1 .

Stability of discrete fuzzy TS type

model using Interval matrix
approach.

Sufficient condition: Let us consider TS type

discrete model & rules are stated as

If x(k ) is Ai1 and ...... and x(k n 1) is Ai n , i 1, 2,.... L

Then x i (k 1) a i1 x(k ) a i 2 x(k 1) ...... a i n x( k n 1)
or

X (k 1) Ai X (k ) (transform to canonical form )

The output of effective fuzzy model after defuzzification can be obtained

in the following form
i
i
L

X (k 1)
i 1

A X (k )
L

i 1

The right hand side expression can be in interval matrix form A I .

The stability of the interval matrix can be

checked using the Lemma.

Stability Analysis of Mamdani Type Fuzzy

Control System

Nonlinear stability theory should be explored to

study the stability of Mamdani type fuzzy
control system. Describing Function method is
attractive because it is simple and gives better
insight of effects which the fuzzy element can
have on the stability of the closed loop system.

Different fuzzification techniques

Center of Gravity Method or Centroid method.

Weighted Average Method
Mean of Maximum method (MOM)
Center of Sums (COS)
Center of Largest Area Method (for nonconvex)
Fast ( or Last) Maximum Method
Mean-Max Method