Module 6

Fuzzy Logic Control

6.1 Introduction

Fuzzy logic employs heuristic information, sourced from expert and experienced
personnel who have complete understanding and working knowledge of the operation of
the plant, to modify and improve the performance characteristics of the plant. In other
words, the plant model is represented in a linguistic rule-based manner unlike
conventional crisp control where the plant is described by mathematical equations.
Therefore, fuzzy control design can be described as a way of using the knowledge and
experience of human control expert operator to construct controllers which to some
degree can emulate the intelligence and behaviour of humans. This design paradigm
employs fuzzy sets, fuzzy rules, fuzzy logic, and inference to develop nonlinear variable
structure controllers based on heuristics and simple mathematical procedure. Generally,
fuzzy control is rule-based and task-oriented unlike the conventional control which is
differential-equation-based and set point-oriented.
Fuzzy logic control is based on the concept of fuzzy set theory, which was introduced by
Lofti A. Zadeh at the University of California at Berkeley in 1965. Fuzzy set theory is
used to handle uncertainty that has to do with imprecision, vagueness, and incomplete
information about the plant to be controlled—this is unlike probability theory which deals
with random variables and processes.

6.1.1 Advantages of Fuzzy Control

Fuzzy control maps input variables to output variables in a nonlinear fashion. Thus, a
fuzzy controller is a nonlinear controller. The advantages of fuzzy control are:
i. Nonlinear can easily be developed without complicated mathematics
ii. Problems involving imprecision and vagueness can be adequately handled since
fuzzy control emulates human expert knowledge and experience.
iii. Problems are solved without availability of explicit plant mathematical models.
iv. Fuzzy control combines both system modeling and system control into one task,
making control problems solvable effectively and efficiently.
v. Non-control experts/professionals can develop satisfactory fuzzy controllers by
employing a trial-and-error approach, which involves varying fuzzy sets,
membership functions, fuzzy rules, etc. Software packages, such as MATLAB,
Mathematica, etc., are available to carry out the design tasks.

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6.1.2 Disadvantages of Fuzzy Control

The disadvantages of fuzzy control are:

i. Development of analytical structures for fuzzy controllers is extremely difficult, if
not impossible. Fuzzy controllers are usually used as black-box controllers, and
their accurate analysis and design in a similar fashion as conventional control
analysis and design are still difficult.
ii. Fuzzy control inherently has a large number of design parameters requiring tuning
unlike conventional control in which fewer parameters are involved. Extensive
computer simulation and trial-and-error effort are indispensable to fuzzy control
design, since general design and/or tuning strategies hardly exist.

6.1.3 Usability of Fuzzy Control

Fuzzy control is best when:

i. the mathematical model of the plant to be controlled is not available, but the plant
is nonlinear, time-varying, or has time delay, and/or
ii. PID control cannot produce desirable plant performance.

6.2 Basic Concepts of Fuzzy Logic Control

6.2.1 Definitions of Terms

i. Fuzzy sets: A fuzzy set consists of a universe of discourse and a membership

function that maps every element in the universe of discourse to a membership
value between 0 and 1. All possible elements of the set constitute a universe of
discourse. In conventional sets, an element either belongs to a set (with a
membership value of 1) or not (with a membership value of 0). The theory is a
generalization of the fixed values 0 and 1 for a crisp set to a range of values
between 0 and 1 for a fuzzy set. Instead of discontinuous membership values (Fig.

If a fuzzy set is represented by
̅ and its universe of discourse by X, then the

6.1a), we now have a continuous function (Fig. 6.1b).

membership function of the set is given by ̅  , where  ∈ X.

Membership Membership

1 1

0 Age(year) 0 10 20 30 40 50 Age(year)
Fig. 6.1a: Crisp set Fig. 6.1b: Fuzzy set

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 ii. Continuous fuzzy sets: A fuzzy set with a continuous membership function is
called a continuous fuzzy set. Fuzzy controllers and models use continuous fuzzy
sets.
iii. Singleton fuzzy sets: A fuzzy set with a nonzero membership value for only one
element of the universe of discourse is called a singleton fuzzy set. Singleton
fuzzy sets are employed as output sets in the consequents of fuzzy rules for fuzzy
̅  
controllers and models. See Fig. 6.2.

0 4 x
Fig. 6.2: Singleton fuzzy set

iv. Support of a fuzzy set: This comprises all the elements of a fuzzy set with nonzero
membership values. For instance, [0, 50] in Fig. 6.1b form the support of the fuzzy
set "Young".
v. Height of a fuzzy set: The largest membership value of a fuzzy set is called the
height of the set. Fuzzy controllers and models use fuzzy sets with heights of
unity.
vi. Normal fuzzy sets and subnormal fuzzy sets: If the height of a fuzzy set is unity,
then the set is called a normal fuzzy set. If the height of a fuzzy set is not unity, then
the set is called a subnormal fuzzy set.
vii. Center of a fuzzy set: The only element of a fuzzy set at which the membership
function attains its maximum is called the center of the set (Fig. 6.3a). If there is a
group of elements of a universe of discourse at which the membership function of a
fuzzy set attains its maximum, then the middle of the group is called the center of
the set (Fig. 6.3b). Also, if more than one element of the universe of discourse
corresponds to the maximum point of the membership function and not all the
elements are bounded, the smallest element is the center if it's bounded (Fig. 6.3c),

̅  
or the largest element is the center if it's bounded (Fig. 6.3d).
̅  

1 1

0 Center x 0 Center x
Fig. 6.3a Fig. 6.3b

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 ̅   ̅  

1 1

0 Center x 0 x
Center
Fig. 6.3c Fig. 6.3d
Convex Fuzzy sets: If the universe of discourse of a fuzzy set, say A , is [c, d] and
there exists  ∈ [0,1], then the set is convex if and only if
viii.

̅  + 1 −   ≥ [̅  , ̅  ] ∀ ,  ∈ [c, d]

This definition does not necessarily mean that the membership function of a convex
fuzzy set is convex, although the membership function has to be concave. See Fig.

̅   ̅  
6.4.

1 1

0 x 0 x
Fig. 6.4a: Convex fuzzy set Fig. 6.4b: Nonconvex fuzzy set

6.2.2 Membership Functions

Selecting the membership function for a fuzzy set is an important aspect of fuzzy set
theory. Membership functions have values between 0 and 1, and can be continuous or
discrete, although the discrete functions are not common. Primarily, membership
functions can be defined by the control/modeling expert, or based on the plant data. The y
can also be generated by a trial-and-error method, which has been found to be effective
and efficient in many practical situations. Popular membership functions are trapezoidal,
triangular, Gaussian, and bell-shaped. See Fig. 6.5. The first two are used more often.

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 ̅   ̅  

1 1

x
0 6.5a: Trapezoidal membership 0 x
Fig.
Fig. 6.5b: Triangular membership
̅  
function
̅  
function

1
1

x x
Fig. 6.5c: Gaussian membership Fig. 6.5d: Bell-shaped membership
function function

6.2.3 Fuzzy Set Operators

Binary operators AND and OR, which signify intersection and union, respectively, for
conventional set theory are often used in fuzzy control and modeling, although their
definitions are different and non-unique. The following AND and OR operators have
been well applied for fuzzy control and modeling:

̅∩   = [̅  ,   ]
i. Zadeh fuzzy logic AND operator:

̅∩   = ̅   ×   
ii. Product fuzzy logic AND operator:

̅∪   = $ [̅  ,   ]

iii. Zadeh fuzzy logic OR operator:

̅∪   = [̅   +   , 1]
iv. Lukasiewicz fuzzy logic OR operator:

Suppose that a set of short men is defined as fuzzy set
̅ and that of tall men as fuzzy set
%. if a specific height is short with a membership value of 0.2 and is tall with a
membership value of 0.8, obtain the membership value of the height being short and tall.

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6.3 Block Diagram of a Fuzzy Logic Control System

A system, linear or nonlinear, under influence of fuzzy logic control is shown in Fig. 6.6.
The plant may or may not be known. The important aspects of the configuration are
fuzzification, fuzzy rule base, fuzzy inference, and defuzzification.

Fuzzy
logic Data base Rule base Knowledge
controller base

Fuzzy
Input + e
Fuzzification Defuzzification u Plant Output
Inference
-

Sensor

Fig. 6.6: Block diagram of a typical fuzzy logic control

system
6.3.1 Fuzzification
This is a mathematical approach for assigning membership values to all the elements

a fuzzy set A is defined as [c, d], then fuzzifying  ∈ [c, d] gives ̅  . If  = 3,
in the universe of discourse of a fuzzy set. For instance, if the universe of discourse of

using the membership function in Fig. 6.7 will result in ̅ 3 = 0.2.

̅ 
1

0.5

x
0 3
Fig. 6.7

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6.3.2 Fuzzy Rules
These are linguistic if-then expressions used to represent expert knowledge and
experience for fuzzy modeling and control. In fuzzy controllers and models, inputs
variables are combined together in fuzzy rules to give output variable(s). There are
two types: Mamdani and Takagi-Sugeno (TS) fuzzy rules.

6.3.2.1Mamdani Fuzzy Rules

 AND x2 is A
IF x1 is A   AND . . . AND xN is A  ) THEN z1 is B  , …, zN is B)
The general Mamdani rule for a fuzzy controller or model is stated as

where x1, x2, . . ., xN are input variables; z1, z2, . . ., zN are output variables; A  , A
, … A )
are input fuzzy sets, while B  , B
 , …, B) are output fuzzy sets; the symbol AND is a

The first part of the rule above " IF x1 is A  AND x2 is A   AND . . . AND xN is A  )" is
fuzzy logic AND operator.

called the rule antecedent, while the other part "THEN z1 is B  , …, zN is B ) " is called the
rule consequent.
For example, the Mamdani rule for a fuzzy controller with three input variables and three

 AND e2 is A
IF e1 is A   AND e3 is A  + THEN u1 is B  , u2 is B
 , u3 is B
+
output variables is:

where ei's and ui's are controller's input and output variables, respectively.

IF y(n) is A  AND y(n-1) is A   AND y(n-2) is A  + AND u(n) is A  , AND u(n-1) is

The Mamdani rule for a fuzzy model of a system sampled at n, n-1, n-2 time instants is:

A - THEN y(n+1) is B 
where y(n), y(n-1), and y(n-2) are the system outputs at n, n-1, and n-2 time instants,
respectively; u(n) and u(n-1) are the system inputs at n and n-1 time instants,
respectively; y(n+1) is the next system output.
6.3.2.2TS Fuzzy Rules

The rule consequent of TS fuzzy rule employs real functions (linear or nonlinear) of input
variables. This mainly differentiates TS rules from Mamdani rules.
For example, the TS rule for a fuzzy controller with three input variables and three output

 AND e2 is A
IF e1 is A   AND e3 is A  + THEN u = / 0 , 0 , 0+ ,
variables is:

u = / 0 , 0 , 0+ , u+ = /+ 0 , 0 , 0+ 
where ei's and ui's are controller's input and output variables, respectively, and / , / and
/+ are continuous functions of input variables.

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6.3.3 Fuzzy Inference
This is the computation of the rule consequent from the result of the rule antecedent in
a fuzzy rule. That is, it implies finding "THEN" in the fuzzy rule. This calculation is
termed fuzzy reasoning or approximate reasoning. There are two general types of
inference methods: Mamdani and TS fuzzy inference methods. For Mamdani fuzzy

• Mamdani minimum inference method: 12 = [, 3 4], for all z

rules, the following methods are used:

• Larseni product inference method: 15 =  × 3 4, for all z

• Bounded product inference method: 13 = max  + 3 4 − 1, 0, for
all z.

, /;< 3 4 = 1
• Drastic product inference method:

193 = : 3 4, /;<  = 1 ?

0,  < 1 $> 3 4 < 1

antecedent, and 3 4 is the membership function of fuzzy set P  in the rule
In all of the above, µ represents the combined membership value from the rule

consequent.

 × /A  ,  , ⋯ , C 
For any TS fuzzy rule, the result of the inference method is

for output variable zk.

6.3.4 Defuzzification
This the mathematical process of converting a fuzzy set to a real number. And a
defuzzifier is a mathematical formula for performing this conversion. A generalized
defuzzifier (for a case involving Mamdani rules) is given by
∑H G
4= FIJ EF KF
∑H G
FIJ EF
where α is a design parameter, z is the output variable of a fuzzy controller or model,
Nis the number of Mamdani rules evaluated, µ 1, µ 2 , µ 3, . . ., µ N are N membership
values obtained for N singleton output fuzzy sets using a particular inference method,
and β1, β2, β3, . . . , βN represent the elements corresponding to the nonzero
membership values of the singleton output fuzzy sets.

∑H G
FIJ EF ×/L 1 ,2 ,⋯, 
4=
If TS fuzzy rules are involved, then the generalized defuzzifier becomes

∑HFIJ EF
G

where /A  ,  , ⋯ , C  represents the rule consequents in the N fuzzy rules.

i. If  = 1 in the above expressions, we have what is called the centroid defuzzifier

Note the following:

(which is most commonly used).

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 If  = 1, then we have mean of maximum defuzzifier.
L=1 L NL , then we have a linear dufuzzifier for a case of Mamdani rules
If 4 = ∑M
ii.
iii. 

4 = ∑P
AQ A × /L 1 , 2 , ⋯ ,  
O
or

a linear defuzzifier for a case of TS rules.