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Genetic Algorithm-Based Optimal Fuzzy Controller Design in the Linguistic Space

Chih-Hsun Chou
TABLE I MAMDANI TYPE FUZZY CONTROL RULES

AbstractIn this paper, a genetic algorithm (GA) based optimal fuzzy controller design is proposed. The design procedure is accomplished by establishing an index function as the consequent part of the fuzzy control rule. The inputs of the controller, after scaling, are utilized by the index function for computing the output linguistic value. This linguistic value can then be used to map the suitable fuzzy control actions. This proposed novel fuzzy control rule has crisp input and fuzzied output characteristics. The index function plays a role in mapping the desired fuzzy sets for defuzzication resulting in a controlled hypersurface in the linguistic space formed by the input fuzzy variables. Two types of index functions, both linear and nonlinear, are introduced for controlling systems with different degrees of nonlinearity. The parameters of the index function are obtained by applying a simple GA with a suitable tness function. Various controlled systems result in various parameter sets depending on their dynamics. Under the acquired optimal parameter set the optimal index function can be used to generate the desired control actions. Several simulation examples are given to verify the performance of the proposed GA-based fuzzy controller. Index TermsControl hypersurface, fuzzy controller, genetic algorithms (GAs), index function, linguistic space.

I. INTRODUCTION

ANY complex control problems can often be transformed into numerical type functional optimization problems. If the solution space of the optimization problem is simple, conventional nonlinear optimization techniques are capable of obtaining a satisfactory solution set. In many circumstances, however, the solution space is highly dimensional, discontinuous or noisy. In such a case, conventional optimization techniques easily arrive at a locally optimal solution and usually lack robustness. One technique that is both robust and global over a broad spectrum of problems is based on genetic algorithms (GAs). GAs are search procedures based on the mechanics of natural genetics that combine a Darwinian survival-of-the-ttest strategy to eliminate unt characteristics with random information exchange exploiting knowledge contained in old solutions. Modern fuzzy controllers exhibit superior applicability [1][3] and display considerable robustness [4][6] in comparison to the traditional ones. The former is based on control

Manuscript received November 19, 2002; revised June 17, 2004 and September 12, 2005. This work was supported in part by the National Science Council of Taiwan, Republic of China, under Grant NSC90-2213-E-216-011. The author is with the Department of Computer Science and Information Engineering, Chung-Hua University, Taiwan 300, R.O.C. (e-mail: chc@chu.edu.tw). Digital Object Identier 10.1109/TFUZZ.2006.876329

rules consisting of conditional linguistic statements based on the relationship between input and output variables. This gives it the enticing advantages of emulating the behavior of a human operator as well as dealing with model uncertainty. In the design of a fuzzy controller the denition of membership functions and the establishment of control rules are usually subjective. Adding the difculty of having to tune the scaling factors (SFs), to an unsystematic design procedure usually makes it impossible to achieve adequate performance because the controlled process is so complex. To overcome this aw, a lot of research uses GAs to be able to optimally set the parameters of the fuzzy controller. GAs were rst introduced by J. Holland as search algorithms and have since been analyzed and extended by De Jong, Goldberg, et al. [7], [8]. One of these extensions is its use in optimal fuzzy controller design [9][11]. The main purpose of using GAs in the design of a fuzzy controller is not only to use the robust and global benets of GAs, but also to develop a systematic design approach for the fuzzy controller. The main steps in the design of a fuzzy controller include constructing the control rules, stating the membership functions, and tuning the SFs. To accomplish these steps, various approaches such as trial-and-error, heuristic, model following, and neural network based methods have been proposed [12][15]. Regarding GA-based design approaches, fuzzy controllers can be classied as Mamdani type or TSK type depending on the fuzzy control rules. An example of the Mamdani type fuzzy control rules with two inputs and a single output is shown in Table I. For this type of control rules, both condition and consequent parts are described by fuzzy sets such as NB (negative big), NM (negative medium), NS (negative small), ZE (zero), PS (positive small), PM (positive medium), and PB (positive big). If the consequent parts of the fuzzy rules in Table I are replaced by a linear equation of the inputs such , where denotes as the th input with coefcient , then the rules are the TSK

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Fig. 1.

PD type fuzzy controller.

type. Hence, a fuzzy-PID (PD, PI) controller with the following control rules: and if is then output is is and is (1-1)

where , and denote the error, change in error and sum of error between the desired output and the actual output, respectively, can be regarded as a special TSK type fuzzy controller. In this paper, a new type of GA-based fuzzy controller which has the characteristics of crisp input and fuzzied output is presented. The rest of this paper covers the following: Section II gives a literature survey and the problem formulation. In Section III, the structure of the developed fuzzy controller is described. The proposed GA-based design procedure, both linear and nonlinear, is introduced in Sections IV and V, giving several simulation examples. Section VI gives the conclusion. II. LITERATURE SURVEY AND PROBLEM FORMULATION In this section, the two types of GA-based fuzzy controller design mentioned in Section I are briey surveyed and the problem that this paper deals with is formulated. A. A Brief Survey of the GA-Based Fuzzy Controller Design In the Introduction, the GA-based fuzzy controller design was categorized into the Mamdani type and the TSK type, in the following the related studies are examined. 1) GA-Based Mamdani Type Fuzzy Controller Design: The three most commonly used membership functions are the triangular, trapezoidal and Gaussian shape membership functions. The rst two are dened by the parameters of center point, edge point and width [16], [17], while the third is dened by its mean and standard deviation. In the case of the Mamdani type fuzzy rules with two inputs and a single output, for example, if a Gaussian shape membership function is applied, each rule can then be specied by the three pairs of mean and standard deviation. Putting these six parameters together forms a membership function chromosome [9], [18][31], making it practical for determining the optimal membership functions by GAs. In the search of an optimal fuzzy rule table the names of the output fuzzy sets from NB to PB used in the consequent part of the fuzzy rules are indexed by integers from 1 to 7. By coding each of these seven integers with three bits, a rule chromosome with 147 bits can be used to represent the 49 fuzzy rules in the rule table such as the one shown in Table I. In this way, an optimal rule table can be found by applying GAs [23], [25], [30], [32][40]. Determining the SFs by GA is straightforward. The SFs are usually coded directly into a string for evolution [41]. Determining only some of the parameters as above usually only leads to a local optimal solution. A chromosome that can

be used to simultaneously search these parameters is much more practical. Hence, combinations of the previous chromosomes are presented. In [25], [42][47], the membership function chromosome and the rule chromosome are combined. Combinations of the scaling factor chromosome with the rule chromosome can be found in [48] and [49], while integrating all of them is proposed in [50] and [51]. In addition to the previous studies, similar ideas were also applied to determine the condition parts of the fuzzy rules [52], [53] or to select the necessary fuzzy rules [54], [55]. 2) GA-Based TSK Type Fuzzy Controller Design: A TSK type fuzzy rule has the following form: is and if then output is is and and is (2-1) are fuzzy sets. Design of this type of conwhere troller can be accomplished by coding the membership functions in the condition part and the coefcients in the consequent part into a chromosome. Coding of the membership functions is the same as that of the Mamdani type, the coding of the coefcients is analogous to that of the SFs. In this way, the best standard deviation of the applied Gaussian membership functions can be found [56], the optimal coefcients can be searched [57][59], and both [60][66]. As stated before, if the fuzzy rule is in the form of (1-1), then the TSK type fuzzy controller becomes a fuzzy-PID (PD, PI) controller. The design procedure of such a controller is the same as that of the TSK type. Hence, the previous idea is also applied in [67] to nd the membership functions and coefcients of a fuzzy-PID controller. Both input and output variables are fuzzied for the Mamdani type; fuzzy input variables and crisp output variable are utilized for the TSK type. Nevertheless, if the fuzzy sets of the output variable of the Mamdani type fuzzy controller are dened as in the fuzzy singletons, and the coefcients , consequent part of the TSK type fuzzy controller are all set as 0, then there is no difference between these two controllers. B. Problem Formulation Consider a Mamdani PD-type discrete-time fuzzy controller whose inputs and (Fig. 1) are dened as (2-2a) (2-2b) where and denote the applied set point and the plant output of the discrete-time system, respectively. The fuzzy variables for and output variable is . The control the input are and rules established by using these variables are shown in Table I.

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If if and
Fig. 2. Applied membership functions.

equals 3.2, the two fuzzy rules is and is then is (3-5)

if

is

and

is

then

is

(3-6)

The seven fuzzy sets used for all three fuzzy variables are dened by the membership functions shown in Fig. 2. The control rules in Table I were based on the characteristics of the step response, stating the state-action relationship in a linear way. The membership functions in Fig. 2 are constructed intuitively. Furthermore, the tuning of the scaling factors in Fig. 1 is usually done without using a formula. In order to systematically design an optimal fuzzy controller, the GAs were integrated in the design procedure as mentioned in the previous sections. The GA-based design procedure proposed in this study requires a novel fuzzy rule structure, which will be described in the next section. III. PARAMETRIC TYPE FUZZY CONTROL RULES What follows is a Mamdani PD-type fuzzy control rule example if is and is then is (3-1)

are mapped with membership grades of about 0.4 and 0.8 individually. The defuzzication procedure, for example of the center average defuzzier, is then computed by

(3-7) in which 2 and 4 are the center values of the output fuzzy sets appearing in the consequent parts of (3-5) and (3-6). This de, say , for fuzzied result is then scaled by the output generating the desired control signal . From the previous description it can be seen that only the output variable was fuzzied. The input values, after being s, are utilized by the index function for scaled by the input computing the output linguistic value. This linguistic value can then be used to map the suitable fuzzy control actions. Hence, the proposed novel fuzzy control rule has crisp input and fuzzied output characteristics which differ from the Mamdani and TSK types. The fuzzication procedure for the inputs is not necessary, therefore the fuzzy set in the condition part of the fuzzy rule is replaced by , which means it is undened, as shown in (3-2). At the same time, the consequent part of the proposed method is a real-valued function of the scaling and , rather than a fuzzy results of and , named (TSK type). For set (Mamdani type) or a function of and this method two adequate fuzzy sets, as well as the individual membership grades, were mapped by the real value index function. These two fuzzy sets, along with the corresponding membership grades facilitate defuzzication. Fuzzy rules that map inputs to two output fuzzy sets can also be called rules with double consequence as proposed in [68] and [69]. IV. GA-BASED PARAMETRIC FUZZY CONTROLLER DESIGNTHE LINEAR CASE As stated in Section III, the subscript in is and . For simplicity, in this paper, a function of , , we dene it as the following linear function:

This type of fuzzy rule, though friendly to human beings, is not practical for tuning. So, this linguistic type fuzzy control rule was modied into a parametric form if is and is then is (3-2)

is a where denotes undened to be explained later and can be utilized as linear or a nonlinear function of . Then, an index function for mapping the desired control action. For , then the example, , then fuzzy rule is a Mamdani type; if it is a TSK type. The main operations of a fuzzy controller include fuzzication, inference and defuzzication. During the control process, the controller inputs are scaled for fuzzication before the rule inference, so the subscript of . was dened as a function of and as well as the controller the input scaling factors inputs as follows: if is and is then is (3-3)

(4-1) and are the scaled rewhere sults of the input variables and , respectively. Because the universal discourses of the input fuzzy variables and are ], and are also limited by [ ]. both dened as [ Function can be viewed as a linear function dened in the lin. guistic space formed by and

can then be used to map the appropriate output equals 4, according fuzzy sets. For example, if to the output membership functions dened in Fig. 2, it corresponds to the rule: if is and is then is (3-4)

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TABLE II RANGES OF THE PARAMETERS USED IN THE LINEAR INDEX FUNCTION

TABLE III PARAMETERS OF THE APPLIED SIMPLE GA

A. The Linearly Parametric Fuzzy Controller In the linear case, the index function dened as was

(4-2) This index function plays a role to map the output fuzzy sets dened by the membership functions shown in Fig. 2, it is also limited by the following limiter: if if if (4-3) .

In this case, designing the fuzzy controller becomes an issue of searching the optimal parameter set . In the following, GAs are applied to determine the parameter set. B. GA-Based Linearly Parametric Fuzzy Controller Design Focusing on the performance of the proposed novel structure, the simple GA without any improvement was applied. Since the simple GA works with binary coding chromosomes, the six pa, , , , and were encoded into a rameters binary string. The corresponding searching ranges of these pa, because it mapped the input rameters had to be dened. For , a larger variable to the linguistic variable error would map the same to a larger , resulting in a larger conreected the degree of error tolerance trol action. Hence, mapped the input variof the fuzzy controller. Similarly, , if the able to the linguistic variable change in error desired output was dened as a xed set point, the change in error was equivalent to the output variation. This variation measured the speed with which the plant output approached the mapped the same to a larger , set point. A larger hence, reected the degree of output variation tolerance was used to determine the of the fuzzy controller. The SF magnitude of the control signal. The setting of this parameter depended on the controlled plant and the set point. Finally, the and were the weights of the three terms coefcients , , and bias in the index function. The searching , ranges of these parameters (Table II) were set according to the above. Setting suitable search ranges had the advantage of improving the search efciency. Once the search ranges were restricted, setting the chromosome length depended on the precision required. Short length saves computation time while long length provides higher precision. In this study, six bits were used to code each parameter. On examining the performance of the proposed fuzzy controller, the simple GA without any enhancement was applied to determine the parameters. New chromosomes were

generated by crossover, mutation and random replacement with every generation. The selection policy for crossover was accomplished by selecting the top-ranking of the chromosomes and the arbitrary of the remaining chromosomes. This pair chromosomes were used to generate pairs of new chromosomes by uniform crossover. Three basic crossover operstors including single-point, two-point and uniform crossovers are widely used. The uniform crossover applied in this study was shown to be better than the other two [70]. chromosomes were randomly picked from these new chromosomes (one chromosome from each pair) to replace the arbitrary selected chromosomes. Each chromosome, except the top-ranking and the worst ones had a probability for mutation. A randomly selected bit of each parameter was mutated. For random replacement, all the bits of the worst chromosome were replaced by random values. In binary GA, the crossover operator plays the major role in producing new chromosome in the search space. The mutation process introduces randomness into the reproduction process providing an opportunity for escaping from local optimal. Hence, the crossover probability of a binary GA is usually much higher than the mutation probability [71]. The determining of the population size, ranging from 30 to 110, was done according to the suggestion of [72] and [73]. The parameters of the applied simple GA are summarized in Table III. In Section V, some comparison simulations are given to demonstrate the sensitivities of these parameters. C. About the Fitness Function In this study, the applied tness function was dened as: tness (4-4) Function (4-4), when , becames

error error

(4-5)

, error , is analoThis special case of gous to the square-of-error tness function. To see the difference , consider the folbetween error and lowing corresponding tness equations: error error (4-6)

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TABLE IV OPTIMAL PARAMETERS FOR THE OSCILLATORY SYSTEM

(4-7) and are always nonnegative, their ranges Because , , are all . For , the range for error of is also , while the ranges of , and are all instead. In other words, the ranges of , , and can be determined by varying . Under the same tness value , , when and , often exhibits an output response with smaller , and and larger than that of error . In this way, the goal of lower degrees , overshoot and steady state error of undershoot compared to the rise time can be stated by setting the parameters , , , and in (4-4). D. Simulation Example For the linear case, a second-order oscillatory system, with oscillating property near the steady state, is applied. The controller had to handle high degrees of overshoot, undershoot and steady state error. The transfer function of this plant was [74]

Fig. 3. Graph of Table IV.

corresponding to the parameters in

(4-8) The following tness function was utilized:

(4-9) The obtained parameter set and the gure of the corresponding index function are shown in Table IV and Fig. 3, respectively. Because the index function used in this section was the linear type, the acquired index function resulted in and . linear plane in the linguistic space formed by The output response of this system is shown in Fig. 4. As shown in the gure, almost no oscillation phenomenon occurs in the output trajectory. This smooth trajectory is achieved by the control signal trajectory shown in Fig. 5, which keeps at a specic value at steady state. To check the utility of the modied tness function (4-9), the simulation results by using both tness functions (4-9) and (4-5) were compared as shown in Fig. 6. In this comparison, both approaches were run for ten times. The ten output trajectories controlled by using the modied tness function (4-9) are shown in Fig. 6(a), while Fig. 6(b) shows the results by using the tness function (4-5). It can be found that the trajectories shown in Fig. 6(b) exhibit more degrees of overshoot, undershoot and steady state error than those in Fig. 6(a). This comparison gives a verication of the benet of using the modied tness function.
Fig. 4. Output response of the oscillatory system.

Fig. 5.

Control signal trajectory for the oscillatory process.

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Fig. 7. Plots of the basis functions with s equal to

00.8, 0 and 5.

Fig. 6. Output responses of the oscillatory system controlled by using (a) tness function (4-9) and (b) tness function (4-5).

V. GA-BASED PARAMETRIC FUZZY CONTROLLER DESIGNTHE NONLINEAR CASE The index function (4-2) was dened as a linear function of and . Note that, although this function was linear with respect to and , the overall fuzzy controller was nonlinear to the inputs. For the nonlinear case, the index function was dened as a nonlinear function of and . Before presenting it, the dynamics of the linear index function were analyzed. Property 1: The dynamics of (4-2) is a linear combination of the dynamics of and , in which the coefcients of the linear combination are proportional to the parameters , , , and . Proof: For , , . 1) For 2)

Fig. 8.

Various nonlinear index functions.

an index function, the th basis function in the linguistic space was dened as if (5-1) if in which (5-2) The parameter was the upper limit of the index function, which equaled the upper limit of , was a parameter belonging to [ ] and . is given in (4-3). Examples of basis functions corresponding to various were plotted as in Fig. 7. In Fig. 7, the basis function transforms the linear index function into the nonlinear type. The dynamics of depend on the value of as well as . For equals 0, , being the linear index function. For larger (smaller) , had a larger (smaller) slope when nearing the origin and a smaller (larger) slope when nearing the boundaries. This slope-varying property gave the possibility of designing an index function with nonlinear dynamics. The basis functions, however, always had nonnegative slopes. Hence, two or more appropriate basis functions were used to construct the desired nonlinear index function. In this

if and if and if and otherwise The dynamics of the index value in (4-2) were linearly related to the dynamics of the inputs. A controlled plant with high nonlinearity usually exhibits dynamics that are highly nonlinear related to the dynamics of its inputs. So, it was necessary to construct a nonlinear type index function. A. GA-Based Nonlinearly Parametric Fuzzy Controller Design The linear index function resulted in a linear hyperplane in the linguistic space formed by and . To have nonlinear dynamics, this hyperplane had to be nonlinear. To generate such

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TABLE V SEARCHING RANGES OF THE PARAMETERS IN THE NONLINEAR INDEX FUNCTION

TABLE VI OPTIMAL PARAMETERS OF THE NONLINEAR INDEX FUNCTION FOR THE DAMPING SYSTEM

study, two basis functions were used to construct the index function shown in (5-3) at the bottom of the page, in which deg is a parameter. The linear index function in (4-2) is a special , ). case of this index function ( Equation (5-3) could generate much more desirable nonlinear dynamics under suitable settings of , and deg (Fig. 8). Referring to Fig. 8, the nonlinear index function was highly nonlinear related to , which means that the dynamics of were highly nonlinear with respect to the dynamics of and . More basis functions could be used to construct a more tting index function. Using more basis functions, however, resulted in more parameters to search. The three extra parameters in (5-3) were also searched by GAs and the total number of searching parameters became 9. The searching ranges of these nine parameters are listed in Table V. The parameters of the applied simple GA were the same as those used in Section IV. B. Simulation Results Compared with the linear index function, the nonlinear type consumed three more parameters for the nonlinear dynamics. These three parameters, introducing an additional 18 bits in the times that of the chromosome, made the searching space linear type. Which, however, did not consume much searching time because the nonlinear index function provided a higher degree of freedom to acquire the desired dynamics as observed in the subsequent simulations. The simulation examples applied included a second-order damping system and an inverted pendulum system. This subsection focuses on examining the control results of the proposed nonlinear type method. In the next subsection, we give the comparisons between the proposed GA-based fuzzy controller and other approaches. Simulation Example 1: The Second-Order Damping System The damping system applied here has transfer function of the form (5-4) whose damping property complicates the controller design [74]. The tness function (4-9) is also used
Fig. 9. Nonlinear index function for controlling the second-order damping system.

Fig. 10. Output response of the damping system controlled by using the nonlinear index function.

here. First, the obtained parameters of the nonlinear index function are shown in Table VI. The graph of this index function is displayed in Fig. 9, exhibiting a high degree of nonlinear dynamics. The output response

(5-3)

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Fig. 11.

Variation of the minimum tnessthe damping process. (a) Linear case. (b) Nonlinear case.

TABLE VII OPTIMAL PARAMETERS OF THE NONLINEAR INDEX FUNCTION FOR THE INVERTED PENDULUM SYSTEM

when using this index function is shown in Fig. 10. To check the searching time, the required evolution generations for obtaining the optimal parameters were observed. The variations of the minimum tness when using both the linear and the nonlinear index functions are shown in Fig. 11. Note that the ranges of -axes in both cases are [0 200] and [0 300]. Fig. 11 displays the less required computation time of the nonlinear type, it is because the three extra parameters gave the nonlinear index function a greater degree of freedom for constructing a suitable control hypersurface. Simulation Example 2: The Inverted Pendulum System The nonlinear index function was introduced for dealing with the nonlinear dynamics of the controlled plant. So, an inverted pendulum system of the form
Fig. 12. 3-D graph of the nonlinear index function for controlling the inverted pendulum system.

(5-5)

with highly nonlinear dynamics was applied for simdenotes the angle of the inverted ulation. In (5-5), pendulum, is the acceleration of gravity, (mass of cart) equals 1.0 kg, (mass of pole) equals 0.1 kg, (half length of pole) is 0.5 m, and is the applied force in newtons. The tness function (4-9) is still applied. For checking the ability of treating nonlinear dynamics, the initial angle of the inverted pendulum was set as a degree of 50. The parameters of the nonlinear index function obtained by the applied simple GA are listed in Table VII. The graph of this index

function is shown in Fig. 12. The smooth hypersurface shown in Fig. 12 reects the smooth nonlinear dynamics (of the trigonometric functions) of the inverted pendulum system. In Fig. 12, the inferred index value at every control step is marked. For example, the mark 5(4.9394, 1.1695, 1.869) indicates that at control step 5, the values of and , 4.9394 and 1.1695, were mapped to an index value of 1.869 according to the index function. These marks form a control signal trajectory on the control hypersurface in the linguistic space, as shown in the gure. These index values, after the defuzzication procedure and the scaling by , resulted in a control signal trajectory in the time space, as plotted in Fig. 13. Finally, the output response of the inverted pendulum system is shown in Fig. 14.

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 VALUES OF f

AND

 f

FOR

TABLE VIII VARIOUS POPULATION SIZES (l = 1)

 VALUES OF f

AND

 f

FOR

TABLE IX VARIOUS POPULATION SIZES (l = 5)

Fig. 13. Control signal trajectory in the time space.

Fig. 14.

Output response of the inverted pendulum system.

C. Comparison Simulations In Section II, the Mamdani and TSK types GA-based fuzzy controller design was briey discussed. In this subsection, some comparisons are made among the proposed method and these two approaches. The inverted pendulum system was used as the controlled plant because of its nonlinear property. For objectivity, every method was run 50 times, and each run lasted 200 generations. In addition, both the population size and the selection policy were taken into consideration. The comparisons were made by examining the following four items: the minimum tness of the chromosomes in the population at the end of each run; the average tness of the chromosomes in the population at the end of each run; the average of the minimum tness values of all runs; the average of the average tness values of all runs. Case 1: The Proposed Linear-Type Method With Different Population Sizes and Selection Policies: When applying the

and f with various population sizes (l = 1). Fig. 15. Curves of f : Mamdani type. Linear-type; : TSK type;

GAs, the population size and the selection policy are two important factors inuencing the searching efciency. The population

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 VALUES OF f

AND

 f

TABLE X UNDER VARIOUS POPULATION SIZES

Fig. 16. Curves of f and f with various population sizes (l = 5). : Mamdani type. Linear-type; : TSK type;

size, according to the suggestion of [72] and [73], ranged from about 30 to 110. So, population sizes of 20, 40, 80, and 120 were applied in the simulations for comparison. For selection policy, the number of top-ranking chromosomes , as mentioned in Section IV-B, was set as 1 and 5 for the sake of comparison. and with respect to various populaTable VIII shows tion sizes. It can be found that, as the population size increased, decreased slighly while increased. The reason is that the crossover of 1 pair with every generation is not enough for a population size of 80 or 120. The crossover of one pair only does not seem enough for a larger population size, so was also set as 5 in the simulations. for various population sizes are shown in The values of Table IX. Comparing Table VIII and Table IX, it was found that corresponding to different population sizes the values of and , are similar. On the under the settings of , under , are much smaller other hand, the value of

is more for the larger population sizes. This shows that . It compatible with population size of 80 or 120 than concludes that a larger population size requres a larger value of . Case 2: Comparisons of the Mamdani Type, TSK Type and Proposed Linear-Type Methods: The performances of the proposed linear-type method with the Mamdani and TSK types were compared rst. The comparison of the nonlinear-type is given next. Figs. 15 and 16, corresponding to the parameter and , show the curves of and for the three methods under various population sizes. The curves of the linear-type method exhibit smaller variations than that of the other two methods, which means that the linear-type method is and , cormore stable than the other two. The values of responding to and , are shown in Table X. It displays that the linear-type method is superior to the Mamdani type, and the Mamdani type is better than the TSK type. The TSK type, however, exhibits better stability than the Mamdani type. Usually, a larger searching space requires more evolution generations, which is time-consuming. In our simulations the number of evolution generations is set as 200. The searching space of the proposed linear-type method is much smaller than the other two because of its shorter chromosome length. So, more evolution generations seem practical for the other two methods. To check that, the simulation results of the linear-type and Mamdani type methods were compared with population and generation number 400. In this case, the size and for both methods are smaller than variations of before, as shown in Fig. 17. Table XI, as well as Fig. 17, displays the better performance of the proposed linear-type method. This simulation gives a verication that the linear-type method can not only achieve a better performance but also reduce the size of search space. Case 3: Comparisons of the Mamdani Type, TSK Type and Proposed Nonlinear-Type Methods: Case 2 veries the improvement of the linear-type method, the improvement, however, is not so obvious especially the average tness. On

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Fig. 17.

Curves of f

and f

with m = 120 and generation number 400.

: Linear-type;

: Mamdani type.

 VALUES OF f

AND

 f

TABLE XI WITH m = 120 AND GENERATION NUMBER 400

the other hand, the nonlinear-type index function needs three extra parameters to get more exible dynamics of the control hypersurface. To examine the improvement, the control performances of the nonlinear-type and the Mamdani type and TSK type methods were also compared. Under the same GA and , Fig. 18 and parameters as before, the curves of and . In Fig. 19, are shown to be corresponding to this case, the two curves of the nonlinear-type method display much smaller variations than the other two methods. Meanand of the nonlinear-type method, while, the values as summaried in Table XII, are also much smaller than that of the other two. These expertment results reveal the worth of developing a nonlinear index function for the fuzzy controller. Comparing with the linear-type case, only three extra parameters are required for the nonlinear-type case, which benets the search procedure of the GA. VI. DISCUSSION AND CONCLUSION Many studies have been done on the GA-based fuzzy controller design. Most of them can be categorized as either a Mamdani type or a TSK type design approach. Regardless of the type, applying the genetic algorithms to the design procedure aims at setting membership functions, tuning scaling factors and establishing the fuzzy rules of the controller. To accomplish these jobs, it is necessary to code the parameters of the three components into the chromosome for evolution. In this study the coding methods for the Mamdani and TSK type fuzzy controllers were explored, and a new design approach is now presented. The proposed GA-based fuzzy controller uses a novel structure for setting the consequent part of the fuzzy control rule by an index function. This index function, with

Fig. 18. Curves of f and f with various population sizes (l = 1). : Mamdani type. The nonlinear-type; : TSK type;

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 VALUES OF f

AND

 f

TABLE XII UNDER VARIOUS POPULATION SIZES

Fig. 19. Curves of f and f with various population sizes (l = 5). : Mamdani type. The nonlinear-type; : TSK type;

The search ranges of the parameters are discussed. This novel approach is easily integrated with the improved GA. To examine the applicability of the proposed new structure, the simple GA without any improvement was applied to nd the optimal parameters. Three systems including an oscillatory system, a damping system, an oscillatory system and an inverted pendulum system, were used as the control plants for simulation. In addition, many comparison simulations of the proposed structure, the Mamdani type and the TSK type methods are given. In this study, the optimal index functions were obtained by applying the simple GA in an ofine manner. Also, the controlled plants in the simulations were all SISO cases. In further studies, multiple index functions can be utilized for dealing with the MIMO system, and the fuzzy neural network structure can be used for acquiring the parameters of the index function online. ACKNOWLEDGMENT The author would like to thank the reviewers, the Associate Editor, and the Editor for their invaluable comments and suggestions. REFERENCES
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parameters optimally set by GAs, results in a control hypersurface in the linguistic space formed by the input fuzzy variables. Two types of index functions, both linear and nonlinear, were developed. The proposed novel approach has the following characteristics. The input variables are not fuzzied, making the fuzzication process unnecessary. The index function is constructed in the linguistic space rather than the real number space. The index function can be designed as a linear or nonlinear type depending on the required dynamics of the control hypersurface. The dynamics of the index function can be viewed by examining the control hypersurface constructed in the linguistic space. Only 6 to 9 parameters are needed to code into the chromosome for the search. The chromosome is much shorter than that of the Mamdani or TSK type, reducing searching space and saving computation time.

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Chih-Hsun Chou received the B.S. degree from the Department of Electronic Engineering, Tamkang University, Taipei, Taiwan, R.O.C., in 1985, and the Ph.D. degree from the Department of Electrical Engineering, Ta-Tung Institute of Technology, Taipei, Taiwan, R.O.C., in 1994. He is currently an Associate Professor with the Department of Computer Science and Information Engineering, Chung-Hua University, Hsinchu, Taiwan, R.O.C. His current research interests include articial intelligence, intelligent control, audio signal processing, and mobile systems.