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4.1
4.1.1
Fuzzy ControllerFC
Fuzzy Logic
ControllerFLC ,
Fuzzy Language
ControllerFLC
4.1.2
1 Fuzzy interface
e
1 { }={NB, NS,
ZO, PS, PB}
2 {
}={NB, NM, NS, ZO, PS, PM, PB}
3 {
}={NB, NM, NS, NZ, PZ, PS, PM, PB}
2. Knowledge BaseKB
1 Data BaseDB
2 Rule BaseRB
if-
then else also end or
if-then also
and
E EC
R1: IF E is NB and EC is NB then U is PB
R2: IF E is NB and EC is NS then U is PM
if then
If A and B
then C, A U B
V
R, R
C A B R
3 Inference and Defuzzy-
interface
Zadeh
4.1.3
4-4
O
O
h
4-4
1
O h0
h
e h h0 h
O e
2
e NB
NS O PS
PB
e -3
-2 -1 0 +1 +2 +3
4-1
4-1
-3 -2 -1 0 1 2 3
PB 0 0 0 0 0 0.5 1
PS 0 0 0 0 1 0.5 0
O 0 0 0.5 1 0.5 0 0
NS 0 0.5 1 0 0 0 0
NB 1 0.5 0 0 0 0 0
u
NB NS
O PS PB
u -
4 -3 -2 -
1 0 +1 +2 +3 +4
4-2
4-2
-4 -3 -2 -1 0 1 2 3 4
PB 0 0 0 0 0 0 0 0.5 1
PS 0 0 0 0 0 0.5 1 0.5 0
O 0 0 0 0.5 1 0.5 0 0 0
NS 0 0.5 1 0.5 0 0 0 0 0
NB 1 0.5 0 0 0 0 0 0 0
3
1 e u
2 e u
3 e 0 u 0
4 e u
5 e u
u u
IF A THEN B
4
U V
RR
(NBe NBu ) (NSe NSu ) (Oe Ou ) (PSe PSu ) (PBe PBu )
1 1. 0 0.5 0 0 0 0 0 0 0
0.5 0.5 0.5 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
NBe NBu 0 1 0.5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
0. 5 0 0. 5 0. 5 0. 5 0 0 0 0 0
1 0 0.5 1.0 0.5 0 0 0 0 0
NSe NSu 0 0 0.5 1 0.5 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
0 0 0 0 0.5 0.5 0.5 0 0 0
0.5 0 0 0 0.5 1.0 0.5 0 0 0
Oe Ou 1.0 0 0 0 0.5 1 0.5 0 0 0 0 0 0 0.5 0.5 0.5 0 0 0
0.5 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
PSe PSu 0 0 0 0 0 0 0.5 1.0 0.5 0 0 0 0 0 0 0 0 0 0
1.0 0 0 0 0 0 0.5 1.0 0.5 0
0. 5 0 0 0 0 0 0.5 0.5 0.5 0
0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
PBe PBu 0 0 0 0 0 0 0 0 0 . 5 1 .0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
0 .5 0 0 0 0 0 0 0 0 .5 0 .5
1 .0 0 0 0 0 0 0 0 0.5 1.0
1.0 0.5 0 0 0 0 0 0 0
0.5 0.5 0.5 0. 5 0 0 0 0 0
0 0.5 1.0 0. 5 0. 5 0.5 0 0 0
R 0 0 0 0.5 1.0 0.5 0 0 0
0 0 0 0. 5 0. 5 0.5 1.0 0.5 0
0 0 0 0 0 0.5 0.5 0.5 0.5
0 0 0 0 0 0 0 0.5 1.0
5
u eu
e 1. 0 0.5 0 0 0 0 0
e NB
1.0 0.5 0 0 0 0 0 0 0
0.5 0.5 0.5 0.5 0 0 0 0 0
0 0.5 1.0 0.5 0.5 0.5 0 0 0
u e R 1 0.5 0 0 0 0 0 0 0 0 0.5 1.0 0.5 0 0 0
0 0 0 0.5 0.5 0.5 1.0 0.5 0
0 0 0 0 0 0.5 0.5 0.5 0.5
0 0 0 0 0 0 0 0.5 1.0
1 0.5 0.5 0.5 0 0 0 0 0
6
e=NB
u 4
Matlab
4-4
e=-3 u =-
3.1481
e -3 4-4
-2
-1 0 1 2 3
u -3 -2 -1 0 1 2 3
1
Single Variable
Fuzzy ControllerSVFC
2
E EC
E EC
ECC
2
Multiple Variable
Fuzzy Controller
4-6
- MIMO
- MISO
4-6
2
1
1
2
2
S
u v u
v v
k u U , v V
u
v max
2u max m
k0
1 k k0 S
k k2
0
S
3
1
2
4
1
>1
3.1
1
2
E EC u
E EC u
NB, NM , NS , Z , PS , PM , PB
E EC {-3 -2 -1 0 1 2
3}
u {-4.5,-3,-1.5,0,1,3,4.5}
3
E EC u
5
4-5
49
u1 u2,
,u49 U
u u1 u 2 u 49
4-5
6
(1)
v0 max v
(v ) v
V
N
1
v0
N v
i 1
i vi max ( v (v))
vV
(2)
v
V
v (v ) dv
v0
V
v (v ) dv
m
m
v
k 1
k v (v k )
v0 m
k 1
v (v k )
(3)
m
v k
i 1
i i
v0 m
k
i 1
i
ki
ki V ( vi )
Matlab
1 centroid 2 bisector
3 mom
4 som 5 lom
Matlab setfis()
defuzz()
x=-10:1:10;
mf=trapmf(x,[-10,-8,-4,7]);
xx=defuzz(x,mf,centroid);
a1=setfis(a,'DefuzzMethod','centroid')
a
3.2 Matlab
1
4-5 49
[-3,3], [-
4.5,4.5] showrule(a)
49 4-6
4-6
ec -3 -2 -1 0 1 2 3
e
-3 -4 -2 -2 -1 -1 0 1
-2 -4 -2 -2 -1 0 1 1
-1 -2 -2 -1 0 1 1 2
-1 -1 -1 0 1 1 2 2
-1 -1 0 1 1 2 3 3
2 0 1 1 2 3 3 3
3 1 1 2 2 3 3 4
chap4_2.m
plotfis(a2)
4-7 4-9
NB NM NS Z PS PM PB
1
0.8
Degree of membership
0.6
0.4
0.2
-3 -2 -1 0 1 2 3
e
4-7
NB NM NS Z PS PM PB
1
0.8
Degree of membership
0.6
0.4
0.2
-3 -2 -1 0 1 2 3
ec
4-8
NB NM NS Z PS PM PB
1
0.8
Degree of membership
0.6
0.4
0.2
-4 -3 -2 -1 0 1 2 3 4
u
4-9
2
400
G(s) 2
s 50s
chap4_2.m
a2
Simulink
4-10
Simulink
chap4_3.mdl
4-10
4-10
4 -
2
SD
3
SD ( x) (50 x) / 50 0 x 50
x / 50 0 x 50
MD ( x)
(100 x) / 50 50 x 100
( x) ( x 50) / 50 50 x 100
LD
4-11
1
0.8
Degree of membership
0.6
0.4
0.2
0
0 10 20 30 40 50 60 70 80 90 100
x
4-11
Matlab
chap4_4.m
NG
MG LG
[0 100]
NG ( y ) (50 y ) / 50 0 y 50
y / 50 0 y 50
MG ( y )
(100 y ) / 50 50 y 100
( y ) ( y 50) / 50 50 y 100
LG
4-12
1
0.8
Degree of membership
0.6
0.4
0.2
0
0 10 20 30 40 50 60 70 80 90 100
y
4-12
VS
S M
L VL
[0 60]
( z ) (10 z ) / 10
VS 0 z 10
( z ) z / 10 0 z 10
S
( 25 z ) / 15 10 x 25
( z 10) / 15 10 z 25
M ( z)
( 40 z ) / 15 25 z 40
( z 25) / 15 25 z 40
L ( z )
(60 z ) / 20 40 z 60
VL ( z ) ( z 40) / 20 40 z 60
4-13
1
0.8
Degree of membership
0.6
0.4
0.2
0
0 10 20 30 40 50 60
z
4-13
Matlab
chap4_5
4
5
4-
7
4-7
x
z
NG MG LG
SD VS* M L
MD S M L
y LD M L VL
* IF
THEN
6
x0 () 60 y 0 ()
70
4 1
MD (60) LD (60)
5 5
3 2
MG (70) LG (70)
5 5
4-8
4-8
x
z
NG MG3/5 LG2/5
SD 0 0 0
MD 0 M (z ) L (z )
4/5
y LD 0 L (z ) VL (z )
1/5
4
Rule 1 IF y is MD and x is MG THEN z is M
Rule 2 IF y is MD and x is LG THEN z is L
Rule 3 IF y is LD and x is MG THEN z is L
Rule 4 IF y is LD and x is LG THEN z is VL
4-9
x
z
NG MG3/5 LG2/5
SD 0 0 0
MD 0 3/5 2/5
4/5
y LD 0 1/5 1/5
1/5
4-10
4-10
x
z
NG MG3/5 LG2/5
SD 0 0 0
MD 0 3 2
min( , M ( z )) min( , L ( z ))
4/5 5 5
y LD 0 1 1
min( , L ( z )) min( , VL ( z ))
1/5 5 5
3 2 1 1
agg ( z ) max min( , M ( z )), min( , L ( z )), min( , L ( z )), min( , VL ( z ))
5 5 5 5
3 2 1
max min( , M ( z )), min( , L ( z )), min( , VL ( z ))
5 5 5
3
M (z )
5
3
5
M (z )
z 10 3 40 z 3
M ( z) M ( z)
15 5 15 5
z1 19 z 2 31
z1 z 2 19 31
z* 25
2 2
MATLAB
x=60
y=70
33.6853 ruleview
4-16
chap4_6.m
4-16
5 PID
4.5.1 PID
PID PID
PID
PID
PID
PID
( PID )
PID
PID
PID
PID
PID
PID PID
4-15
4-15
PID PID
PID
PID 3-4
PID PID
e ec,
Kp, Ki, Kd
(1) Kp 4-11
4-11
kp
e
NB NM NS ZO PS PM PB
ec
NB PB PB PM PM PS ZO ZO
NM PB PB PM PS PS ZO NS
NS PM PM PM PS ZO NS NS
ZO PM PM PS ZO NS NM NM
PS PS PS ZO NS NS NM NM
PM PS ZO NS NM NM NM NB
PB ZO ZO NM NM NM NB NB
2 Ki 4-12
4-12 Ki
NB NM NS ZO PS PM PB
NB NB NB NM NM NS ZO ZO
NM NB NB NM NS NS ZO ZO
NS NB NM NS NS ZO PS PS
ZO NM NM NS ZO PS PM PM
PS NM NS ZO PS PS PM PB
PM ZO ZO PS PS PM PB PB
PB ZO ZO PS PM PM PB PB
3 Kd 4-13
4-13 Kd
NB NM NS ZO PS PM PB
NB PS NS NB NB NB NM PS
NM PS NS NB NM NM NS ZO
NS ZO NS NM NM NS NS ZO
ZO ZO NS NS NS NS NS ZO
PS ZO ZO ZO ZO ZO ZO ZO
PM PB NS PS PS PS PS PB
PB PB PM PM PM PS PS PB
Kp,Ki,Kd
e ec
e ec
PID
k p k p ei , ec i p
k i k i ei , ec i i (4.10)
k d k d ei , ec i d
PID
4-16
4-16
4.5.2
523500
Gp ( s )
s 3 87.35 s 2 + 10470 s
1ms z
chap4_7b.m
chap4_7a.m 4-11
4-13 e de
k k i
kd
p
MATLAB
a plotmf
4-17 4-21 showrule
fuzzpid.fis fuzzy
4-22
ruleview 4-23
NB NM NS Z PS PM PB
1
0.8
Degree of membership
0.6
0.4
0.2
-3 -2 -1 0 1 2 3
e
4-17
NB NM NS Z PS PM PB
1
0.8
Degree of membership
0.6
0.4
0.2
-3 -2 -1 0 1 2 3
ec
4-18
NB NM NS Z PS PM PB
1
0.8
Degree of membership
0.6
0.4
0.2
-0.25 -0.2 -0.15 -0.1 -0.05 0 0.05 0.1 0.15 0.2 0.25
kp
4-19 k p
NB NM NS Z PS PM PB
1
0.8
Degree of membership
0.6
0.4
0.2
4-20 k i
NB NM NS Z PS PM PB
1
0.8
Degree of membership
0.6
0.4
0.2
-3 -2 -1 0 1 2 3
kd
4-21 k d
kp (7)
fuzzpid
e (7)
(mamdani)
49 rules ki (7)
ec (7)
kd (7)
4-22 fuzzpid.fis
4-23
chap4_7b.m fuzzpid.fis
PID PID
300 1.0
PID 4-24
4-29
1.5
0.5
rin,yout
-0.5
-1
0 0.5 1 1.5 2 2.5 3
time(s)
4-22 PID
2
1.5
0.5
0
error
-0.5
-1
-1.5
-2
-2.5
0 0.5 1 1.5 2 2.5 3
time(s)
4-23 PID
5
1
u
-1
-2
-3
0 0.5 1 1.5 2 2.5 3
time(s)
4-24 U
0.65
0.6
0.55
0.5
0.45
kp
0.4
0.35
0.3
0.25
0 0.5 1 1.5 2 2.5 3
time(s)
4-25 kp
0.03
0.02
0.01
0
ki
-0.01
-0.02
-0.03
0 0.5 1 1.5 2 2.5 3
time(s)
4-26
ki
2
1.5
1
kd
0.5
-0.5
0 0.5 1 1.5 2 2.5 3
time(s)
4-27 k d
PID
chap4_7a.m chap4_7b.m
6 Sugeno
6.1 Sugeno
Mamdani
Sugeno constant
linear ya
y ax b
Mamdani
1
2
6.2 Sugeno
X 0,5
0,10
Y
Sugeno
chap4_8.m
MF Degree of input 1
1
little big
0.8
0.6
0.4
0.2
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
x
MF Degree of input 2
1
little big
0.8
0.6
0.4
0.2
0
0 1 2 3 4 5 6 7 8 9 10
x
Sugeno
10
Z
0
10
5
5 4
3
2
1
Y 0 0
X
Sugeno /
7 Sugeno
7.1
Sugeno
x1 x2
g sin( x1 ) amlx22 sin( 2 x1 ) / 2 a cos( x1 )u
x 2
4 / 3l aml cos 2 x1
x1
x1 x
2
x 2 g 9.8m / s 2
m
2l a l /( m M ) M
sin x1 x1 cos x1 1
amlx 2 2 0
x1 x2
g a
x 2 x1 u
4 / 3l aml 4 / 3l aml
7.2
m 2kg M 8kg l 0.5m
x
x1
x2
x = Ax Bu
0 1 0
A B
15.8919 0 0.0811
Sugeno
If x1 ZR and x 2ZR then x = Ax Bu
10 10i,10 10i
u Fx
place(A,B,P)
F
F -2662.7 - 246.7
15 15
200 200 /
200 200 / 2
0.2,0
chap4_9.m
8
1
21
1990 3
3
RE-SEI 12
2 pH
9
1
Zadeh
4-14
4-1
1965 Zadeh
1972 Zadeh
1973 Zadeh
1974 Mamdani et al
1976 Rutherford et al
1977 Ostergaad
1977 Willaey et al
1979 Komolov et al
1980 Tong et al
1980 Fukami et al
1983 Hirota et al
1983 Takagi et al
1983 Yasunobu et al
1984 Sugeno et al
1985 Kiszka et al
1985 Togai et al
1986 Yamakawa
1988 Dubois et al
1988 Czogala
1991 De Neyer et al
1992 Yager
1992 L.X.Wang
1992 L.X.Wang
1993 L.X.Wang
2
(1) Fuzzy-PID
Fuzzy-PID PID
PID
(2)
(3)
(4)
(5)
3
1
4
5
6