INTRODUCTION:

Fuzzy logic is a form of many-valued logic it deals with reasoning that is approximate rather than fixed and exact.The fuzzy mean many valued. In contrast with traditional logic theory, where binary sets have two-valued logic: true or false, fuzzy logic variables may have a truth value that ranges in degree between 0 and 1. Fuzzy logic has been extended to handle the concept of partial truth, where the truth value may range between completely true and completely false. Furthermore, when linguistic variables are used, these degrees may be managed by specific functions. Fuzzy logic began with the 1965 proposal of fuzzy set theory by Lotfi Zadeh. Though fuzzy logic has been applied to many fields, from control theory to artificial intelligence, it still remains controversial among most statisticians, who prefer Bayesian logic, and some control engineers, who prefer traditional two-valued logic.

Origin of fuzzy concepts:

The origin of fuzzy concepts is partly because the human brain does not operate like a computer. While computers use strict binary logic gates, the brain does not; i.e., it is capable of making all kinds of neural associations according to all kinds of ordering principles (or fairly chaotically) in associative patterns which are not logical but nevertheless meaningful. Something can be meaningful although we cannot name it, or we might only be able to name it and nothing else. In part, fuzzy concepts are also because learning or the growth of understanding involves a transition from a vague awareness, which cannot orient behaviour greatly, to clearer insight, which can orient behaviour. Some logicians argue that fuzzy concepts are a necessary consequence of the reality that any kind of distinction we might like to draw has limits of application. As a certain level of generality, it works fine. But if we pursued its application in a very exact and rigorous manner, or overextend its application, it appears that the distinction simply does not apply in some areas or contexts, or that we cannot fully specify how it should be drawn. An analogy might be that zooming a telescope, camera, or microscope in and out reveals that a pattern which is sharply focused at a certain distance disappears at another distance.

In psychophysics it has been discovered that the perceptual distinctions we draw in the mind are often more sharply defined than they are in the real world. Thus, the brain actually tends to "sharpen up" our perceptions of differences in the external world. Between black and white, we are able to detect only a limited number of shades of gray, or color gradations. If there are more gradations and transitions in reality than our conceptual distinctions can capture, then it could be argued that how those distinctions will actually apply must necessarily become vaguer at some point. If, for example, one wants to count and quantify distinct objects using numbers, one needs to be able to distinguish between those separate objects, but if this is difficult or impossible, then, although this may not invalidate a quantitative procedure as such, quantification is not really possible in practice; at best, we may be able to assume of infer indirectly a certain distribution of quantities. Finally, in interacting with the external world, the human mind may often encounter new or partly new phenomena or relationships which cannot (yet) be sharply defined given the background knowledge available, and by known distinctions, associations or generalizations
Basic Configurationof fuzzy logic systems:

The input variables in a fuzzy control system are in general mapped into by sets of membership functions similar to this, known as "fuzzy sets". The process of converting a crisp input value to a fuzzy value is called "fuzzification". A control system may also have various types of switch, or "ON-OFF", inputs along with its analog inputs, and such switch inputs of course will always have a truth value equal to either 1 or 0, but the scheme can deal with them as simplified fuzzy functions that happen to be either one value or another. Given "mappings" of input variables into membership functions and truth values, the microcontroller then makes decisions for what action to take based on a set of "rules", each of the form:
IF brake temperature IS warm AND speed IS not very fast THEN brake pressure IS slightly decreased.

In this example, the two input variables are "brake temperature" and "speed" that have values defined as fuzzy sets. The output variable, "brake pressure", is also defined by a fuzzy set that can have values like "static", "slightly increased", "slightly decreased", and so on. This rule by itself is very puzzling since it looks like it could be used without bothering with fuzzy logic, but remember that the decision is based on a set of rules:

All the rules that apply are invoked, using the membership functions and truth values obtained from the inputs, to determine the result of the rule. This result in turn will be mapped into a membership function and truth value controlling the output variable. These results are combined to give a specific ("crisp") answer, the actual brake pressure, a procedure known as "defuzzification".

The input variables in a fuzzy control system are in general mapped into by sets of membership functions similar to this, known as "fuzzy sets". The process of converting a crisp input value to a fuzzy value is called "fuzzification". A control system may also have various types of switch, or "ON-OFF", inputs along with its analog inputs, and such switch inputs of course will always have a truth value equal to either 1 or 0, but the scheme can deal with them as simplified fuzzy functions that happen to be either one value or another.

Given "mappings" of input variables into membership functions and truth values, the microcontroller then makes decisions for what action to take based on a set of "rules", each of the form:
IF brake temperature IS warm AND speed IS not very fast THEN brake pressure IS slightly decreased.

In this example, the two input variables are "brake temperature" and "speed" that have values defined as fuzzy sets. The output variable, "brake pressure", is also defined by a fuzzy set that can have values like "static", "slightly increased", "slightly decreased", and so on. This rule by itself is very puzzling since it looks like it could be used without bothering with fuzzy logic, but remember that the decision is based on a set of rules:

All the rules that apply are invoked, using the membership functions and truth values obtained from the inputs, to determine the result of the rule. This result in turn will be mapped into a membership function and truth value controlling the output variable. These results are combined to give a specific ("crisp") answer, the actual brake pressure, a procedure known as "defuzzification".

Defuzzification is the process of producing a quantifiable result in fuzzy logic, given fuzzy sets and corresponding membership degrees. It is typically needed in fuzzy control systems. These will have a number of rules that transform a number of variables into a fuzzy result, that is, the result is described in terms of membership in fuzzy sets. For example, rules designed to decide how much pressure to apply might result in "Decrease Pressure (15%), Maintain Pressure (34%), Increase Pressure (72%)". Defuzzification is interpreting the membership degrees of the fuzzy sets into a specific decision or real value. The simplest but least useful defuzzification method is to choose the set with the highest membership, in this case, "Increase Pressure" since it has a 72% membership, and ignore the others, and convert this 72% to some number. The problem with this approach is that it loses information. The rules that called for decreasing or maintaining pressure might as well have not been there in this case. A common and useful defuzzification technique is center of gravity. First, the results of the rules must be added together in some way. The most typical fuzzy set membership function has the graph of a triangle. Now, if this triangle were to be cut in a straight horizontal line somewhere between the top and the bottom, and the top portion were to be removed, the remaining portion forms a trapezoid. The first step of defuzzification typically "chops off" parts of the graphs to form trapezoids (or other shapes if the initial

shapes were not triangles). For example, if the output has "Decrease Pressure (15%)", then this triangle will be cut 15% the way up from the bottom. In the most common technique, all of these trapezoids are then superimposed one upon another, forming a single geometric shape. Then, the centroid of this shape, called the fuzzy centroid, is calculated. The x coordinate of the centroid is the defuzzified value.

Applying truth values

A basic application might characterize subranges of a continuous variable. For instance, a temperature measurement for anti-lock brakes might have several separate membership functions defining particular temperature ranges needed to control the brakes properly. Each function maps the same temperature value to a truth value in the 0 to 1 range. These truth values can then be used to determine how the brakes should be controlled.

Fuzzy logic temperature In this image, the meaning of the expressions cold, warm, and hot is represented by functions mapping a temperature scale. A point on that scale has three "truth values" one for each of the three functions. The vertical line in the image represents a particular temperature that the three arrows (truth values) gauge. Since the red arrow points to zero, this temperature may be interpreted as "not hot". The orange arrow (pointing at 0.2) may describe it as "slightly warm" and the blue arrow (pointing at 0.8) "fairly cold". Fuzzy set theory defines fuzzy operators on fuzzy sets. The problem in applying this is that the appropriate fuzzy operator may not be known. For this reason, fuzzy logic usually uses IF-THEN rules, or constructs that are equivalent, such as fuzzy associative matrices. Rules are usually expressed in the form: IF variable IS property THEN action For example, a simple temperature regulator that uses a fan might look like this:

IF temperature IS very cold THEN stop fan IF temperature IS cold THEN turn down fan IF temperature IS normal THEN maintain level IF temperature IS hot THEN speed up fan

Example of fuzzy logic;

Power system stabilizers (PSSs) are added to excitation system to enhance the damping during low Frequency oscillations. This paper presents a study of fuzzy logic power system stabilizer (PSS) for stability enhancement of a single machine power system. In order to accomplish the stability enhancement, speeddeviation () and acceleration () of the rotor of synchronous generator of Kota Thermal were taken as the input to the fuzzy logic controller. These variables take significant effects on damping on damping of the generator shaft mechanical oscillations. The stabilizing signals were computed using the fuzzy membership functions depending on these variables. The performance of the fuzzy PSS is compared with the conventional power system stabilizer (CPSS). The simulations were tested under different operating conditions and change in reference voltage also tested with different membership functions. The simulation results are quite encouraging and satisfactory Keywords: Power System Stabilizer, Stability, Single Machine System, Thermal Power Station, Fuzzy Logic, Fuzzy Set Theory, Machine Dynamic, Simulink .

1. INTRODUCTION In the late 1950s and early 1960s most of the new generating units added electric utility systems were equipped with continuously acting voltage regulators. As these units came to constitute a large percentage of generating capacity, it became apparent that the voltage regulator action had adetrimental impact upon the dynamic stability (or, perhaps more accurately, steady state stability) of the power system. Oscillations of small magnitude and low frequency often persist for long periods of time and in some cases can hinder power transfer capability. Power system stabilizers were developed to aid in damping these oscillations via modulation of the generator excitation. The art and science of applying power system stabilizers (PSS) has been developed over the past 40 to 45 years since the first widespread application to the Western systems of the United States. This Development has brought an improvement in the use of various tuning techniques and input signals and in the ability to deal with turbine-generator shaft torsional modes of vibrations. In the past five decades the PSS have been used to provide the desired system performance under condition that requires stabilization. Stability of synchronous generator depends on a number of factors such as the setting of automatic voltage regulator (AVR). Many generators are designed With high gain, fast acting AVRs to enhance large scale stability to hold the generator in synchronism with the power system during large transient fault conditions. But with the high gain of excitation systems, it can decrease the damping torque of generator. A supplementary excitation controller referred to as PSS have been added to synchronous generators to counteract the effect of high gain AVRs and other sources of negative damping. To provide damping, the stabilizers must produce a component of electrical torque on the rotor which is in phase with speed variations. The application of a PSS is to generate a supplementary stabilizing signal, which is applied to the excitation system or control loop of the generating unit to produce a positive damping. The most widely used conventional PSS is the lead-lag PSS, where the gain settings are fixed at certain values which are Journal of Theoretical and Applied Information Technology. Determined under particular operating conditions to result in optimal performance for that specific condition. However, they give poor performance under different synchronous generator loading conditions. Conventional PSS (CPSS) is widely used in existing power systems and has made a contribution in enhancing power system dynamic stability. The parameters of CPSS are determined based on a

Linearised model of the power system around a nominal operating point where they can provide good performance. Since power systems are highly non-linear systems, with configurations and parameters that change with time, the CPSS design based on the linearised model of the power system cannot guarantee its performance in a practical operating environment. To improve the performance of CPSS, numerous techniques have been proposed for their design, such as using intelligence optimization methods (simulated annealing, genetic algorithm, Tabu Search, fuzzy, neural networks and many other nonlinear techniques. The intelligent optimization algorithms are used to determine the optimal parameters for CPSS by optimizing an Eigen value based cost function in an off-line mode. Since the method is based on a linearised model and the parameters are not updated on-line, therefore, they lack satisfactory performance during practical Operation. The rule-based fuzzy logic control methods are well known for the difficulty in obtaining and adjusting the parameters of the rules especially on-line. Recent research indicates that more emphasis has been placed on the combined Usage of fuzzy logic systems and other technologies such as neural networks to add adaptability to the design. Applications of ANN to power systems are a growing area of interest. Considerable efforts have been placed on the applications of ANNs to power systems. Several interesting applications of ANNs to power system problems, indicate that ANNs have great potential in power system on-line and off-line applications. The feature of an ANN is its capability to solve a complicated problem very efficiently because the knowledge about the problem is distributed in the neurons and the connection weights of links between neurons, and information are processed in parallel. Back-propagation is an iterative, gradient search, supervised algorithm which can be viewed as multiplayer nonlinear method that can re-code its input space in the hidden layers and thereby solve hard learning problems. The network is trained using ANN technique until a good agreement between predicted gain settings and actual gains is reached. During last three decades, the assessment of potential of the sustainable ecofriendly alternative sources and refinement in technology has taken place to a stage so that economical and reliable power can be produced. Different renewable Sources are available at different geographical locations close to loads, therefore, the latest trend is to have distributed or dispersed power system. Examples of such systems are wind-diesel, wind diesel-micro-hydro-system with or without multiplicity of generation to meet the load demand. These systems are known as hybrid power systems. To have automatic reactive load voltage control SVC device have been considered. The multi-layer feed-forward ANN toolbox of MATLAB 6.5 with the error back-propagation training method is employed.

2. FUZZY-LOGIC BASED POWER SYSTEM STABILIZER In the design of fuzzy-logic controllers, unlike most conventional methods, a mathematic model is not required to describe the system under study. It is based on the implementation of fuzzy logic technique to PSS to improve system damping. The effectiveness of the fuzzy logic PSS in a single machine infinite bus is demonstrated by the Simulink program (Matlab Software). The nonlinear model of single machine infinite bus system (SMIB) developed using Simulink. The performance of fuzzy logic PSS is compared with the CPSS and without PSS. The time-domain simulation performed on the test system will be employed to study the nonlinear response following steady state operation and large disturbance such as three phase fault [9]. The following Figure 1 shows the single machine connected to an infinite bus network through short transmission line of 0.568 + j0.2469 ohm impedance. From the block diagram, the stabilizing signal is introduced in the excitation system. In contrast to a conventional PSS, which is designed in the frequency domain, a fuzzy logic EXCITE G AVR PSS fuzzy controller Transmission line Infinite bus Figure 1: Synchronous Generator and Infinite Bus system Journal of Theoretical and Applied Information Technology 2005 - 2009 JATIT. All rights reserved.

www.jatit.org 319 PSS is being designed in the time domain. A fuzzy logic controller determines the operating condition from the measured values and selects the appropriate control actions using the rule base created from the expert knowledge. Depending on the system state, the controller operates in the range between no control action and full control action in a non-linear manner. The fuzzy controller in itself has no dynamic component, i.e. it can immediately perform the desired control action. The input to the ANN is the value of exponent of reactive power load-voltage characteristic (nq) and the output is the desired proportional gain (KP) and integral gain (KI ) parameters of the SVC. Normalized values of nq are fed as the input to the ANN the normalized values of outputs are converted into the actual value. The process of determining the weights is called the training of the learning process. Prior to conducting the 3. FUZZY LOGIC PROCESS The following Figure 2 shows the block diagram of fuzzy logic controller, it generally comprises four principle components: fuzzification interface, knowledge base, decision making logic and defuzzification interface. If the output from the defuzzifier is not a control action for a process, then the system is a fuzzy logic decision system. The fuzzy controller itself is normally a twoinput and a single-output component. It is usually a MISO system[8] The first step in designing a fuzzy controller is to decide which state variables represent of system dynamic performance must be taken as the input signal to the controller. However, choosing the proper linguistic variables formulating the fuzzy control rules are very important factors in the performance of the fuzzy control system. System variables, which are usually used as the fuzzy controller inputs includes states error, state error derivative, state error integral or etc. In power

system, based on previous experience. Generator speed deviation () and acceleration () are chosen to be the input signals of fuzzy PSS [9]. As it was mentioned earlier, if the synchronous generator automatic voltage regulator is utilized in a proper way it is capable of damping electromechanically oscillations of the generator shaft. The input to the excitation system would be the Control variable which is actually the output of fuzzy PSS. In practice, only shaft speed deviation is ready available. Hence, the acceleration signal can be derived from speed signals measured at two sampling instant by the following expression () ( ) (( ) ) Ts kTs k 1 Ts kTs = --(1) where Ts is the sampling time. After choosing proper variables as input and output of fuzzy controller, it is required to decide on the linguistic variables. These variables transform the numerical values of the input of the fuzzy controller to fuzzy quantities. The number of these linguistic variables specifies the quality of the control which can be achieved using the fuzzy controller. As the number of the linguistic variables increases, the computational time and required memory increase. Therefore, a compromise between the quality of control and computational time is needed to choose the number of linguistic variables. For the power system under study, five linguistic variables for each of the input and output variables are used to describe them, as in the following table 1 LN Large Negative MN Medium Negative Z Zero MP Medium Positive LP Large Positive

Table 1: Input and output linguistic variables The two inputs; speed deviation and acceleration, result in 25 rules for each machine. Decision table in 2 shows the result of 25 rules, where a positive control signal is for the deceleration control and a negative signal is for acceleration control. The example of first rule is; rule 1: if speed deviation is LP (large positive) AND acceleration is LN (large negative) THEN PSS output of fuzzy is Z (zero).The stabilizer output is obtained by applying a particular rule expressed in the form of membership function. Knowledge base Defuzzification interface Decision making logic Fuzzification interface Contrlled system(process) There are different methods for finding the output in which Minimum-Maximum and Maximum Product Method are among the most important ones. Here the Minimum- Maximum method is used. Finally, the output membership function of the rule is calculated. This procedure is carried out for all of the rules and every rule an output membership function is obtained. Accel. Speed dev. LN MN Z MP LP LP Z Z MP MP LP MP MN Z Z MP MP Z MN Z Z Z MP MN MN MN Z Z MP LN LN MN MN Z Z Table2: Decision table for PSS output Since a non-fuzzy signal is needed for the excitation system by knowing the membership function of the fuzzy controller its numerical value

should be determined. There are different techniques for defuzzification of fuzzy quantities such as Maximum Method, Height Method, and Centroid Method. In this method the Centroid Method is used. 3. CONVENTIONAL PSS Example of a rice cooker: An example of when fuzzy logic might be called into action is when the rice is cooking too fast on a hot day. In a typical scenario, the fuzzy logic algorithm will take the form of an if/then statement such as, "If the rice is too hot, and it is continuing to heat up fairly quickly, then the heating element needs to be turned down." While fuzzy-logic rice cookers function under the same premise as basic models, their mathematical programming can deliver a slew of customized cooking options. The trick to these capabilities is the rice cookers' ability to react, making precise fluctuations in cooking time and temperature depending on the program selected. These may include different keepwarm and quick-cook cycles for the optimum cooking of rice varieties like sushi rice, porridge rice, mixed rice, white rice, sweet rice and brown rice. Some models also offer texture settings, allowing people to select hard or soft and sticky or wet rice. But even with all these features, fuzzy-logic rice cookers are not the most advanced rice cookers available. That prize goes to the models that also use induction heating

Example of a washing machine: Washing machines are a common feature today in the Indian household. The most important utility a customer can derive from a washing machine is that he saves the effort he/she had to put in brushing, agitating and washing the cloth. Most of the people wouldnt have noticed (but can reason out very well) that different type of cloth need different amount of washing time which depends directly on the type of dirt, amount of dirt, cloth quality etc. The washing machines that are used today (the one not using fuzzy

logic control) serves all the purpose of washing, but which cloth needs what amount of agitation time is a business which has not been dealt with properly. In most of the cases either the user is compelled to give all the cloth same agitation or is provided with a restricted amount of control. The thing is that the washing machines used are not as automatic as they should be and can be. This paper aims at presenting the idea of controlling the washing time using fuzzy logic control. The paper describes the procedure that can be used to get a suitable washing time for different cloths. The process is based entirely on the principle of taking non-precise inputs from the sensors, subjecting them to fuzzy arithmetic and obtaining a crisp value of the washing time. It is quite clear from the paper itself that this method can be used in practice to further automate the washing machines. Never the less, this method, though with much larger number of input parameters and further complex situations, is being used by the giants like LG and Samsung. Problem Definition When one uses a washing machine, the person generally select the length of wash time based on the amount of clothes he/she wish to wash and the type and degree of dirt cloths have. To automate this process, we use sensors to detect these parameters (i.e. volume of clothes, degree and type of dirt). The wash time is then determined from this data. Unfortunately, there is no easy way to formulate a precise mathematical relationship between volume of clothes and dirt and the length of wash time required. Consequently, this problem has remained unsolved until very recently. Conventionally, people simply set wash times by hand and from personal trial and error experience. Washing machines were not as automatic as they could be. The sensor system provides external input signals into the machine from which decisions can be made. It is the controller's responsibility to make the decisions and to signal the outside world by some form of output. Because the input/output relationship is not clear, the design of a washing machine controller has not in the past lent itself to traditional methods of control design. We

address this design problem using fuzzy logic. Fuzzy logic has been used because a fuzzy logic controlled washing machine controller gives the correct wash time even though a precise model of the input/output relationship is not available. Details about the Problem The problem in this paper has been simplifi ed by using only two variables. The two inputs are: 1. Degree of dirt 2. Type of dirt Figure 1 shows the basic approach to the problem. The fuzzy controller takes two inputs (as stated for simplification), processes the information and outputs a wash time. How to get these two inputs can be left to the sensors (optical, electrical or any type). The working of the sensors is not a matter of concern in this paper. We assume that we have these inputs at our hand. Anyway the two stated points need a bit of introduction which follows. The degree of dirt is determined by the transparency of the wash water. The dirtier the clothes, less transparent the water being analyzed by the sensors is. On the other hand, type of 2 dirt is determined by the time of saturation, the time it takes to reach saturation. Saturation is a point, at which there is no more appreciable change in the color of the water. Degree of dirt determines how much dirty a cloth is. Where as Type of dirt determines the quality of dirt. Greasy cloths, for example, take longer for water transparency to reach transparency because grease is less soluble in water than other forms of dirt. Thus a fairly straight forward sensor system can provide us the necessary input for our fuzzy controller. Details about the set applied Before the details of the fuzzy controller are dealt with, the range of possible values for the input and output variables are determined. These (in language of Fuzzy Set theory) are the membership functions used to map the real world measurement values to the fuzzy values, so that the operations can be applied on them. Figure 2 shows the labels of input and output variables and their associated

membership functions. Values of the input variables degree_of_dirt and type_of_dirt are normalized range -1 to 100) over the domain of optical sensor. The decision which the fuzzy controller makes is derived from the rules which are stored in the database. These are stored in a set of rules. Basically the rules are if-then statements that are intuitive and easy to understand, since they are nothing but common English statements. Rules used in this paper are derived from common sense, data taken from typical home use, and experimentation in a controlled environment. The sets of rules used here to derive the output are: 1. If dirtness_of_clothes is Large and type_of_dirt is Greasy then wash_time is VeryLong; 2. If dirtness_of_clothes is Medium and type_of_dirt is Greasy then wash_time is Long; 3. If dirtness_of_clothes is Small and type_of_dirt is Greasy then wash_time is Long; 4. If dirtness_of_clothes is Large and type_of_dirt is Medium then wash_time is Long; 5. If dirtness_of_clothes is Medium and type_of_dirt is Medium then wash_time is Medium; Fuzzy controller Linguistic input Output Type_of_dirt Wash_time Dirtness_of_clothes Fuzzyfication Fuzzy arithmetic & applying criterion Defuzzyfication3 6. If dirtness_of_clothes is Small and type_of_dirt is Medium then wash_time is Medium; 7. If dirtness_of_clothes is Large and type_of_dirt is NotGreasy then wash_time is Medium; 8. If dirtness_of_clothes is Medium and type_of_dirt is NotGreasy then wash_time is Short; 9. If dirtness_of_clothes is Small and type_of_dirt is NotGreasy then wash_time is VeryShort These rules have been shown as membership functions in figure 3

2 figures

Results and discussion The sensors sense the input values and using the above model the inputs are fuzzyfied and then by using simple if-else rules and other simple fuzzy set operations the output fuzzy function is obtained and using the criteria the output value for wash time is obtained. Figure 4 shows the response surface of the input output relations as determined by FIU. FIU stands for Fuzzy Interface Unit. This is the fundamental unit in which the application interface FIDE encodes controller information. Graph The results (the above plot) shows the way the machine will response in different conditions. For example, if we take type_of_dirt and dirtness value both to be 100, the wash_time which the model output is equivalent to 60 mins. This is quite convincing and appropriate. Summary B y the use of fuzzy logic control we have been able to obtain a wash time for different type of dirt and different degree of dirt. The conventional method required the human interruption to decide upon what should be the wash time for different cloths. In other words this situation analysis ability has been incorporated in the machine which makes the machine much more automatic and represents the decision taking power of the new arrangement. Though the analysis in this paper has been very crude, but this clearly depicts the advantage of adding the fuzzy logic controller in the conventional washing machine. Future Directions A more fully automatic washing machine is straightforward to design using fuzzy logic technology. Moreover, the design process mimics human intuition, which adds to the ease of development and future maintenance. Although this particular example controls only the wash time of a washing machine, the

design process can be extended without undue complications to other control variables such as water level and spin speed. The formulation and implementation of membership functions and rules is similar to that shown for wash time.