Industrial Application of
Fuzzy Logic Control
Tutorial and Workshop
Constantin von Altrock
Inform Software Corporation
2001 Midwest Rd.
Oak Brook, IL 60521, U.S.A.
German Version Available!
Phone 630-268-7550
Fax 630-268-7554
Email: fuzzy@informusa.com
Internet: www.fuzzytech.com
INFORM 1990-1998
Fuzzy Logic Primer
History, Current Level and Further
Development of Fuzzy Logic
Technologies in the U.S., Japan, and
Europe
Types of Uncertainty and the
Modeling of Uncertainty
The Basic Elements of a Fuzzy
Logic System
Types of Fuzzy Logic Controllers
Slide 1
 History, State of the Art, and
Future Development
1965 Seminal Paper Fuzzy Logic by Prof. Lotfi Zadeh,
Faculty in Electrical Engineering, U.C. Berkeley, Sets
the Foundation of the Fuzzy Set Theory

1970 First Application of Fuzzy Logic in Control

Engineering (Europe)

1975 Introduction of Fuzzy Logic in Japan

1980 Empirical Verification of Fuzzy Logic in Europe

1985 Broad Application of Fuzzy Logic in Japan

1990 Broad Application of Fuzzy Logic in Europe

Today, Fuzzy Logic Has 1995
Already Become the
2000
Standard Technique for
Multi-Variable Control !
INFORM 1990-1998
Broad Application of Fuzzy Logic in the U.S.
Fuzzy Logic Becomes a Standard Technology and Is
Also Applied in Data and Sensor Signal Analysis.
Application of Fuzzy Logic in Business and Finance.
Slide 2
 Applications Study of the
IEEE in 1996
About 1100 Successful Fuzzy Logic Applications Have
Been Published (an estimated 5% of those in existence)
Almost All Applications Have Not Involved the
Replacement of a Standard Type Controller (PID,..), But
Rather Multi-Variable Supervisory Control
Applications Range from Embedded Control (28%),
Industrial Automation (62%) to Process Control (10%)
Of 311 Authors That Answered a Questionnaire, About
90% State That Fuzzy Logic Has Slashed Design Time
By More Than Half
In This Questionnaire, 97.5% of the Designers Stated
That They Will Use Fuzzy Logic Again in Future
Applications, If Fuzzy Logic Is Applicable
Fuzzy Logic Will Play a Major
Role in Control Engineering !
INFORM 1990-1998 Slide 3
 Types of Uncertainty and the
Modeling of Uncertainty
Stochastic Uncertainty:
The Probability of Hitting the Target Is 0.8

Lexical Uncertainty:
"Tall Men", "Hot Days", or "Stable Currencies"
We Will Probably Have a Successful Business Year.
The Experience of Expert A Shows That B Is Likely to
Occur. However, Expert C Is Convinced This Is Not True.

Most Words and Evaluations We Use in Our Daily Reasoning Are

Not Clearly Defined in a Mathematical Manner. This Allows
Humans to Reason on an Abstract Level!

INFORM 1990-1998 Slide 4

 Probability and Uncertainty

... a person suffering from hepatitis shows in

60% of all cases a strong fever, in 45% of all cases
yellowish colored skin, and in 30% of all cases
suffers from nausea ...

Stochastics and Fuzzy Logic

Complement Each Other !

INFORM 1990-1998 Slide 5

 Fuzzy Set Theory

Conventional (Boolean) Set Theory:

38.7C
38C
40.1C 41.4C
Fuzzy Set Theory:
42C
39.3C
Strong Fever 38.7C
37.2C 38C
40.1C 41.4C

42C
39.3C
Strong Fever
More-or-Less Rather Than Either-Or ! 37.2C
INFORM 1990-1998 Slide 6
 Fuzzy Set Definitions

Discrete Definition:
SF(35C) = 0 SF(38C) = 0.1 SF(41C) = 0.9

SF(36C) = 0 SF(39C) = 0.35 SF(42C) = 1

SF(37C) = 0 SF(40C) = 0.65 SF(43C) = 1

Continuous Definition: No More Artificial Thresholds!
(x)
1

0
36C 37C 38C 39C 40C 41C 42C

INFORM 1990-1998 Slide 7

 Linguistic Variable

...Terms, Degree of Membership, Membership Function, Base Variable...

(x)
low temp normal raised temperature strong fever
1 pretty much raised

A Linguistic Variable
Defines a Concept of Our
... but just slightly strong Everyday Language!

0
36C 37C 38C 39C 40C 41C 42C

INFORM 1990-1998 Slide 8

 Basic Elements of a
Fuzzy Logic System
Fuzzy Logic Defines
Fuzzification, Fuzzy Inference, Defuzzification: the Control Strategy on
a Linguistic Level!

Measured Variables 2. Fuzzy-Inference Command Variables

(Linguistic Values) (Linguistic Values)

Linguistic
Level

1. Fuzzification 3. Defuzzification
Numerical
Level

Measured Variables Plant Command Variables

(Numerical Values) (Numerical Values)

INFORM 1990-1998 Slide 9

 Basic Elements of a
Fuzzy Logic System
Container Crane Case Study:

Two Measured
Variables and One
Command Variable !

INFORM 1990-1998 Slide 10

 Basic Elements of a
Fuzzy Logic System
Closing the Loop
Control Loop of the Fuzzy Logic Controlled Container Crane: With Words !

Angle, Distance 2. Fuzzy-Inference Power

(Numerical Values) (Linguistic Variable)

Linguistic
Level

1. Fuzzification 3. Defuzzification
Numerical
Level

Angle, Distance Container Crane Power

(Numerical Values) (Numerical Values)

INFORM 1990-1998 Slide 11

 1. Fuzzification:
- Linguistic Variables -
Term Definitions: The Linguistic
Distance := {far, medium, close, zero, neg_close} Variables Are the
Vocabulary of a
Angle := {pos_big, pos_small, zero, neg_small, neg_big}
Fuzzy Logic System !
Power := {pos_high, pos_medium, zero, neg_medium,
neg_high}
Membership Function Definition:
zero
neg_close zero close medium far
neg_big neg_small pos_small pos_big
1 1
0.9
0.8

0.2
0.1
0 0
-90 -45 0 4 45 90 -10 0 10 20 30
Angle
12m
Distance [yards]

INFORM 1990-1998 Slide 12

 2. Fuzzy-Inference:
- IF-THEN-Rules -
Computation of the IF-THEN-Rules:
#1: IF Distance = medium AND Angle = pos_small THEN Power = pos_medium
#2: IF Distance = medium AND Angle = zero THEN Power = zero
#3: IF Distance = far AND Angle = zero THEN Power = pos_medium

Aggregation: Computing the IF-Part

Composition: Computing the THEN-Part

The Rules of the Fuzzy

Logic Systems Are the
Laws It Executes !

INFORM 1990-1998 Slide 13

 2. Fuzzy-Inference:
- Aggregation -
Boolean Logic Only Fuzzy Logic Delivers
Defines Operators for 0/1: a Continuous Extension:
A B AvB AND: AvB = min{ A; B }
0 0 0
0 1 0 OR: A+B = max{ A; B }
1 0 0 NOT: -A = 1 - A
1 1 1

Aggregation of the IF-Part:

#1: min{ 0.9, 0.8 } = 0.8
#2: min{ 0.9, 0.2 } = 0.2 Aggregation Computes How
#3: min{ 0.1, 0.2 } = 0.1 Appropriate Each Rule Is for
the Current Situation !

INFORM 1990-1998 Slide 14

 2. Fuzzy-Inference:
Composition
Result for the Linguistic Variable "Power":

pos_high with the degree 0.0

pos_medium with the degree 0.8 ( = max{ 0.8, 0.1 } )
zero with the degree 0.2
neg_medium with the degree 0.0
neg_high with the degree 0.0

Composition Computes
How Each Rule Influences
the Output Variables !

INFORM 1990-1998 Slide 15

 3. Defuzzification

Finding a Compromise Using Center-of-Maximum:

neg_high neg_medium zero pos_medium pos_high

1

Balancing Out
the Result !

0
-30 -15 0 15 30
Power [Kilowatts] 6.4 KW

INFORM 1990-1998 Slide 16

 Types of Fuzzy Controllers:
- Direct Controller -
The Outputs of the Fuzzy Logic System Are the Command Variables of the Plant:

Command
IF temp=low
AND P=high
Variables
THEN A=med

IF ...
Plant

Fuzzification Inference Defuzzification

Measured Variables

Fuzzy Rules Output

Absolute Values !

INFORM 1990-1998 Slide 17

 Types of Fuzzy Controllers:
- Supervisory Control -
Fuzzy Logic Controller Outputs Set Values for Underlying PID Controllers:

IF temp=low
Set Values PID
AND P=high
THEN A=med

PID Plant
IF ...

Fuzzification Inference Defuzzification PID

Measured Variables

Human Operator
Type Control !

INFORM 1990-1998 Slide 18

 Types of Fuzzy Controllers:
- PID Adaptation -
Fuzzy Logic Controller Adapts the P, I, and D Parameter of a Conventional PID Controller:
Set Point Variable

IF temp=low
AND P=high P
THEN A=med
I Command Variable
D
IF ...
PID Plant
Fuzzification Inference Defuzzification

Measured Variable

The Fuzzy Logic System

Analyzes the Performance of the
PID Controller and Optimizes It !
INFORM 1990-1998 Slide 19
 Types of Fuzzy Controllers:
- Fuzzy Intervention -
Fuzzy Logic Controller and PID Controller in Parallel:
Set Point Variable

IF temp=low
AND P=high
THEN A=med Command Variable

IF ...
Plant
PID
Fuzzification Inference Defuzzification

Measured Variable

Intervention of the Fuzzy Logic

Controller into Large Disturbances !

INFORM 1990-1998 Slide 20