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    Fuzzy SMC - 18502244009 - M Rizky Nur Fatony

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    Ardhi Wira
    The document describes experiments using a fuzzy sliding mode controller (FSMC) to control a system. It involves designing a fuzzy system with triangular membership functions for the input and output, defining fuzzy rules, and using the FSMC in a simulation with different input signals. Results are analyzed by observing the system response in various figures for each test case.

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    Fuzzy SMC - 18502244009 - M Rizky Nur Fatony

    Uploaded by

    Ardhi Wira
    17 views22 pages
    The document describes experiments using a fuzzy sliding mode controller (FSMC) to control a system. It involves designing a fuzzy system with triangular membership functions for the input and output, defining fuzzy rules, and using the FSMC in a simulation with different input signals. Results are analyzed by observing the system response in various figures for each test case.

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    Fuzzy SMC_18502244009_M Rizky Nur Fatony (1)

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    The document describes experiments using a fuzzy sliding mode controller (FSMC) to control a system. It involves designing a fuzzy system with triangular membership functions for the input and output, defining fuzzy rules, and using the FSMC in a simulation with different input signals. Results are analyzed by observing the system response in various figures for each test case.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    17 views22 pages

    Fuzzy SMC - 18502244009 - M Rizky Nur Fatony

    Uploaded by

    Ardhi Wira
    The document describes experiments using a fuzzy sliding mode controller (FSMC) to control a system. It involves designing a fuzzy system with triangular membership functions for the input and output, defining fuzzy rules, and using the FSMC in a simulation with different input signals. Results are analyzed by observing the system response in various figures for each test case.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 22

    Nama : Muhammad Rizky Nur Fatony

    NIM : 18502244009

    Praktik Sistem Kendali Cerdas

    Fuzzy Sliding Mode Controller


    1. Tulislah program sebagaimana pada percobaan diatas, lakukan eksekusi, lakukan analisis
    dan amati hasilnya.
    Program :

    clear all;
    close all;
    %%%%%%%%%%%%%%%%%%%%% Fuzzy System Design %%%%%%%%%%%%%%%%%%%%
    a=newfis('fuzz_smc');
    k1=1.0;
    a=addvar(a,'input','s',[-3*k1,3*k1]); % Parameter s
    a=addmf(a,'input',1,'NB','zmf',[-3*k1,-1*k1]);
    a=addmf(a,'input',1,'NM','trimf',[-3*k1,-2*k1,0]);
    a=addmf(a,'input',1,'NS','trimf',[-3*k1,-1*k1,1*k1]);
    a=addmf(a,'input',1,'Z','trimf',[-2*k1,0,2*k1]);
    a=addmf(a,'input',1,'PS','trimf',[-1*k1,1*k1,3*k1]);
    a=addmf(a,'input',1,'PM','trimf',[0,2*k1,3*k1]);
    a=addmf(a,'input',1,'PB','smf',[1*k1,3*k1]);
    k2=1.0;
    a=addvar(a,'input','ds',[-3*k2,3*k2]); % Parameter ds
    a=addmf(a,'input',2,'NB','zmf',[-3*k2,-1*k2]);
    a=addmf(a,'input',2,'NM','trimf',[-3*k2,-2*k2,0]);
    a=addmf(a,'input',2,'NS','trimf',[-3*k2,-1*k2,1*k2]);
    a=addmf(a,'input',2,'Z','trimf',[-2*k2,0,2*k2]);
    a=addmf(a,'input',2,'PS','trimf',[-1*k2,1*k2,3*k2]);
    a=addmf(a,'input',2,'PM','trimf',[0,2*k2,3*k2]);
    a=addmf(a,'input',2,'PB','smf',[1*k2,3*k2]);
    k3=1.0;
    a=addvar(a,'output','du',[-3*k3,3*k3]); % Parameter du
    a=addmf(a,'output',1,'NB','zmf',[-3*k3,-1*k3]);
    a=addmf(a,'output',1,'NM','trimf',[-3*k3,-2*k3,0]);
    a=addmf(a,'output',1,'NS','trimf',[-3*k3,-1*k3,1*k3]);
    a=addmf(a,'output',1,'Z','trimf',[-2*k3,0,2*k3]);
    a=addmf(a,'output',1,'PS','trimf',[-1*k3,1*k3,3*k3]);
    a=addmf(a,'output',1,'PM','trimf',[0,2*k3,3*k3]);
    a=addmf(a,'output',1,'PB','smf',[1*k3,3*k3]);
    rulelist=[1 1 1 1 1; % Fuzzy rule base
    1 2 1 1 1;
    1 3 2 1 1;
    1 4 2 1 1;
    1 5 3 1 1;
    1 6 3 1 1;
    1 7 4 1 1;
    2 1 1 1 1;
    2 2 2 1 1;
    2 3 2 1 1;
    2 4 3 1 1;
    2 5 3 1 1;
    2 6 4 1 1;
    2 7 5 1 1;

    3 1 2 1 1;
    3 2 2 1 1;
    3 3 3 1 1;
    3 4 3 1 1;
    3 5 4 1 1;
    3 6 5 1 1;
    3 7 5 1 1;

    4 1 2 1 1;
    4 2 3 1 1;
    4 3 3 1 1;
    4 4 4 1 1;
    4 5 5 1 1;
    4 6 5 1 1;
    4 7 6 1 1;

    5 1 3 1 1;
    5 2 3 1 1;
    5 3 4 1 1;
    5 4 5 1 1;
    5 5 5 1 1;
    5 6 6 1 1;
    5 7 6 1 1;

    6 1 3 1 1;
    6 2 4 1 1;
    6 3 5 1 1;
    6 4 5 1 1;
    6 5 6 1 1;
    6 6 6 1 1;
    6 7 7 1 1;

    7 1 4 1 1;
    7 2 5 1 1;
    7 3 5 1 1;
    7 4 6 1 1;
    7 5 6 1 1;
    7 6 7 1 1;
    7 7 7 1 1];

    a=addrule(a,rulelist);
    %showrule(a) % Show fuzzy rule base
    %ruleview(a)
    a1=setfis(a,'DefuzzMethod','centroid');% Defuzzy
    writefis(a1,'fsmc'); % Save to fuzzy file "fsmc.fis"
    a2=readfis('fsmc');
    %%%%%%%%%%%%%%%%%%%%% Fuzzy SMC Control %%%%%%%%%%%%%%%%%%%%
    ts=0.001;
    sys=tf([133],[1,25,0]);
    dsys=c2d(sys,ts,'z');
    [num,den]=tfdata(dsys,'v');
    e_1=0;de_1=0;s_1=0;
    u_1=0.0;u_2=0.0;
    y_1=0.0;y_2=0.0;
    for k=1:1:2000
    time(k)=k*ts;
    M=1;
    if M==1
    rin(k)=1; % Step Signal
    end
    if M==2
    rin(k)=sign(sin(1*2*pi*k*ts)); % Square Signal
    end
    if M==3
    rin(k)=sin(2*2*pi*k*ts); % Sine Signal
    end
    %Linear model
    yout(k)=-den(2)*y_1-den(3)*y_2+num(2)*u_1+num(3)*u_2;
    e(k)=rin(k)-yout(k);
    de(k)=(e(k)-e_1)/ts;
    c=15;
    s(k)=c*e(k)+1*de(k);
    s1(k)=s(k)-s_1;
    du(k)=evalfis([s(k) s1(k)],a2); % Fuzzy Slide Mode Controler
    u(k)=u_1+du(k);
    if u(k)>=10
    u(k)=10;
    end
    if u(k)<=-10
    u(k)=-10;
    end
    e_1=e(k);
    de_1=de(k);
    s_1=s(k);
    u_2=u_1;u_1=u(k);
    y_2=y_1;y_1=yout(k);
    end
    figure(1);
    plot(time,rin,'r',time,yout,'b');
    xlabel('time(s)');ylabel('rin,yout');
    figure(2);
    plot(e,de,'b',e,-c*e,'r');
    xlabel('e');ylabel('de');
    figure(3);
    plot(time,s,'r');
    xlabel('time(s)');ylabel('s');
    figure(4);
    plot(time,u,'r');
    xlabel('time(s)');ylabel('u');
    figure(5);
    plotmf(a2,'input',1);
    figure(6);
    plotmf(a2,'input',2);
    figure(7);
    plotmf(a2,'output',1);

    Hasil Running :
     Figure 1

     Figure 2
     Figure 3

     Figure 4
     Figure 5

     Figure 6
     Figure 7

    2. Lakukan perubahan nilai parameter, nilai input menjadi gelombang yang berbeda dengan
    mengubah nilai M pada program (step, square, sine), kemudian amati hasilnya, lakukan
    analisis data, dan buat kesimpulan.
    M=2
     Figure 1

     Figure 2
     Figure 3

     Figure 4
     Figure 5

     Figure 6
     Figure 7

    M=3
     Figure 1
     Figure 2

     Figure 3
     Figure 4

     Figure 5
     Figure 6

     Figure 7
    3. Lakukan perubahan fuzzy membership pada input dan output yang dihasilkan program
    tersebut diatas menjadi triangle (segitiga).
    4. Setelah langkah No. 3 dilakukan, Ulangi langkah 2
    M=1
     Figure 1

     Figure 2
     Figure 3
     Figure 4

    M=2
     Figure 1
     Figure 2

     Figure 3
     Figure 4

    M=3

     Figure 1
     Figure 2

     Figure 3
     Figure 4

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