Adigrat University

Collage of Engineering and Technology

Electrical and Computer Engineering

Neural Network and Fuzzy

Logic Control
By: Getnet Z.
Ch-1

1 ECEg 4324 Year V sem-2 ECE 11/12/2024

Outline
 Introduction to intelligent control
 Introduction to Fuzzy Logic
 History of Fuzzy Logic
 Classical/Crisp Sets
 Fuzzy Sets
 Set-Theoretic Operations
 Fuzzy Relations

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What do you mean by
Intelligence?

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 Intelligent control system
 A so-called intelligent system gives appropriate problem-
solving responses to problem inputs, even if such inputs are
new and unexpected.
 Intelligent systems are usually described by analogies with
biological systems by, for example, looking at how human
beings perform control tasks, recognize patterns, or make
decisions.
 Intelligence is derived from intellect, which is the faculty
of knowing, reasoning and understanding.
 Intelligent behavior is therefore the ability to reason,
plan and learn, which in turn requires access to knowledge.
 Artificial Intelligence (AI) is a product of the Information
Technology (IT) revolution,

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What’s involved in Intelligence?
 Ability to interact with the world (speech,
vision, motion, manipulation)
 Ability to model the world and to reason about
it
 Ability to learn and to adapt

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Artificial Intelligence
 AI an attempt to replace human intelligence
with machine intelligence.
 An intelligent control system combines the
techniques from the fields of AI with those of
control engineering to design autonomous
systems that can sense, reason, and plan,
learn and act in an intelligent manner.

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Cont…
 Such a system should be able to achieve
sustained desired behavior under conditions of
uncertainty, which include:
 Uncertainty in plant models
 Unpredictable environmental changes
 Incomplete, inconsistent or unreliable sensor
information
 Actuator malfunction.

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Control system structure
 An intelligent control system, comprises of a
number of subsystems as shown in Figure
below.

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Control system structure
 In General Intelligent control can be divided
into the following major sub-domains:
 Fuzzy (logic) control
 Neural network control
 Neuro-fuzzy control
 Expert Systems
 Genetic control
 Those Sub domains Also can be Critical or
applied in the cognition subsystem: in the
intelligent Control system structure

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The perception subsystem
 This collects information from the plant and
the environment, and processes it into a form
suitable for the cognition subsystem.
 The essential elements are:
 Sensor array which provides raw data about the
plant and the environment
 Signal processing which transforms information
into a suitable form

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The cognition subsystem
 It concerned with the decision making process
under conditions of uncertainty.
 Key activities include:
a) Reasoning using
i. knowledge-based systems
ii. fuzzy logic
b) Strategic planning using
i. optimum policy evaluation
ii. adaptive search and genetic algorithms
iii. path planning
c) Learning, using
i. supervised learning in neural networks
ii. unsupervised learning in neural networks
iii. adaptive learning
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The actuation subsystem
 The actuators operate using signals from the
cognition subsystem in order to drive the
plant to some desired states.
 In the event of actuator (or sensor) failure, an
intelligent control system should be capable of
being able to re-configure its control strategy.

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Does AI have applications?
 Autonomous planning and scheduling of tasks
aboard a spacecraft
 Understanding language
 Robotic assistants in surgery
 Monitoring trade in the stock market

End of Part - 1

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Introduction to Fuzzy Logic
 Motivation
 The term “fuzzy logic” refers to a logic of
approximation.
 Boolean logic assumes that every fact is
either entirely true or false.
 Fuzzy logic allows for varying degrees of
truth.
 Computers can apply this logic to
represent vague and imprecise ideas,
such as “hot”, “tall” or “balding”.

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Introduction to Fuzzy Logic
 Fuzzy logic: A form of knowledge representation
suitable for notions that cannot be defined precisely,
but depend upon their contexts, it deals with reasoning
that is approximate rather than fixed and exact, Hence
 Fuzzy logic:
 A way to represent variation or imprecision in logic
 A way to make use of natural language in logic
 Approximate reasoning
 Humans say things like "If it is sunny and warm
today, I will drive fast"
 Linguistic variables:
 Temp: {freezing, cool, warm, hot}
 Cloud Cover: {overcast, partly cloudy, sunny}
 Speed: {slow, fast}

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History of Fuzzy Logic
 Lotfi Zadeh, at the University of California at
Berkeley, first presented fuzzy logic in the
mid-1960's.
 Zadeh developed fuzzy logic as a way of
processing data. Instead of requiring a data
element to be either a member or non-
member of a set, he introduced the idea of
partial set membership.
 In 1974 Mamdani and Assilian used fuzzy logic
to regulate a steam engine.
 In 1985 researchers at Bell laboratories
developed the first fuzzy logic chip.

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Classical/Crisp Sets
 Define a universe of discourse, X, as a
collection of objects all having the same
characteristics. The individual elements in the
universe X will be denoted as x. The features
of the elements in X can be discrete, or
continuous valued quantities on the real line.
 Examples of elements of various universes
might be as follows:
 the clock speeds of computer CPUs;
 the operating currents of an electronic motor;
 the operating temperature of a heat pump;
 the integers 1 to 10.
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Classical/Crisp Sets
 Classical sets – either an element belongs to
the set or it does not. For example, for the set
of integers, either an integer is even or it is
not (it is odd).
 However, either you are in the Mekelle or you
are not. What about flying into Addis, what
happens as you are crossing?
 Another example is for black and white
photographs, one cannot say either a pixel is
white or it is black. However, when you
digitize a b/w figure, you turn all the b/w and
gray scales into 256 discrete tones.
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Classical/Crisp Sets
 Classical sets are also called crisp (sets).
Lists: A = {apples, oranges, cherries,
mangoes}
A = {a1,a2,a3 }
A = {2, 4, 6, 8, …}
 Formulas: A = {x | x is an even natural
number}
A = {x | x = 2n, n is a natural
number}
 Membership or characteristic function
1 if x A

 ( x) 
A
 Mapping: concept  in relating set-theoretic
0 if x A

19
forms to function-theoretic representations of
ECEg 4324 Year V sem-2 ECE 11/12/2024
information
Fuzzy Sets
 Fuzzy sets – Fuzzy set theory provides a
means for representing uncertainties.
 admits degree such as all tones between black and white.
 A fuzzy set, is a set containing elements that
have varying degrees of membership in the set.
 Elements in a fuzzy set, because their
membership need not be complete, can also be
members of other fuzzy sets on the same
universe.
 Elements of a fuzzy set are mapped to a
universe of membership values using a
function-theoretic form
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Fuzzy Sets
 A fuzzy set has a graphical description that
expresses how the transition from one to another
takes place. This graphical description is called a
membership function.
 An object has a numeric “degree of
membership”
 Normally, between 0 and 1 (inclusive)
 0 membership means the object is not in the set
 1 membership means the object is fully inside the
set
 In between means the object is partially in the set
 If U is a collection of objects denoted
generally by x, then
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ECEg 4324 fuzzy
V sem-2set
ECE A in U is
11/12/2024
Fuzzy Sets

membership
function
Where U : universe of
discourse.

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Fuzzy Sets
Temperature range shown in graph (a)
shows Degree of Truth or "Membership“
 we may have different type of
Membership function:

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Classical/Crisp Vs Fuzzy Logic
 Crisp Logic
– A proposition can be true or false only.
• Amanual is a student (true)
• Smoking is healthy (false)
– The degree of truth is 0 or 1.
 Fuzzy Logic
– The degree of truth is between 0 and 1.
• Kibrom is young (0.3 truth)
• Meron is smart (0.9 truth)

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 Classical/Crisp Vs Fuzzy Logic
 Classical Logic Fuzzy Logic
Element x whether belongs Element x belongs to set A
to set A or not at all: with a certain “degree of
(x){0,1} membership”:
(x)[0,1]

A ( x) A=“young”
A ( x)
A=“young”
1 1

0 0
x  years  x  years 
x 21 x 21

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Set-Theoretic Operations
 Crisp sets Fuzzy sets
• Membership values on [0,1]
• Law of Excluded Middle and
Non-Contradiction do not
necessarily hold:

• Fuzzy Membership Function

• Flexibility in choosing the
Intersection (T-Norm), Union (S-
Norm) and Negation operations
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Operations on Classical Sets
 Union:
A  B = {x | x  A or x  B}
 Intersection:
A  B = {x | x  A and x  B}
 Complement:
A’ = {x | x  A, x  X}
X – Universal Set
 Set Difference:
A | B = {x | x  A and x  B}
 Set difference is also denoted by A - B

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Operations on Classical Sets
 Union of sets A and B (logical or).

 Intersection of sets A and B.

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Operations on Classical Sets
 Complement of set A.

 Difference operation A|B

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Operations on Classical Sets
 Properties of Classical Sets

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Fuzzy Set Operations
 Complement
 The complement of a set is an opposite of this
set. For example, if we have the set of tall
men, its complement is the set of NOT tall
men. When we remove the tall men set from
the universe of discourse, we obtain the
complement. If A is the fuzzy set, its
complement ’ can be found as follows:
 A’(x) = 1 - A(x)

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Fuzzy Set Operations
 Containment
 A set can contain other sets. The smaller set is
called the subset. For example, the set of tall
men contains all tall men; very tall men is a
subset of tall men. However, the tall men set is
just a subset of the set of men. In crisp sets, all
elements of a subset entirely belong to a larger
set. In fuzzy sets, however, each element can
belong less to the subset than to the larger set.
Elements of the fuzzy subset have smaller
memberships in it than in the larger set.

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Fuzzy Set Operations
 Intersection
 In classical set theory, an intersection between
two sets contains the elements shared by these
sets. In fuzzy sets, an element may partly belong
to both sets with different memberships. A fuzzy
intersection is the lower membership in both sets
of each element. The fuzzy intersection of two
fuzzy sets A and B on universe of discourse X:
 AB(x) = min [A(x), B(x)] = A(x)  B(x),

where xX

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Fuzzy Set Operations
 Union
 The union of two crisp sets consists of every
element that falls into either set. In fuzzy sets,
the union is the reverse of the intersection.
That is, the union is the largest membership
value of the element in either set. The fuzzy
operation for forming the union of two fuzzy
sets A and B on universe X can be given as:
 AB(x) = max [A(x), B(x)] = A(x) 
B(x),
where xX
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Fuzzy Set Operations
 Examples of Fuzzy Set Operations
 Fuzzy union (): the union of two fuzzy sets is the
maximum (MAX) of each element from two sets.
 E.g 1.
 A = {1.0, 0.20, 0.75}
 B = {0.2, 0.45, 0.50}
 A  B = {MAX(1.0, 0.2), MAX(0.20, 0.45), MAX(0.75,
0.50)} = {1.0, 0.45, 0.75}
 Fuzzy intersection (): the intersection of two
fuzzy sets is just the MIN of each element from
the two sets.
 A  B = {MIN(1.0, 0.2), MIN(0.20, 0.45), MIN(0.75, 0.50)}
= {0.2, 0.20, 0.50}

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Fuzzy Set Operations
 Examples of Fuzzy Set Operations
 E.g 2.

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Fuzzy Set Operations
 Properties of Fuzzy Sets
Note (x)  [0,1]
not {0,1} like Crisp set
A = {A(x1) / x1 + A(x2) / x2 + …}
= { A(xi) / xi}
Note: ‘+’  add
‘/ ’  divide
Only for representing element and
its membership.
Also some books use (x) for
Crisp Sets too.

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Fuzzy Set Operations
 Properties of Fuzzy Sets
 Equality: Fuzzy set A is considered equal to a fuzzy
set B, IF AND ONLY IF: A(x) = B(x), xX
 Example:
A = 0.3/1 + 0.5/2 + 1/3
B = 0.3/1 + 0.5/2 + 1/3, therefor A=B
 Inclusion: Fuzzy set A  X is included in (is a subset
of) another fuzzy set, B  X if A(x)  B(x), xX
 Example: Consider X = {1, 2, 3} and sets A and B
A = 0.3/1 + 0.5/2 + 1/3;
B = 0.5/1 + 0.55/2 + 1/3
Then A is a subset of B, or A  B

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Fuzzy Set Operations
 Cardinality: The cardinality of a fuzzy set A, the so-called
SIGMA COUNT, is expressed as a SUM of the values of the
membership function of A, A(x): cardA = A(x1) + A(x2) + …
A(xn) = ΣA(xi), for i=1..n
 Example: Consider X = {1, 2, 3} and sets A and B
A = 0.3/1 + 0.5/2 + 1/3;
B = 0.5/1 + 0.55/2 + 1/3
cardA = 1.8, cardB = 2.05
 Alpha cut: An -cut or -level set of a fuzzy set A  X is an
ORDINARY SET A  X, such that: A= {A(x), xX}. Basically
used in Arithmetic operation on fuzzy numbers
 Example: Consider X = {1, 2, 3} and set A
A = 0.3/1 + 0.5/2 + 1/3
Then A0.5 = {2, 3},
A0.1 = {1, 2, 3},
A1 = {3}
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Fuzzy Set Operations
 Exercise: We want to compare two sensors based upon
their detection levels and gain settings. The following
table of gain settings and sensor detection levels with a
standard item being monitored provides typical
membership values to represents the detection levels for
each of the sensors.

 Find the membership function for the two sensors: Find the
following membership functions using standard set operations:
 , ,,

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Home take works
 Read about Fuzzy arithmetic operation
 Addition/ subtraction
 Multiplication /division
 Hint; you can use alph cut notation

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Fuzzy Relations
 Crisp/fuzzy relations
 Crisp Relation: A crisp relation represents the
presence or absence of association, interaction or
interconnectedness between the elements of two or
more sets.
 
A relation Xamong
iN n
i. crisp sets X1, X2, ..., Xn is a subset of
the Cartesian product It is denoted by R(X1,
X2, ...,RX(nX). , X ,  , X )  X X  X
1 2 n 1 2 n

R( X i | i  N n )   X i (abbreviat ed form)
iN n

In the case of crisp relation there are only two

degrees of relationship between the elements
42 ECEg 4324 Year V sem-2 ECE 11/12/2024
of sets in a crisp relation, i.e., “completely
Fuzzy Relations


Crisp Relation
Example:
R  A B
b1
a1
b2
A a2
a3
b3 B
b4
a4 b5

1 0 1 0 0 a1 Rb1 a1 Rb3 a2 Rb5

0 1 
0 0 0 ( a1 , b1 ), ( a1 , b3 ), ( a2 , b5 ) 
M R  R  
1 0 0 1 0 ( a
 3 1 , b ), ( a3 , b4 ), ( a 4 , b )
2 
  43
0 1 0 0 0 a3 Rb1 a4 Rb2
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Fuzzy Relations
 Generalizes classical relation into one that allows
partial membership – Describes a relationship that
holds between two or more objects
 Example: a fuzzy relation “Friend” describe the degree
of friendship between two person (in contrast to either
being friend or not being friend in classical relation!)
 A fuzzy relation is a mapping from the Cartesian
space X x Y to the interval [0,1], where the strength
of the mapping is expressed by the membership
function of the relation
 The “strength” of the relation between ordered
pairs of the two universes is measured with a
membership function expressing various “degree”
of strength [0,1]
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Fuzzy Relations
 Let be:
 be fuzzy set on universe X, and
 be fuzzy set on universe Y,
 Then x ⊂ XxY
 Where the fuzzy relation R has membership
function
 = = min()
 Fuzzy Cartesian Product: Example
 Let defined on a universe of three discrete
temperatures, X = {x1 ,x2 ,x3}, and
 Defined on a universe of two discrete pressures, Y
= {y1 ,y2}
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Fuzzy Relations
Fuzzy relations are often presented in the form of two

dimensional tables. A m by n matrix represents a

contented way of entering the fuzzy relation R

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Fuzzy Relations
 Fuzzy set represents the “ambient”
temperature and Fuzzy set the “near
optimum” pressure for a certain heat
exchanger,
 And the Cartesian product might represent the
conditions (temperature pressure pairs) of the
exchanger that are associated with “efficient”
operations.
 For example, let

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Fuzzy Composition
 Let R be a relation that relates, or maps,
elements from universe X to universe Y, and
let S be a relation that relates, or maps,
elements from universe Y to universe Z.
 A useful question we seek to answer is
whether we can find a relation, T, that relates
the same elements in universe X that R
contains to the same elements in universe Z
that S contains. It turns out that we can find
such a relation using an operation known
as composition.

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Fuzzy Composition
 If R is a fuzzy relation on the space X x Y
S is a fuzzy relation on the space Y x Z
 Then, fuzzy composition is T = R  S
There are two common forms of the
composition operation:
Fuzzy max-min composition
T(xz) =  (R(xy)  s(yz))
Fuzzy max-production composition
T(xz) =  (R(xy)  s(yz))


Note: R  S  S  R multiplication

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Fuzzy Composition
 Max-Min Composition

X Y Z
R: fuzzy relation defined on X and Y.

S: fuzzy relation defined on Y and Z.

R 。 S: the composition of R and S.
A fuzzy relation defined on X andZ

 RS (x, z ) max y min  R ( x, y ), S ( y, z ) 

 y  R ( x, y )  S ( y, z ) 
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Fuzzy Composition
 Example: consider relation R and S, find T = R  S
 Using:  S R (x, y ) max v min  R ( x, v),  S (v, y ) 
R a b c d S   
1 0.1 0.2 0.0 1.0 a 0.9 0.0 0.3
2 0.3 0.3 0.0 0.2 b 0.2 1.0 0.8
3 0.8 0.9 1.0 0.4 0.1 0.2 0.0 1.0 c 0.8 0.0 0.7
min 0.9 0.2 0.8 0.4 d 0.4 0.2 0.3
max 0.1 0.2 0.0 0.4
RS   
1 0.4 0.2 0.3
2 0.3 0.3 0.3
3 0.8 0.9 0.8
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 .

Fuzzy Composition
 Max-Product Composition

X Y Z
R: fuzzy relation defined on X and Y.

S: fuzzy relation defined on Y and Z.

R 。 S: the composition of R and S.
A fuzzy relation defined on X andZ

 RS (x, y ) max v  R ( x, v) S (v, y ) 

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Fuzzy Composition
 Example: consider relation R and S, find T = R  S
 Using:
S   
R a b c d
a 0.9 0.0 0.3
1 0.1 0.2 0.0 1.0
b 0.2 1.0 0.8
2 0.3 0.3 0.0 0.2
0.1 0.2 0.0 1.0 c 0.8 0.0 0.7
3 0.8 0.9 1.0 0.4
Product 0.9 0.2 0.8 0.4 d 0.4 0.2 0.3
max .09 .04 0.0
0.4
RS   
1 0.4 0.2 0.3
2 0.27 0.3 0.24
3 0.8 0.9 0.7

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Fuzzy Composition
 Exercise: Suppose we are interested in
understanding the speed control of the DC
shunt motor under no-load condition, as
shown.

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Fuzzy Composition
 Initially, the series resistance Rse in should
be kept in the cut-in position for the
following reasons:
1. The back electromagnetic force, given by Eb = kNφ,
where k is a constant of proportionality, N is the motor
speed, and φ is the flux (which is proportional to input
voltage, V ), is equal to zero because the motor speed is
equal to zero initially.
2. We have V = Eb + Ia(Ra + Rse), therefore Ia = (V −
Eb)/(Ra + Rse), where Ia is the armature current and Ra
is the armature resistance. Since Eb is equal to zero
initially, the armature current will be Ia = V/(Ra + Rse),
which is going to be quite large initially and may destroy
the armature.
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Fuzzy Composition
Let Rse be a fuzzy set representing a number of
possible values for series resistance, say sn values,
given as

and let Ia be a fuzzy set having a number of

possible values of the armature current, say m
values, given as

The fuzzy sets Rse and Ia can be related through a

fuzzy relation, say R, which would allow for the
establishment of various degrees of relationship
between pairs of resistance and current.
Let N be another fuzzy set having numerous values
for
56 the motor speed,ECEg
say4324
v Year
values, given
V sem-2 ECE as
11/12/2024
Fuzzy Composition
Now, we can determine another fuzzy relation, say
S, to relate current to motor speed, that is, Ia to N.
Using the operation of composition, we could then
compute a relation, say T, to be used to relate
series resistance to motor speed, that is, Rse to N.
Using the operation of composition, having:

57 ECEg 4324 Year V sem-2 ECE 11/12/2024

End of Ch-1
Thank u…

58 ECEg 4324 Year V sem-2 ECE 11/12/2024