Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Fuzzy Logic: Principles and Applications

ISS0023 Intelligent Control Systems

Sergei Astapov

Laboratory for Proactive Technologies

Department of Computer Control
Tallinn University of Technology, Estonia
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Self Introduction

Engineer at the Laboratory for Proactive Technologies

(ProLab)
PhD student at the Department of Computer Control
Research topics
Band-limited signal analysis
Signal processing and data mining algorithms
Classification and decision-making algorithms

Room: U02-305
E-mail: [email protected]
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Lecture Overview

1. Concepts of Fuzzy Logic 3. Applications

1.1 Introduction 3.1 Fuzzy PID Controller
1.2 Fuzzy Sets 3.2 Fuzzy %Anything%
1.3 Fuzzy Set Operations 3.3 Adaptive FIS
1.4 Membership Functions 3.4 Adaptive Control
1.5 Fuzzy Rules 3.5 Clustering and Classification
2. Fuzzy Inference Systems 3.6 Discussion
2.1 Introduction
2.2 Mamdani FIS
2.3 Mamdani Inference
2.4 Defuzzification
2.5 Mamdani FIS Editor
2.6 Takagi-Sugeno FIS
2.7 Sugeno FIS Editor
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Outline

1. Concepts of Fuzzy Logic 3. Applications

1.1 Introduction 3.1 Fuzzy PID Controller
1.2 Fuzzy Sets 3.2 Fuzzy %Anything%
1.3 Fuzzy Set Operations 3.3 Adaptive FIS
1.4 Membership Functions 3.4 Adaptive Control
1.5 Fuzzy Rules 3.5 Clustering and Classification
2. Fuzzy Inference Systems 3.6 Discussion
2.1 Introduction
2.2 Mamdani FIS
2.3 Mamdani Inference
2.4 Defuzzification
2.5 Mamdani FIS Editor
2.6 Takagi-Sugeno FIS
2.7 Sugeno FIS Editor
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Why Go Fuzzy?

Fuzzy logic models human expertise and knowledge in some

task or application

Consider conventional binary logic

Variables may take values of TRUE or FALSE (0 or 1)

Try then to answer a simple question with binary logic

What do you consider warm temperature?
How to answer?
You could try to give a value or interval of “warm” temperature
But then when does the temperature become cold or hot?
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

The Fuzzy Way of Thinking

Binary logic μ(t)

freezing cold chilly 1 cool warm hot

-40 -30 -20 -10 0 10 20 30 40 t (°C)

Fuzzy logic μ(t)

freezing cold chilly 1 cool warm hot

-40 -30 -20 -10 0 10 20 30 40 t (°C)

Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

The Concept of Fuzzy Logic

Fuzzy logic variables have a range of truthfulness from 0 to 1

Fuzzy logic operates with linguistic variables, like
“temperature” instead of t(◦ C)
Each variable has a specific number of linguistic values, like
“hot” or “cold”
Fuzzy inference is performed using linguistic rules, e.g.

IF temperature is cold THEN dress warm

The linguistic values and their truth degree are quantified

using membership functions (MF)
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

A Little Bit of History

1964 : Lotfi A. Zadeh, UC Berkeley, introduced the paper on fuzzy sets

Idea of grade of membership
Imperfection and noise in the real world
Sharp criticism from academic community
1965–1975 : Zadeh continued to broaden the foundation of fuzzy set theory
Fuzzy multistage decision-making
Fuzzy similarity relations
Fuzzy restrictions, linguistic hedges
1970s : Research was mainly centered in Japan
1974 : E. H. Mamdani, UK, developed the first fuzzy logic controller
1977 : Dubois applied fuzzy sets in a comprehensive study of traffic conditions
1976–1987 : Industrial application of fuzzy logic in Japan and Europe
1987–Present : Widespread application
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Outline

1. Concepts of Fuzzy Logic 3. Applications

1.1 Introduction 3.1 Fuzzy PID Controller
1.2 Fuzzy Sets 3.2 Fuzzy %Anything%
1.3 Fuzzy Set Operations 3.3 Adaptive FIS
1.4 Membership Functions 3.4 Adaptive Control
1.5 Fuzzy Rules 3.5 Clustering and Classification
2. Fuzzy Inference Systems 3.6 Discussion
2.1 Introduction
2.2 Mamdani FIS
2.3 Mamdani Inference
2.4 Defuzzification
2.5 Mamdani FIS Editor
2.6 Takagi-Sugeno FIS
2.7 Sugeno FIS Editor
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Conventional and Fuzzy Sets

Let X be a space of objects and x be a generic element of X. A

classical set A, A ⊆ X, is defined as a collection of elements
x ∈ X, such that each element x can either belong or not belong
to the set A.
The classical set thus can be characterized as A = {x | x ∈ X} .
By defining a characteristic function for each x, we can represent
the classical set A by a set of ordered pairs (x, 0) or (x, 1), which
indicate x ∈/ A or x ∈ A respectively.
In a fuzzy set the characteristic function is allowed to have values
of membership between 0 and 1.
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Fuzzy Set Definition

Definition 1 (Fuzzy set)

If X is a collection of objects x, then a fuzzy set A in X is
defined as a set of ordered pairs:

A = {(x, µA (x)) | x ∈ X} , (1)

where µA (x) is called the membership function (MF) for the

fuzzy set A.

In fuzzy set theory classical sets are referred to as crisp sets and
the values as crisp values.
X is usually referred to as the universe of discourse. It represents
the range of values the fuzzy variables may take.
Universes of discourse may be either discrete or continuous.
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Linguistic Variables and Values

Fuzzy sets usually carry names appealing in our daily linguistic usage
The universe is called a linguistic variable and its sets are called
linguistic values
The universe of discourse X is partitioned into several fuzzy sets,
with MFs covering X in a more or less uniform manner

Example 1
Consider the universe X of linguistic variable “temperature”. The
universe may be defined differently, depending on the application. We
may set it from the lowest to the highest temperature a typical human
being can live in, e.g. [−50, 50] ◦ C.
We partition the universe into 6 fuzzy sets: “freezing”, “cold”, “chilly”,
“cool”, “warm”, “hot”. These sets are characterized by MFs
µf reezing (x), µcold (x), µchilly (x), µcool (x), µwarm (x), µhot (x).
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Relevant Properties of Fuzzy Sets

Definition 2 (Support)
The support of a fuzzy set A is the set of all points x ∈ X, such that
µA (x) > 0:
support(A) = {x | µA (x) > 0} . (2)

Definition 3 (Core)
The core of a fuzzy set A is the set of all points x ∈ X, such that
µA (x) = 1:
core(A) = {x | µA (x) = 1} . (3)

Definition 4 (Crossover points)

A crossover point of a fuzzy set A is a point x ∈ X, at which
µA (x) = 0.5:
crossover(A) = {x | µA (x) = 0.5} . (4)
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Relevant Properties of Fuzzy Sets Continued

Definition 5 (Normality)
A fuzzy set A is normal if its core is nonempty, i.e. we can always
find a point x ∈ X, such that µA (x) = 1.

Definition 6 (Fuzzy singleton)

A fuzzy set, the support of which is a single point in X with
µA (x) = 1 is called a fuzzy singleton.

Definition 7 (Symmetry)
A fuzzy set A is symmetric if its MF is symmetric around a
certain point x = c, namely, µA (c + x) = µA (c − x), ∀x ∈ X.
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Relevant Properties of Fuzzy Sets Continued

Definition 8 (Open left, open right, closed sets)

A fuzzy set A is:
open left if limx→−∞ µA (x) = 1, limx→+∞ µA (x) = 0;
open right if limx→−∞ µA (x) = 0, limx→+∞ µA (x) = 1;
and closed if limx→−∞ µA (x) = limx→+∞ µA (x) = 0.

symmetric μ(x)
freezing cold chilly 1 cool warm hot

open left open right

0.5

core

-40 -30 -20 -10 0 10 20 30 40 x

all are normal crossover points temperature is 25 °C
support singleton
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Outline

1. Concepts of Fuzzy Logic 3. Applications

1.1 Introduction 3.1 Fuzzy PID Controller
1.2 Fuzzy Sets 3.2 Fuzzy %Anything%
1.3 Fuzzy Set Operations 3.3 Adaptive FIS
1.4 Membership Functions 3.4 Adaptive Control
1.5 Fuzzy Rules 3.5 Clustering and Classification
2. Fuzzy Inference Systems 3.6 Discussion
2.1 Introduction
2.2 Mamdani FIS
2.3 Mamdani Inference
2.4 Defuzzification
2.5 Mamdani FIS Editor
2.6 Takagi-Sugeno FIS
2.7 Sugeno FIS Editor
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Containment

Definition 9 (Containment or subset)

Fuzzy set A is contained in fuzzy set B (or A is a subset of B),
iff µA (x) ≤ µB (x) for all x:

A ⊆ B ⇐⇒ µA (x) ≤ µB (x). (5)

μ(x)
1 B
A

x
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Complement

Definition 10 (Complement or negation)

The complement of a fuzzy set A, denoted by A or ¬A, or
NOT A is defined as

µA (x) = 1 − µA (x). (6)

μ(x) μ(x)
1 1
A NOT A

x x
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Union
Definition 11 (Union or disjunction)
The union of two fuzzy sets A and B is a fuzzy set C, written as
C = A ∪ B or C = A OR B, the MF of which is related to those
of A and B by

µC (x) = max (µA (x), µB (x)) = µA (x) ∨ µB (x). (7)

μ(x) μ(x)
1 1
A B

A OR B

x x
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Intersection
Definition 12 (Intersection or conjunction)
The intersection of two fuzzy sets A and B is a fuzzy set C,
written as C = A ∩ B or C = A AND B, the MF of which is
related to those of A and B by

µC (x) = min (µA (x), µB (x)) = µA (x) ∧ µB (x). (8)

μ(x) μ(x)
1 1
A B
A AND B

x x
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Cartesian Product and Co-product

Definition 13 (Cartesian product and co-product)

Let A and B be fuzzy sets in X and Y , respectively. The
Cartesian product of A and B, denoted by A × B, is a fuzzy set
in the product space X × Y with the membership function

µA×B (x, y) = min (µA (x), µB (y)) . (9)

Similarly, the Cartesian co-product A + B is a fuzzy set with the

membership function

µA+B (x, y) = max (µA (x), µB (y)) . (10)

Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Outline

1. Concepts of Fuzzy Logic 3. Applications

1.1 Introduction 3.1 Fuzzy PID Controller
1.2 Fuzzy Sets 3.2 Fuzzy %Anything%
1.3 Fuzzy Set Operations 3.3 Adaptive FIS
1.4 Membership Functions 3.4 Adaptive Control
1.5 Fuzzy Rules 3.5 Clustering and Classification
2. Fuzzy Inference Systems 3.6 Discussion
2.1 Introduction
2.2 Mamdani FIS
2.3 Mamdani Inference
2.4 Defuzzification
2.5 Mamdani FIS Editor
2.6 Takagi-Sugeno FIS
2.7 Sugeno FIS Editor
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Preface

A fuzzy set is completely characterized by its MF

As the universe most often consists of real values, X ⊆ R, it

is convenient to define MFs as continuous functions

For a single linguistic variable the MFs are one-dimensional

Combining the universes of different linguistic variables, MFs

of higher dimensions may be derived

Here the most commonly applied MF types are presented

Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Straight-Line MF:Triangular MF

Definition 14 (Triangular MF)

A triangular MF is specified by three parameters {a, b, c} as follows:


 0, x ≤ a.
 x−a , a ≤ x ≤ b.

b−a
triangle (x; a, b, c) = c−x (11)
 , b ≤ x ≤ c.
 c−b


0, c ≤ x.

It may also be described by min and max as

x−a c−x
triangle (x; a, b, c) = max min , ,0 . (12)
b−a c−b

The parameters a and c locate the “feet” of the triangle and b — its
peak.
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Straight-Line MF: Trapezoidal MF

Definition 15 (Trapezoidal MF)

A trapezoidal MF is specified by four parameters {a, b, c, d} as follows:



0, x ≤ a.
x−a
 b−a , a ≤ x ≤ b.



trapezoid (x; a, b, c, d) = 1, b ≤ x ≤ c. (13)
d−x

 d−c , c ≤ x ≤ d.




0, d ≤ x.

An alternative expression using min and max is

x−a d−x
trapezoid (x; a, b, c, d) = max min , 1, ,0 . (14)
b−a d−c

The parameters a and d locate the “feet” of the trapezoid and b and c —
its “shoulders”.
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Smooth MF: Gaussian and Bell MF

Definition 16 (Gaussian MF)

A Gaussian MF is specified by two parameters {c, σ} as follows:
1 x−c 2
gaussian (x; c, σ) = e− 2 ( σ ) . (15)

The parameter c represents the MF center and σ determines the

MF width.

Definition 17 (Generalized bell MF)

A generalized bell MF is specified by three parameters {a, b, c}
as follows:
1
bell (x; a, b, c) = 2b
, (16)
1 + x−c
a
where b is usually positive (if b < 0, then the MF becomes an
upside-down bell).
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

MATLAB MF Examples

(a) Triangular MF: trimf(x,[20,60,80]) (b) Trapezoidal MF: trapmf(x,[10,20,60,95])

1 1
Membership Grades

Membership Grades
0.8 0,8
0.6 0,6
0.4 0,4
0.2 0,2
0 0
0 20 40 60 80 100 0 20 40 60 80 100

(c) Gaussian MF: gaussmf(x,[20,50]) (d) Generalized Bell MF: gbellmf(x,[20,4,50])

1 1
Membership Grades

Membership Grades
0.8 0.8
0.6 0.6
0.4 0.4
0.2 0.2
0 0
0 20 40 60 80 100 0 20 40 60 80 100
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Changing the Parameters of Bell MF

(a) Changing ’a’ (b) Changing ’b’

1 1

0.8 0.8

0.6 0.6

0.4 0.4

0.2 0.2

0 0
−10 −5 0 5 10 −10 −5 0 5 10

(c) Changing ’c’ (d) Changing ’a’ and ’b’

1 1

0,8 0.8

0,6 0.6

0,4 0.4

0,2 0.2

0 0
−10 −5 0 5 10 −10 −5 0 5 10
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Straight-line and Smooth MFs: Analysis

What are the advantages and drawbacks of straight-line and

smooth MFs?
Straight-line MFs
Simple formulas: computational efficiency
Zero points strictly defined:
Good, when boundary strictness is needed
Bad, when fuzzy sets cannot be adequately characterized by
sudden drops to zero membership
Limitations due to linearity
Simple for manual tuning, unsuited for automated tuning
Smooth MFs:
Non-linear: higher flexibility
Best for automated tuning (adaptive systems)
Less straight-forward: more problems during initial design
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Open Membership Functions

Definition 18 (Sigmoidal MF)
A sigmoidal MF is specified by two parameters {a, c} as follows:
1
sig (x; a, c) = , (17)
1+ e−a(x−c)
where a controls the slope of the crossover point c.

An open triangular MF is obtained by specifying ± inf as a left or right

“foot” parameter, e.g. trimf(x,[3,7,inf])
(a) Sigmoidal MF: sigmf(x,[1,5]) (b) Triangular MF: trimf(x,[3,7,inf])

1 1
Membership Grades

Membership Grades

0.8 0.8

0.6 0.6

0.4 0.4

0.2 0.2

0 0
−5 0 5 10 15 −5 0 5 10 15
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Asymmetric Membership Functions

There are numerous ways to get asymmetric smooth MFs. One way
is taking the difference |y1 − y2 | and product y1 y2 of sigmoid MFs:
(a) y1 = sig(x;1,−5); y2 = sig(x;2,5) (b) |y1 − y2|

1 1
y1
0.8 0.8

0.6 y2 0.6

0.4 0.4

0.2 0.2

0 0
−10 −5 0 5 10 −10 −5 0 5 10

(c) y1 = sig(x;1,−5); y3 = sig(x;−2,5) (d) y1*y3

1 1

0.8 0.8
y1 y3
0.6 0.6

0.4 0.4

0.2 0.2

0 0
−10 −5 0 5 10 −10 −5 0 5 10
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Asymmetric MF: Left-Right MF

Definition 19 (Left-right MF)

A left-right MF is specified by three parameters {α, β, c} as

FL c−x
(
α , x ≤ c,
LR (x; α, β, c) = x−c (18)
FR β , x ≥ c,

where FL (x) and FR (x) are monotonically decreasing functions

defined on [0, ∞) with FL (0) = FR (0) = 1 and
limx→∞ FL (x) = limx→∞ FR (x) = 0.
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Asymmetric MF: Left-Right MF Example

Example 2
3
Let FL (x) = max (0, 1 − x2 ), FR = e−|x| . Then applying (18)
p

we can generate different curves, e.g. (a) lr_mf(x,60,10,65);

and (b) lr_mf(x,10,40,25);

(a) (b)

1 1
Membership Grades

Membership Grades
0.8 0.8

0.6 0.6

0.4 0.4

0.2 0.2

0 0
0 20 40 60 80 100 0 20 40 60 80 100
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Asymmetric MF: Two-Sided Gaussian MF

Definition 20 (Two-sided Gaussian MF)

A two-sided Gaussian MF is defined by four parameters {c1 , σ1 , c2 , σ2 }
as
 h i
1 x−c1


 exp − 2 σ1 , x ≤ c1 ,

i c1 < x ≤ c2 ,
gaussian2 (x; c1 , σ1 , c2 , σ2 ) = 1, h (19)

exp − 1 x−c2 , c ≤ x,

2 σ2 2

where c1 , σ1 are the parameters of the left-most curve and c2 , σ2 are the
parameters of the right-most curve.

The two-sided Gaussian is essentially a mixture of two Gaussian

functions defined by (15). It is computed in MATLAB using the
gauss2mf function.
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Remarks on Membership Functions

The presented MFs are only the most common ones

For a full glossary of available MFs refer to the MATLAB

Fuzzy Toolbox manual and other sources

Be creative! Nobody forbids you from inventing your own MFs

Non-normality and other properties of MFs can be achieved

by mathematical manipulations on existing MFs or by defining
one’s own MFs

Two-dimensional MFs are not discussed here, for further study

please refer to literature
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Outline

1. Concepts of Fuzzy Logic 3. Applications

1.1 Introduction 3.1 Fuzzy PID Controller
1.2 Fuzzy Sets 3.2 Fuzzy %Anything%
1.3 Fuzzy Set Operations 3.3 Adaptive FIS
1.4 Membership Functions 3.4 Adaptive Control
1.5 Fuzzy Rules 3.5 Clustering and Classification
2. Fuzzy Inference Systems 3.6 Discussion
2.1 Introduction
2.2 Mamdani FIS
2.3 Mamdani Inference
2.4 Defuzzification
2.5 Mamdani FIS Editor
2.6 Takagi-Sugeno FIS
2.7 Sugeno FIS Editor
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Fuzzy IF-THEN Rules

Definition 21 (Fuzzy if-then rule)

A fuzzy if-then rule, also known as a fuzzy rule, fuzzy implication, or
fuzzy conditional statement, assumes the form

IF x is A THEN y is B, (20)

where A and B are linguistic values defined by fuzzy sets on universes of

discourse X and Y , respectively. The expression x is A is called the
antecedent or premise, while y is B is called the consequence or
conclusion.
Expression (20), which is abbreviated as A → B, can be defined as a binary
fuzzy relation R on the product space X × Y : R = A → B. R can be viewed
as a fuzzy set of two-dimensional MF

µR (x, y) = f (µA (x), µB (y)) ,

where the function f is called the fuzzy implication function, that transforms
the membership degrees of x in A and y in B into those of (x, y) in A → B.
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Multiple Input Multiple Output Rules

Let premise linguistic variables xi , i = 1, 2, . . . , n and consequence

linguistic variables yj , j = 1, 2, . . . , m take on values of their universes of
discourse Xi and Yj , respectively. Let xi be characterized by a set of
linguistic values
Ai = Aki : k = 1, 2, . . . , Ni ,

and yj be characterized by a set of linguistic values

Bj = Bjl : l = 1, 2, . . . , Mi .

Then a MIMO rule with number of inputs n and number of outputs m

can be written as
IF x1 is Ap1 AND x2 is Aq2 AND . . . AND xn is Arn
(21)
THEN y1 is B1s AND y2 is B2u AND . . . AND ym is Bm
v
.
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Linguistic Operators

A large number of operators may be applied to linguistic

terms in fuzzy rules
Negation, e.g. “not warm”
Connectives: and, or, either, neither, etc.
Hedges: too, very, more or less, quite, extremely, etc.
For example “more or less warm but not too warm”

Here only not, and, or operators are discussed as they are

most common and sufficient in the majority of applications

In practice we will use only the and operator

Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Outline

1. Concepts of Fuzzy Logic 3. Applications

1.1 Introduction 3.1 Fuzzy PID Controller
1.2 Fuzzy Sets 3.2 Fuzzy %Anything%
1.3 Fuzzy Set Operations 3.3 Adaptive FIS
1.4 Membership Functions 3.4 Adaptive Control
1.5 Fuzzy Rules 3.5 Clustering and Classification
2. Fuzzy Inference Systems 3.6 Discussion
2.1 Introduction
2.2 Mamdani FIS
2.3 Mamdani Inference
2.4 Defuzzification
2.5 Mamdani FIS Editor
2.6 Takagi-Sugeno FIS
2.7 Sugeno FIS Editor
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Fuzzy Inference Systems

A fuzzy inference system (FIS) or, as it is also known in different

application areas, fuzzy expert system, fuzzy model, fuzzy
associative memory and fuzzy logic controller (FLC), is a
computing framework based on the concepts of fuzzy theory, fuzzy
if-then rules and fuzzy reasoning.

FIS have many application areas

Automatic control and robotics
Classification and clustering
Pattern recognition
Decision analysis and expert systems
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Generic FIS Structure

Crisp Fuzzified Fuzzified Crisp

inputs inputs conclusions outputs
x1 y1

Defuzzification
Fuzzification
x2 Inference y2
mechanism
...

...
xn Rule-base yn

Fuzzification: transformation of crisp values to fuzzy sets

Rule-base: contains a selection of fuzzy rules
Inference mechanism: performs a certain inference procedure
upon the rules and derives a conclusion
Defuzzification: transformation of output fuzzy sets to crisp
values
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

What Will Be Discussed

Fuzzy logic controller

Defuzzification
Reference input Inputs Outputs
Fuzzification
Inference
r(t) mechanism u(t) y(t)
Process

Rule-base

We investigate two most common FIS types:

Mamdani and Takagi-Sugeno fuzzy models
An example of a fuzzy control system is provided along the
coarse of investigation
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Controlled Process: Inverted Pendulum

e(t) θ
r(t) — reference θ angle
x u(t) — force (N)
y(t) — θ angle (rad)
F e(t) = r(t) − y(t)

r(t)
Σ Fuzzy logic u(t) Inverted y(t)
+ -
d controller pendulum
dt
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Outline

1. Concepts of Fuzzy Logic 3. Applications

1.1 Introduction 3.1 Fuzzy PID Controller
1.2 Fuzzy Sets 3.2 Fuzzy %Anything%
1.3 Fuzzy Set Operations 3.3 Adaptive FIS
1.4 Membership Functions 3.4 Adaptive Control
1.5 Fuzzy Rules 3.5 Clustering and Classification
2. Fuzzy Inference Systems 3.6 Discussion
2.1 Introduction
2.2 Mamdani FIS
2.3 Mamdani Inference
2.4 Defuzzification
2.5 Mamdani FIS Editor
2.6 Takagi-Sugeno FIS
2.7 Sugeno FIS Editor
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Mamdani Type FIS

Was proposed as the first attempt to control a steam engine

and boiler combination by a set of linguistic control rules
obtained from experienced human operators

The most straight-forward cognitive approach to transferring

knowledge into fuzzy models

Design steps
Choose controller inputs and outputs (linguistic variables)
Assign linguistic values to every variable
Derive control rules for every possible scenario
Choose proper MF for every linguistic value
Specify the parameters of the inference mechanism
Test, observe behavior, tune
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

FIS Linguistic Variables and Values

For our inverted pendulum example we choose the following

inputs and outputs:
“error” describes e(t) = r(t) − y(t)
d
“change-in-error” describes dt e(t)
“force” describes u(t)
The linguistic variables take on the following values:
“negative large” or “neglarge”, represented by “-2”
“negative small” or “negsmall”, represented by “-1”
“zero”, represented by “0”
“positive small” or “possmall”, represented by “1”
“positive large” or “poslarge”, represented by “2”
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Fuzzy Rules

Recall the general MIMO rule structure (15). Substituting mathematical

characters with our assigned linguistic labels and values, we get rules of
the following structure:
(a) IF error is neglarge AND change-in-error is neglarge THEN force is poslarge
(b) IF error is zero AND change-in-error is possmall THEN force is negsmall
(c) IF error is poslarge AND change-in-error is negsmall THEN force is negsmall

F F F

(a) (b) (c)

Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Fuzzy Rule-Base

The number of rules for a MISO FIS is at most ni=1 Ni , where Ni

Q
is the number of linguistic values for the i-th linguistic premise
variable. (All possible combinations of premise linguistic values.)
In our case the number of rules is equal to 5 · 5 = 25.
Continuing the logic of the previous three rule cases, we can derive
the rule-base, presented as a table.

force change-in-error
-2 -1 0 1 2
-2 2 2 2 1 0
-1 2 2 1 0 -1
error 0 2 1 0 -1 -2
1 1 0 -1 -2 -2
2 0 -1 -2 -2 -2
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Membership Functions

neglarge negsmall zero possmall poslarge

-π/2 -π/4 0 π/4 π/2 e(t) (rad)

neglarge negsmall zero possmall poslarge

-π/4 -π/8 0 π/8 π/4 de(t)/dt (rad/s)

neglarge negsmall zero possmall poslarge

-30 -20 -10 0 10 20 30 u(t) (N)

Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Fuzzification

Singleton fuzzification: apply a fuzzy singleton µfuz

Ai (x) to the
premise variable universe, perform intersection.
This method is applied when measurement noise is not accounted for — the
crisp input values are certain. In “Gaussian fuzzification” a Gaussian is used as
a fuzzification function, which accounts for inconsistency in the input signal.

Crisp input e(t) = −9π/20:

neglarge negsmall zero possmall poslarge
fuz

\ (e) = min µneglarge (e), µ1 (e) =
µneglarge
min(0.75, 1) = 0.75;
fuz

µnegsmall
\ (e) = min µnegsmall (e), µ1 (e) =
-π/2 -π/4 0 π/4 π/2 e(t) (rad) min(0.25, 1) = 0.25; all other zero.
e(t) = -9π/20
neglarge negsmall zero possmall poslarge Crisp input ė(t) = 9π/80:
fuz

µzero
d (ė) = min µzero (ė), µ2 (ė) =
min(0.125, 1) = 0.125;
fuz

µpossmall
\ (ė) = min µpossmall (ė), µ2 (ė) =
-π/4 -π/8 0 π/8 π/4 de(t)/dt (rad/s)
de(t)/dt = 9π/80 min(0.875, 1) = 0.875; all other zero.
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Outline

1. Concepts of Fuzzy Logic 3. Applications

1.1 Introduction 3.1 Fuzzy PID Controller
1.2 Fuzzy Sets 3.2 Fuzzy %Anything%
1.3 Fuzzy Set Operations 3.3 Adaptive FIS
1.4 Membership Functions 3.4 Adaptive Control
1.5 Fuzzy Rules 3.5 Clustering and Classification
2. Fuzzy Inference Systems 3.6 Discussion
2.1 Introduction
2.2 Mamdani FIS
2.3 Mamdani Inference
2.4 Defuzzification
2.5 Mamdani FIS Editor
2.6 Takagi-Sugeno FIS
2.7 Sugeno FIS Editor
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Mamdani Inference Mechanism Steps

Calculate the firing strength for each rule in the rule-base

Determine which rules are on using the firing strengths

Determine implied fuzzy sets — perform fuzzy implication

Determine overall implied fuzzy set — perform fuzzy

aggregation*

*Performed in case of applying specific types of defuzzification.

If defuzzification uses implied fuzzy sets, the step is not performed.
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Firing Strength of a Premise

The firing strength of a rule is the degree of certainty that the rule premise
holds for the given inputs. Its calculation depends on the linguistic operators
used in the structure of a premise.
For any linguistic variables x1 and x2 the typical operators are the following:
Fuzzy complement (NOT):
Defined in (6) as µÂk (x1 ) = 1 − µÂk (x1 )
1 1

Fuzzy union (OR):

Defined in (7) as maximum µÂk ∪Âl (x1 , x2 ) = max µÂk (x1 ) , µÂl (x2 )
1 2 1 2
Alternative: algebraic sum
µÂk ∪Âl (x1 , x2 ) = µÂk (x1 ) + µÂl (x2 ) − µÂk (x1 ) µÂl (x2 )
1 2 1 2 1 2

Fuzzy intersection (AND):

Defined in (8) as minimum µÂk ∩Âl (x1 , x2 ) = min µÂk (x1 ) , µÂl (x2 )
1 2 1 2
Alternative: algebraic product µÂk ∩Âl (x1 , x2 ) = µÂk (x1 ) µÂl (x2 )
1 2 1 2
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Firing Strength: More Complex Premises

In premises with more complex logic, the firing strength is calculated by

partitioning the premise into simpler terms.

Example 3
The premise
IF x1 is Â21 AND x2 is Â12 AND x3 is NOT Â53 OR x4 is Â34
yields the firing strength
µpremise
h (x1 , x2 , x3 , x4 ) = i
max min µÂ2 (x1 ) , µÂ1 (x2 ) , 1 − µÂ5 (x3 ) , µÂ3 (x4 ) .
1 2 3 4

Also there exists an option to use a “rule certainty” weight. This way, for
the i-th rule, the firing strength is multiplied by the weight wi , which
specifies how certain we are in this specific rule compared to other rules.
Keep in mind that there are more alternatives to AND and OR
operations, you can also specify your custom ones.
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Which Rules Are On

The rule is considered being “on” if its premise is non-zero:

µpremise (x1 , x2 , . . . , xn ) > 0
An optional step, that reduces the number of computations
Alternatively, perform fuzzy implication over the whole
rule-base, but you will be doing a large number of operations
over zero values

Example 4
Consider a FIS with 3 inputs and 10 MFs per input. The number of rules
is then at most 103 = 1000. With the universes partitioned by so many
rules, the number of “on” rules at any given time will be quite small. If
for example 10 rules are on, then mark those rules and perform later
steps with 10 sets of parameters, instead of using the whole rule-base and
performing 100 times more computations, mainly with zeros.
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Implied Fuzzy Sets: Fuzzy Implication

The implied fuzzy set of an output yj for a rule i, which has a

consequent Bjk , and a premise degree of membership equal to
µpremise(i) (x1 , x2 , . . . , xn ), is characterized by

µB̂ k (yj ) = min µpremise(i) (x1 , x2 , . . . , xn ) , µB k (yj ) .
j j

Alternatively the algebraic product can be defined as the

implication operation:

µB̂ k (yj ) = µpremise(i) (x1 , x2 , . . . , xn ) µB k (yj ) .

j j

An implied fuzzy set is computed for every rule that is “on”.

Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Overall Implied Fuzzy Set: Fuzzy Aggregation

The overall implied fuzzy set B̂j of nan output yj , which o

incorporates the implied fuzzy sets B̂jk , B̂jl , . . . , B̂jp is
characterized by

µB̂j (yj ) = max µB̂ k (yj ) , µB̂ l (yj ) , . . . , µB̂ p (yj ) .
j j j

Alternatively the algebraic sum can be defined as the aggregation

operation:

µB̂j (yj ) = µB̂ k (yj ) + µB̂ l (yj ) + · · · + µB̂ p (yj ) −

j j j

− µB̂ k (yj ) µB̂ l (yj ) . . . µB̂ p (yj ) .

j j j
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Mamdani Inference: Example

neglarge negsmall zero possmall poslarge neglarge negsmall zero possmall poslarge

-π/2 -π/4 0 π/4 π/2 e(t) (rad) -30 -20 -10 0 10 20 30 u(t) (N)
e(t) = -9π/20

Apply AND (min)

neglarge negsmall zero possmall poslarge neglarge negsmall zero possmall poslarge

-π/4 -π/8 0 π/8 π/4 de(t)/dt (rad/s) -30 -20 -10 0 10 20 30 u(t) (N)
de(t)/dt = 9π/80
Apply implication (min)
Apply aggregation (max)

neglarge negsmall zero possmall poslarge

-10 0 10 20 30 u(t) (N) -30 -20 -10 0 10 20 30 u(t) (N)

Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Mamdani Inference: Example Computations

From the fuzzification stage we have established that we have four fuzzy values:
µneglarge
\ (e) = 0.75; µnegsmall
\ (e) = 0.25; µzero d (ė) = 0.125;
µpossmall
\ (ė) = 0.875. Thus the rules that are on are:

IF error is neglarge AND change-in-error is zero THEN force is poslarge (red)

IF error is neglarge AND change-in-error is possmall THEN force is possmall (orange)
IF error is negsmall AND change-in-error is zero THEN force is possmall (green)
IF error is negsmall AND change-in-error is possmall THEN force is zero (blue)

Compute the firing strengths of the four rules using min for the AND operator:
µpremise(1) (e, ė) = min(µneglarge
\ (e), µzero d (ė)) = min(0.75, 0.125) = 0.125;
µpremise(2) (e, ė) = min(µneglarge
\ (e), µpossmall
\ (ė)) = min(0.75, 0.875) = 0.75;
µpremise(3) (e, ė) = min(µnegsmall
\ (e), µ d (ė)) = min(0.25, 0.125) = 0.125;
zero
µpremise(4) (e, ė) = min(µnegsmall
\ (e), µpossmall
\ (ė)) = min(0.25, 0.875) = 0.25.
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Mamdani Inference: Example Computations Continued

Implied fuzzy sets are derived from the rule premises using min as:

µposlarge(1)
\ (u) = min µpremise(1) (e, ė) , µposlarge (u) =
= min(0.125, 1) = 0.125;
µpossmall(2)
\ (u) = min µpremise(2) (e, ė) , µpossmall (u) =
= min(0.75, 1) = 0.75;
µpossmall(3)
\ (u) = min µpremise(3) (e, ė) , µpossmall (u) =
= min(0.125, 1) = 0.125;

µzero(4)
d (u) = min µpremise(4) (e, ė) , µzero (u) = min(0.25, 1) = 0.25.
The overall implied fuzzy set is obtained by fuzzy aggregation using max as:
µoverall
\ (u) =

max µposlarge(1)
\ (u) , µpossmall(2)
\ (u) , µpossmall(3)
\ (u) , µzero(4)
d (u) .
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Mamdani Inference: Principle Justification

The choice of linguistic operator functions, fuzzy inference and

fuzzy aggregation operations is based on the assertions that:
We can be no more certain in our premises than we are certain in
our data.
We can be no more certain in our conclusions than we are certain
in our premises.

Inference (product) Aggregation (max)

neglarge negsmall zero possmall poslarge

-30 -20 -10 0 10 20 30 u(t) (N) -10 0 10 20 30 u(t) (N)

Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Outline

1. Concepts of Fuzzy Logic 3. Applications

1.1 Introduction 3.1 Fuzzy PID Controller
1.2 Fuzzy Sets 3.2 Fuzzy %Anything%
1.3 Fuzzy Set Operations 3.3 Adaptive FIS
1.4 Membership Functions 3.4 Adaptive Control
1.5 Fuzzy Rules 3.5 Clustering and Classification
2. Fuzzy Inference Systems 3.6 Discussion
2.1 Introduction
2.2 Mamdani FIS
2.3 Mamdani Inference
2.4 Defuzzification
2.5 Mamdani FIS Editor
2.6 Takagi-Sugeno FIS
2.7 Sugeno FIS Editor
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Defuzzification

The result of fuzzy inference is the implied fuzzy set (or sets). For
the systems, where a crisp value is required from the FIS, the
operation called defuzzification is applied to the implied sets.
A number of defuzzification strategies exist, and it is not hard to
invent more, suiting your specific application.
Each provides a means to choose a crisp output yjcrisp based on
either the implied fuzzy sets or the overall implied fuzzy set.
Reviewed defuzzification methods:
Center of gravity (COG)
Center-average
Maximum criterion: mean of maximum (MOM), smallest of
maximum (SOM), largest of maximum (LOM)
Center of area (COA)
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Defuzzification on IFS: Center of Gravity

Definition 22 (Center of gravity)

In Center of gravity (COG) defuzzification the output yjcrisp is
computed using the center of area and area of each implied fuzzy set:
PR j ´
crisp i=1 bi Yj µB̂ji (yj ) dyj
yj = PR ´ , (22)
i=1 Yj µB̂ i (yj ) dyj
j

where R is the number or rules, bji is the center of area of the MF of Bjp
associated with the implied fuzzy set B̂ji for the i-th rule and
ˆ
µB̂ i (yj ) dyj
j
Yj

denotes the area under µB̂ i (yj ).

j
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Defuzzification on IFS: Center of Gravity

The COG is easy to compute if you have simple areas under

implied fuzzy set MFs, e.g. triangles with tops chopped off while
using triangle MFs and min for implication.
Notice though, that for this method to be reliable the fuzzy system
must be defined such that
R ˆ
X
µB̂ i (yj ) dyj 6= 0
j
i=1 Yj

for all xi . This is achieved if for every possible combination of

inputs the consequent fuzzy sets all have nonzero area.
Also areas must be computable, thus we cannot use open MFs for
output fuzzy sets.
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Defuzzification on IFS: Center-Average

Definition 23 (Center-average)
In Center-average defuzzification the output yjcrisp is computed using
the centers of each of the output MFs and the maximum certainty of
each of the implied fuzzy sets:
PR j n o
b
i=1 i sup yj µ i
B̂j (yj )
yjcrisp = P n o , (23)
R
i=1 supyj µB̂ i (yj )
j

where supyj denotes the supremum (i.e. the least upper bound) of the
implied fuzzy set µB̂ i (yj ).
j
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Defuzzification on IFS: Center-Average

The center-average is easy to compute if implied fuzzy set MFs

have a single maximum, e.g. reduced triangles while using triangle
MFs and product for implication — in this case
n o
sup µB̂ i (yj ) = max µB̂ i (yj ) .
yj j j

Notice though, that the fuzzy system must be defined such that
R
X n o
sup µB̂ i (yj ) 6= 0
yj j
i=1

for all xi . This is achieved as in the case of COG.

Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Defuzzification on IFS: Center-Average

If using normal MFs for output fuzzy sets, then for many inference
strategies we have
n o
sup µB̂ i (yj ) = µpremise(i) (x1 , x2 , . . . , xn ) ,
yj j

which is the firing strength of rule i. The formula for

defuzzification is then given by
PR j
i=1 bi µpremise(i) (x1 , x2 , . . . , xn )
yjcrisp = PR , (24)
i=1 µpremise(i) (x1 , x2 , . . . , xn )

where R
P
i=1 µpremise(i) (x1 , x2 , . . . , xn ) 6= 0, ∀xi must be ensured.
The shape of the output MFs does not matter, as bounds of
supremum subsets can be defined using singletons.
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Defuzzification on The Overall IFS: Maximum Criterion

For the MOM, SOM and LOM defuzzification the crisp output is
chosen as a point on the output universe Yj , for which the overall
implied fuzzy set B̂j reaches its maximum:
( )
n o
crisp
yj ∈ arg sup µB̂j (yj ) .
Yj

MOM, SOM and LOM differ in the strategy of choosing the crisp
value from this subset.

supremum
MOM
SOM
LOM

-10 0 10 20 30 u(t) (N)

Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Defuzzification on The Overall IFS: MOM

Definition 24 (Mean of maximum)

Define a fuzzy set B̂j∗ ⊆ Yj with a MF defined as
( n o
1, µB̂j (yj ) = supYj µB̂j (yj ) ,
µB̂ ∗ (yj ) =
j
0, otherwise.

Then the crisp output of mean of maximum (MOM) defuzzification is

defined as ´
y µ (yj ) dyj
Yj j B̂j∗
crisp
yj = ´ , (25)
µ (yj ) dyj
Yj B̂j∗
´
where the fuzzy system must be defined so Yj µB̂ ∗ (yj ) dyj 6= 0, ∀xi .
j

h i
Notice that if µB̂ ∗ (yj ) = 1 lies in a single interval yjleft , yjright ⊆ Yj ,
j
then yjcrisp = yjleft + yjright /2.
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Defuzzification on The Overall IFS: SOM and LOM

Definition 25 (Smallest of maximum)

In smallest of maximum (SOM) defuzzification the output yjcrisp is
computed as the minimal argument of the output universe Yj , for which
the the overall implied fuzzy set B̂j reaches its maximum:
" #
n o
crisp
yj = min arg sup µB̂j (yj ) . (26)
Yj

Definition 26 (Largest of maximum)

In largest of maximum (LOM) defuzzification the output yjcrisp is
computed as the maximal argument of the output universe Yj , for which
the the overall implied fuzzy set B̂j reaches its maximum:
" #
n o
crisp
yj = max arg sup µB̂j (yj ) . (27)
Yj
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Defuzzification on The Overall IFS: Center of Area

Definition 27 (Center of area)

In center of area (COA) defuzzification the output yjcrisp is computed
over the area of the MF of the overall implied fuzzy set B̂j as
´
Y
yj µB̂j (yj ) dyj
crisp
yj = ´j , (28)
µ (yj ) dyj
Yj B̂j
´
where the fuzzy system must be defined so Yj
µB̂j (yj ) dyj 6= 0, ∀xi .

Computationally expensive: overlapping implied fuzzy sets may

result in a overall implied fuzzy set with a sophisticated shape.
Computing the area of such shapes in real-time is not an easy task.
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Defuzzification: Example
For our symmetrical triangular MFs the area and center of area of the
implied fuzzy sets are easily calculated. If a symmetric triangle has a
height 1 and base width w :
The area ofa triangle
with the top “chopped off” at height h is
h2
equal to w h − 2
The area of a triangle with height h is equal to 12 wh
Here w is the support length of B̂ji and h is µpremise(i) (x1 , x2 , . . . , xn ).

min implication product implication

h h

0 w 10 20 0 w 10 20
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Defuzzification: COG Example

For implication defined by min:

´ ´ ´ ´
bpl µpl(1) (u)du+bps U µpcs(2) (u)du+bps U µpcs(3) (u)du+bz U µzb(4) (u)du
ucrisp = U
´ ´ ´ ´ =
b

U µpl(1)
b (u)du+ U µpcs(2) (u)du+ U µpcs(3) (u)du+ U µzb(4) (u)du

(20)(1.1719)+(10)(4.6875)+(10)(1.1719)+(0)(2.1875) 82.032
= 1.1719+4.6875+1.1719+2.1875 = 9.2188 = 8.90

For implication defined by product:

´ ´ ´ ´
bpl µpl(1) (u)du+bps U µpcs(2) (u)du+bps U µpcs(3) (u)du+bz U µzb(4) (u)du
ucrisp = U
´ ´ ´ ´ =
b

U µpl(1)
b (u)du+ U µpcs(2) (u)du+ U µpcs(3) (u)du+ U µzb(4) (u)du

(20)(0.625)+(10)(3.75)+(10)(0.625)+(0)(1.25) 56.25
= 0.625+3.75+0.625+1.25 = 6.25 = 9.0
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Defuzzification: Center-Average Example

For implication defined by product:

ucrisp =
n o
bpl supu µpl(1) (u) +bps supu {µpcs(2) (u)}+bps supu {µpcs(3) (u)}+bz supu {µzb(4) (u)}
=
b
n o
supu µpl(1)
b (u) +supu {µpcs(2) (u)}+supu {µpcs(3) (u)}+supu {µzb(4) (u)}

(20)(0.125)+(10)(0.75)+(10)(0.125)+(0)(0.25) 11.25
= 0.125+0.75+0.125+0.25 = 1.25 = 9.0

The supremum of a reduced triangular MF its its single peak which is

equal to µpremise(i) (x1 , x2 , . . . , xn ).
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

FIS Input-Output Curve

Portrays the dependency of FIS output on its inputs. MATLAB command: gensurf

15

10

5
force

−5

−10

−15

0.6
0.4 1.5
0.2 1
0 0.5
−0.2 0
−0.4 −0.5
−0.6 −1
−1.5
errorDot
error
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Mamdani Fuzzy Control of Inverted Pendulum

Mamdani fyzzy control of inverted pendulum

0.2

0.1
Angle (rad)

0
Theta
−0.1
ThetaDot
−0.2
0 2 4 6 8 10 12 14 16 18 20

0.5

0
Position (m)

−0.5
Position
−1
PositionDot
−1.5
0 2 4 6 8 10 12 14 16 18 20

20
10
Force (N)

0
−10 Control influence
−20 Interference

0 2 4 6 8 10 12 14 16 18 20
Time (s)
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Outline

1. Concepts of Fuzzy Logic 3. Applications

1.1 Introduction 3.1 Fuzzy PID Controller
1.2 Fuzzy Sets 3.2 Fuzzy %Anything%
1.3 Fuzzy Set Operations 3.3 Adaptive FIS
1.4 Membership Functions 3.4 Adaptive Control
1.5 Fuzzy Rules 3.5 Clustering and Classification
2. Fuzzy Inference Systems 3.6 Discussion
2.1 Introduction
2.2 Mamdani FIS
2.3 Mamdani Inference
2.4 Defuzzification
2.5 Mamdani FIS Editor
2.6 Takagi-Sugeno FIS
2.7 Sugeno FIS Editor
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

FIS Design in MATLAB: Editor Main

Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

FIS Design in MATLAB: MF Editor

Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

FIS Design in MATLAB: Rule Viewer

Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

FIS Design in MATLAB: Input-Output Curve

Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Outline

1. Concepts of Fuzzy Logic 3. Applications

1.1 Introduction 3.1 Fuzzy PID Controller
1.2 Fuzzy Sets 3.2 Fuzzy %Anything%
1.3 Fuzzy Set Operations 3.3 Adaptive FIS
1.4 Membership Functions 3.4 Adaptive Control
1.5 Fuzzy Rules 3.5 Clustering and Classification
2. Fuzzy Inference Systems 3.6 Discussion
2.1 Introduction
2.2 Mamdani FIS
2.3 Mamdani Inference
2.4 Defuzzification
2.5 Mamdani FIS Editor
2.6 Takagi-Sugeno FIS
2.7 Sugeno FIS Editor
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Takagi-Sugeno FIS

Takagi-Sugeno or simply Sugeno-type FIS has a different way of

computing the consequence and defuzzification.
A general Sugeno rule has a form

IF x1 is Ak1 AND x2 is Al2 AND . . . AND xn is Apn THEN zi = fi (·).

Here z = f (·) may be any function (even another mapping, like

neural network, or another FIS)
Usually zi = fi (x1 , x2 , . . . , xn ) is used. If this function is a first
order polynomial, i.e.

zi = an x1 + an−1 x2 + · · · + a1 xn + a0 ,

the inference system is called a first-order Sugeno FIS. When f is

a constant, the system is called a zero-order Sugeno FIS.
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Sugeno Inference Principles

The premises µpremise(i) (x1 , x2 , . . . , xn ) are computed as in the

Mamdani FIS, incorporating fuzzification and linguistic operators.

The defuzzification is usually performed using weighted average:

PR
zi µpremise(i) (x1 , x2 , . . . , xn )
y crisp
= Pi=1
R
, (29)
i=1 µpremise(i) (x1 , x2 , . . . , xn )

where
PR the fuzzy system is defined so that
i=1 µpremise(i) (x1 , x2 , . . . , xn ) 6= 0, ∀xi .

Thus the Sugeno FIS can be used as a general mapper for a wide
variety of applications.
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Sugeno FIS Example

We will not define the whole rule-base of the inverted pendulum

controller for the Sugeno FIS. Lets specify zi = fi (e, ė) for the
rules that are on in our example:
z1 = −5e + 4ė + 3 for the red rule;
z2 = −4e + 2ė + 2 for the orange rule;
z3 = −2e + 1ė + 1 for the green rule;
z4 = −0.5e + 0.5ė + 0 for the blue rule.
9 9
For the values e = − 20 π and ė = 80 π the functions take on values
9 9

z1 = −5 − 20 π + 4 80 π + 3 = 11.482
9 9
z2 = −4 − 20 π + 2 80 π + 2 = 8.362
9 9
z3 = −2 − 20 π + 1 80 π 9 + 1 = 4.181
9
z4 = −0.5 − 20 π + 0.5 80 π + 0 = 0.884
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Sugeno FIS Example

Then the FIS crisp output will be

P4
zi µpremise(i) (e, ė)
y crisp
= Pi=1
4 =
i=1 µpremise(i) (e, ė)

11.482 · 0.125 + 8.362 · 0.75 + 4.181 · 0.125 + 0.884 · 0.25

= 9.03
0.125 + 0.75 + 0.125 + 0.25

Notice, that no implication and aggregation is used. This simplifies

the inference process a lot.
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Sugeno Input-Output Curve

20

15

10

0
out

−5

−10

−15

−20

0.5 0.3
0.2
0 0.1
0
−0.5 −0.1
−0.2
−1
in2
in1
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Sugeno Fuzzy Control of Inverted Pendulum

Sugeno fyzzy control of inverted pendulum
2
Ref. position
Position (m)

1
Act. position
0

−1

−2
0 2 4 6 8 10 12 14 16 18 20

0.4
Theta
0.2
Angle (rad)

−0.2

−0.4
0 2 4 6 8 10 12 14 16 18 20

10
Control influence
5
Force (N)

−5

−10
0 2 4 6 8 10 12 14 16 18 20
Time (s)
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Outline

1. Concepts of Fuzzy Logic 3. Applications

1.1 Introduction 3.1 Fuzzy PID Controller
1.2 Fuzzy Sets 3.2 Fuzzy %Anything%
1.3 Fuzzy Set Operations 3.3 Adaptive FIS
1.4 Membership Functions 3.4 Adaptive Control
1.5 Fuzzy Rules 3.5 Clustering and Classification
2. Fuzzy Inference Systems 3.6 Discussion
2.1 Introduction
2.2 Mamdani FIS
2.3 Mamdani Inference
2.4 Defuzzification
2.5 Mamdani FIS Editor
2.6 Takagi-Sugeno FIS
2.7 Sugeno FIS Editor
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

FIS Design in MATLAB: Sugeno FIS Editor

Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

FIS Design in MATLAB: Sugeno Rules

Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

FIS Tuning
As was mentioned, the testing and tuning is the last step of FIS
development. If testing fails, the FIS has to be tuned or even redesigned.

r(t)
Σ g1
+ Fuzzy logic u(t) y(t)
- h Process
d g2 controller
dt

External FIS tuning is performed via input and output scaling gains. The
gain values may be either constant or functions of some sort, e.g. bell or
Gaussian functions.
Internal tuning is performed by reviewing the membership functions and
the rule-base. Trying out different inference and defuzzification
operations is also a good practice.
The MATLAB FIS editor is a good tool for debugging. There you can
observe the reaction of your rule firing strengths, input-output curves,
etc. to the changes you make.
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Outline

1. Concepts of Fuzzy Logic 3. Applications

1.1 Introduction 3.1 Fuzzy PID Controller
1.2 Fuzzy Sets 3.2 Fuzzy %Anything%
1.3 Fuzzy Set Operations 3.3 Adaptive FIS
1.4 Membership Functions 3.4 Adaptive Control
1.5 Fuzzy Rules 3.5 Clustering and Classification
2. Fuzzy Inference Systems 3.6 Discussion
2.1 Introduction
2.2 Mamdani FIS
2.3 Mamdani Inference
2.4 Defuzzification
2.5 Mamdani FIS Editor
2.6 Takagi-Sugeno FIS
2.7 Sugeno FIS Editor
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Fuzzy PID Controller

The term Fuzzy PID controller can be understood in two ways:

d
´
A fuzzy FIS, which has the inputs e(t), dt e(t), e(t)dt
A crisp PID controller, the KP , KI and KD coefficients of
which are tuned by a fuzzy expert system

A tunable PID controller allows to:

Increase the robustness of the typical PID controller

Increase its dynamic range
Account for different scenarios of system operation
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Fuzzy PID Controller Example 1

Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Fuzzy PID Controller Example 2

Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Fuzzy PID Control Simulation

Fuzzy PID Control of Tank System
5 Control influence: PID
Control influence: Fuzzy PID
4

0 5 10 15 20 25 30 35 40

4.5

3.5

2.5

1.5

Set value
0.5 Upper limit
Lower limit
Liquid level: PID
0 Liquid level: Fuzzy PID

0 5 10 15 20 25 30 35 40
Time (s)
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Outline

1. Concepts of Fuzzy Logic 3. Applications

1.1 Introduction 3.1 Fuzzy PID Controller
1.2 Fuzzy Sets 3.2 Fuzzy %Anything%
1.3 Fuzzy Set Operations 3.3 Adaptive FIS
1.4 Membership Functions 3.4 Adaptive Control
1.5 Fuzzy Rules 3.5 Clustering and Classification
2. Fuzzy Inference Systems 3.6 Discussion
2.1 Introduction
2.2 Mamdani FIS
2.3 Mamdani Inference
2.4 Defuzzification
2.5 Mamdani FIS Editor
2.6 Takagi-Sugeno FIS
2.7 Sugeno FIS Editor
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Making Anything Fuzzy

If you have some time variant system with parameters that

cannot be statically specified...

If you cannot describe parameter variation mathematically but

you intuitively know how they should be changed...

Introduce a fuzzy expert or control system to do it!

We have seen it in the fuzzy PID example

It is generally applicable to any linear or nonlinear dynamic
system model
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Fuzzy Predictor

Having a discrete time series θ1 , θ2 , . . . , θk , the task of a prediction

algorithm is to determine the next values of the given time series
θ̂k+1 , θ̂k+2 , . . . , θ̂k+l .
The time series possesses certain dynamical properties θk+1 = θk + ωk ,
where ωk is the system perturbation of unknown distribution.
The observed value may be affected by external interference
θ̃k = θk + νk , where νk is referred to as observation noise.
The Kalman (exponential average) predictor is given by the recurrence

θ̂k+1 = αθ̂k + (1 − α)θ̃k ,

where θ̂k+1 is the predicted value of the time series, θ̂k is the last known
predicted value, θ̃k is the last observed value and α ∈ [0, 1] is the weight
parameter.
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Fuzzy Predictor Continued

Basic logic tells us that:

If the system is steady, θ̃k influences prediction more and α → 0.
On the other hand, if the system is not steady or noisy, θ̃k is less
reliable than θ̂k and α → 1.

Specify the FIS input as error ek = θ̂k − θ̃k , then develop rules, e.g.

IF error is small THEN α is large

IF error is medium THEN α is medium
IF error is large THEN α is small

And, well, you know the rest.

P.S. Think, how introducing the change-in-error into the FIS will improve
the situation.
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

General Linear Dynamic Model

The linear discrete-time dynamic system model takes the form

xk = Ak−1 xk−1 + qk−1

,
yk = Hk−1 xk + rk−1

where xk is the system state vector at time step k, yk is the measurement

vector at k, Ak−1 is the transition matrix of the dynamic model, Hk−1 is the
measurement matrix, qk−1 ∼ N (0, Qk−1 ) is the process noise with covariance
Qk−1 and rk−1 ∼ N (0, Rk−1 ) is the measurement noise with covariance Rk−1 .

For the majority of applications it is assumed that the noise has fixed
variance and a normal distribution
What to do, if noise is time variant and has varying distribution?
One solution is the to develop a fuzzy system, which will estimate noise
parameters and tune the controller, filter, etc. online
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Outline

1. Concepts of Fuzzy Logic 3. Applications

1.1 Introduction 3.1 Fuzzy PID Controller
1.2 Fuzzy Sets 3.2 Fuzzy %Anything%
1.3 Fuzzy Set Operations 3.3 Adaptive FIS
1.4 Membership Functions 3.4 Adaptive Control
1.5 Fuzzy Rules 3.5 Clustering and Classification
2. Fuzzy Inference Systems 3.6 Discussion
2.1 Introduction
2.2 Mamdani FIS
2.3 Mamdani Inference
2.4 Defuzzification
2.5 Mamdani FIS Editor
2.6 Takagi-Sugeno FIS
2.7 Sugeno FIS Editor
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Adaptive Neuro-Fuzzy Inference System

Adaptive Neuro-Fuzzy Inference System (ANFIS) is a representation of

the Sugeno FIS in a form of a feed-forward neural network.

Layer 1 Layer 2 Layer 3 Layer 4 Layer 5

A11 x1 x2
x1 w1
Π N f1 w1 f1
A12 w1
Σ y
A21 w2
x2 Π w2 N f2 w2 f2
A22 x1 x2
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

ANFIS Architecture
The first-order Sugeno system r-th rule takes the form
IF x1 is Ak1 AND x2 is Al2 AND . . . AND xn is Apn
THEN fr = pn,r x1 + pn−1,r x2 + · · · + p1,r xn + p0,r
Lets take a system with two inputs x1 , x2 , one output y, and two rules:
Rule1 : IF x1 is A11 AND x2 is A12 THEN f1 = p2,1 x1 + p1,1 x2 + p0,1
Rule2 : IF x1 is A12 AND x2 is A22 THEN f2 = p2,2 x1 + p1,2 x2 + p0,2
Layer 1: Every i∗ -th node is an adaptive node with a function

O1,i∗ = µAki (xi ) , i∗ = i × k : i = 1, 2; k = 1, 2.

The parameters of the node’s MF are called premise parameters.

Layer 1 Layer 2 Layer 3 Layer 4 Layer 5
A11 x1 x2
x1 w1
Π N f1 w1 f1
A12 w1
Σ y
A21 w2
x2 Π w2 N f2 w2 f2
A22 x1 x2
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

ANFIS Architecture Continued

Layer 2: Every i∗ -th node is a fixed node, which calculates the firing
strengths for each rule:

O2,i∗ = wi∗ = µAk1 (x1 ) µAk2 (x2 ) , i∗ = k = 1, 2.

Besides product, other operations for the linguistic AND may be used.

Layer 3: Every i∗ -th node is a fixed node, which computes the ratio of
the i∗ -th firing strength to the sum of all R rules firing strengths:
w i∗
O3,i∗ = wi∗ = PR , i∗ = 1, 2.
r=1 wr

The outputs of this layer are called normalized firing strengths.

Layer 1 Layer 2 Layer 3 Layer 4 Layer 5
A11 x1 x2
x1 w1
Π N f1 w1 f1
A12 w1
Σ y
A21 w2
x2 Π w2 N f2 w2 f2
A22 x1 x2
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

ANFIS Architecture Continued

Layer 4: Every i∗ -th node is an adaptive node with a function

O4,i∗ = wr fr = wr (p2,r x1 + p1,r x2 + p0,r ) , i∗ = r = 1, 2.

The parameters {p2,r , p1,r , p0,r } are called consequent parameters.

Layer 5: The single node is a fixed node, which computes the overall
output as a summation of all incoming values:
R PR
X wr fr
O5,1 = y = wr fr = Pr=1
R
.
r=1 r=1 wr

Layer 1 Layer 2 Layer 3 Layer 4 Layer 5

A11 x1 x2
x1 w1
Π N f1 w1 f1
A12 w1
Σ y
A21 w2
x2 Π w2 N f2 w2 f2
A22 x1 x2
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

ANFIS Training

ANFIS is trained by a hybrid learning algorithm. Each iteration makes

two passes:

During the forward pass node outputs go forward until layer 4 and
the consequent parameters are identified by the least-squares method
In the backward pass the error signals (i.e. reference minus layer 4
output) propagate backward and the premise parameters are
updated by gradient descent

Forward pass Backward pass

Premise parameters Fixed Gradient descent
Consequent parameters Least-squares estimator Fixed
Signals Node outputs Error signals
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

MATLAB ANFIS Editor: anfisedit

Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Adaptive FIS Applications

The advantage of adaptive fuzzy systems compared to, e.g.

Artificial Neural Networks (ANN) is that they are gray box as
opposed to ANN, which are black box systems.

The application range is no less than of ANN:

Nonlinear system identification
Adaptive control (process control, inverse kinematics, etc.)
Adaptive machine scheduling
Clustering, classification and pattern recognition
Adaptive expert systems, predictors
Adaptive noise cancellation
And others!
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Outline

1. Concepts of Fuzzy Logic 3. Applications

1.1 Introduction 3.1 Fuzzy PID Controller
1.2 Fuzzy Sets 3.2 Fuzzy %Anything%
1.3 Fuzzy Set Operations 3.3 Adaptive FIS
1.4 Membership Functions 3.4 Adaptive Control
1.5 Fuzzy Rules 3.5 Clustering and Classification
2. Fuzzy Inference Systems 3.6 Discussion
2.1 Introduction
2.2 Mamdani FIS
2.3 Mamdani Inference
2.4 Defuzzification
2.5 Mamdani FIS Editor
2.6 Takagi-Sugeno FIS
2.7 Sugeno FIS Editor
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Direct Adaptive Control

Reference model,
fuzzy expert system
Adaptation
mechanism
Controller
parameters

r(t) u(t) y(t)

Controller Process
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Indirect Adaptive Control

Adaptive mapper:
Fuzzy expert system ANFIS or other
Process
Controller parameters System
designer identification

Controller
parameters

r(t) u(t) y(t)

Controller Process
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Outline

1. Concepts of Fuzzy Logic 3. Applications

1.1 Introduction 3.1 Fuzzy PID Controller
1.2 Fuzzy Sets 3.2 Fuzzy %Anything%
1.3 Fuzzy Set Operations 3.3 Adaptive FIS
1.4 Membership Functions 3.4 Adaptive Control
1.5 Fuzzy Rules 3.5 Clustering and Classification
2. Fuzzy Inference Systems 3.6 Discussion
2.1 Introduction
2.2 Mamdani FIS
2.3 Mamdani Inference
2.4 Defuzzification
2.5 Mamdani FIS Editor
2.6 Takagi-Sugeno FIS
2.7 Sugeno FIS Editor
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Fuzzy Clustering and Classification

Fuzzy clustering and fuzzy classification differ from conventional crisp clustering
and classification approaches in that:

In crisp clustering each element of a dataset has a degree of belonging 1 to

its assigned cluster and 0 to all other clusters
In fuzzy clustering each element of a dataset has a degree of belonging
ranging from 0 to 1 to each of the clusters

In crisp classification a classified pattern belongs to one of the pre-specified

classes with certainty 1 and with certainty 0 to all other classes
In fuzzy classification a classified pattern belongs to each of the
pre-specified classes with certainty ranging from 0 to 1

The most common fuzzy clustering algorithm is Fuzzy C-means clustering.

Fuzzy classification is performed applying any of the adaptive FIS structures,
e.g. ANFIS, ARIC, GARIC, NNDFR, NEFCLASS, etc.
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Fuzzy C-Means: MATLAB GUI findcluster

Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Fuzzy Clustering Demo: fcmdemo

Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Outline

1. Concepts of Fuzzy Logic 3. Applications

1.1 Introduction 3.1 Fuzzy PID Controller
1.2 Fuzzy Sets 3.2 Fuzzy %Anything%
1.3 Fuzzy Set Operations 3.3 Adaptive FIS
1.4 Membership Functions 3.4 Adaptive Control
1.5 Fuzzy Rules 3.5 Clustering and Classification
2. Fuzzy Inference Systems 3.6 Discussion
2.1 Introduction
2.2 Mamdani FIS
2.3 Mamdani Inference
2.4 Defuzzification
2.5 Mamdani FIS Editor
2.6 Takagi-Sugeno FIS
2.7 Sugeno FIS Editor
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Mamdani vs Sugeno FIS

Advantages of the Mamdani Method

It is intuitive
It has widespread acceptance
It is well suited for human input

Advantages of the Sugeno Method

It is computationally more efficient
It works well with linear techniques (e.g. PID control)
It works well with optimization and adaptive techniques
It has guaranteed continuity of the output surface
It is well suited for mathematical analysis
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Criticism of Mamdani Fuzzy Control

Fuzzy control methods are “parasitic:” they simply implement

trivial interpolations of control strategies obtained by other means
99% of fuzzy feedback control applications deal with
essentially 1st or 2nd-order, overdamped, SISO systems
Attempt to emulate or duplicate human control behavior?
Human is a very poor controller for complex, multi-variable,
marginally stable dynamic plants
Very hard to generate multidimensional if-then rule tables
No guarantees of closed-loop stability, stability-robustness and
of performance in presence of uncertainty
Cannot generate “differential equation” controller rules

M. Athans, Crisp Control Is Always Better Than Fuzzy Feedback Control, EUFIT ’99 debate with prof. L.A. Zadeh
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Criticism of Sugeno Fuzzy Control

Approach developed to overcome criticism regarding

closed-loop stability guarantees

Design full-state feedback controllers for each linear model

(using crisp control methods) and “interpolate” using
membership functions

Given that a state space model is necessary, why bother to

introduce fuzzy ideas when conventional crisp control
methods can deal with the design problem directly?

Current methodology does not address stability-robustness

and performance-robustness issues

Current methodology does not address output feedback

requiring dynamic compensator designs
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Look on the Bright Side

The answers to some of the critical claims can be found in

Passino, Chapter 8

Although there are many unsolved problems with fuzzy

control, everyone may try and decide for himself, whether the
methodology suits him or not

Fuzzy systems are useful in many other fields of intelligent

computer systems besides process control

It is good to have this tool in your pocket

If you cannot express your view in equations, but you can

verbally — go fuzzy!
Concepts of Fuzzy Logic Fuzzy Inference Systems Applications

Useful Literature

K. M. Passino and S. Yurkovich, Fuzzy Control.

Addison Wesley Longman, Menlo Park, CA, 1998

J.-S. R. Jang, C.-T. Sun and E. Mizutani,

Neuro-fuzzy and Soft Computing: A Computational
Approach to Learning and Machine Intelligence.
Prentice Hall, 1997