Fuzzy Logic Control

Fuzzy Logic ControlSistem Kendali

Kendali = pengukuran, penggerak (aktuator) dan prosesor Video Pendulum TerbalikProduk yg mendasarkan pada embedded control

Embedded control di sekitar kita

Inverted Pendulum

Siklus Desain Sistem Kendali

CONVENTIONAL CONTROLClosed-loop control takes account of actual output and compares this to desired output8MeasurementDesiredOutput+-ProcessDynamicsController/AmplifierOutputInputOpen-loop control is blind to actual output9Digital Control System Configuration

Fuzzy ControlFuzzy control provides a formal methodology for representing, manipulating, and implementing a humans heuristic knowledge about how to control a system.

10Fuzzy SystemsFuzzy Knowledge baseInputFuzzifierInferenceEngineDefuzzifierOutput11Fuzzy Control SystemsFuzzy Knowledge baseFuzzifierInferenceEngineDefuzzifierPlantOutputInput12

Basic configuration of fuzzy logic control system

Block diagram for a fuzzy inference system

Block diagram for a fuzzy inference system

The structure of a FKBC

Three fuzzy partition terms:N(Negative), Z(Zero), and P(Positive)Rule Base ConstructionIntuitive MethodMethod based Operator (Expert) ExperienceResponse Ideal Method

Fuzzy decision rule justification by using step response

DML Rule Prototype with Three Fuzzy Set Term(negative, zero, positive)

Rule Justification with Three Fuzzy Set Terms

Configuration Procedure and DML Consequence

Masukan kendali setelah tahap defuzzifikasi(Masukan kendali C1: Metoda maksimum rata-rataMasukan kendali C2: Metoda pusat area)

Various defuzzification schemes for obtaining a crisp output.

Fuzzy Partition using Seven Terms

Fuzzy Rules with 7 Terms {NB, NM, NS, ZE, PS, PM, PB}

Tabel Justifikasi kaidah dengan tujuh subset fuzzy

The rule base of a PI-like FKBC in tabular form: the five groups of rule

The Mamdani fuzzy inference system using min and max for T-normAnd T-conorm operators, respectively.

Rule NumberEDECIReference Points

1

2

3

4

5PZNZZZNZPZPNNPZa, e, i

b, f, j

c, g, k

d, h, l

desired position

Rule NumberEDECIReference Region

6

7

8

9

10

11PNNPP

NN

N

P

P

N

PP

N

N

P

Z

Zi(rise time),v

ii(overshoot),vi

iii, vii

iv, viii

ix

xi

Rule No.EDECIReference Region/Point

1

2

3

4

5

6

7

8

9

10

11

12

13PB

PM

PS

ZE

ZE

ZE

NB

NM

NS

ZE

ZE

ZE

ZEZE

ZE

ZE

NB

NM

NS

ZE

ZE

ZE

PB

PM

PS

ZEPB

PM

PS

NB

NM

NS

NB

NM

NS

PB

PM

PS

ZEa

e

i

b

f

j

c

g

k

d

h

i

desired position

Nomor KaidahEDECIDaerah Acuan

14

15

16

17

18

19PB

PS

NB

NS

PS

NSNS

NB

PS

PB

NS

PSPM

NM

NM

PM

ZE

ZEi(rise-time)

ii(overshoot)

iii

viii

ix

xi

IF X is A1 and Y is B1 THEN Z is C1 : R1

IF X is A2 and Y is B2 THEN Z is C2 : R2

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