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PID and Fuzzy Logic Toolkit User Manual
PID and Fuzzy Logic Toolkit User Manual
June 2009
372192D-01
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National Instruments Corporation v PID and Fuzzy Logic Toolkit User Manual
Contents
About This Manual
Conventions ................................................................................................................... ix
Related Documentation.................................................................................................. x
Chapter 1
Overview of the PID and Fuzzy Logic Toolkit
PID Control.................................................................................................................... 1-1
Fuzzy Logic ................................................................................................................... 1-2
Chapter 2
PID Algorithms
The PID Algorithm........................................................................................................ 2-1
Implementing the PID Algorithm with the PID VIs ....................................... 2-2
Error Calculation............................................................................... 2-2
Proportional Action........................................................................... 2-2
Trapezoidal Integration..................................................................... 2-2
Partial Derivative Action .................................................................. 2-2
Controller Output ..............................................................................2-3
Output Limiting.................................................................................2-3
Gain Scheduling .............................................................................................. 2-4
The Advanced PID Algorithm....................................................................................... 2-4
Error Calculation ............................................................................................. 2-4
Proportional Action ......................................................................................... 2-5
Trapezoidal Integration ................................................................................... 2-6
The Autotuning Algorithm............................................................................................ 2-7
Tuning Formulas ............................................................................................. 2-8
Chapter 3
Using the PID Software
Designing a Control Strategy......................................................................................... 3-1
Setting Timing................................................................................................. 3-2
Tuning Controllers Manually .......................................................................... 3-4
Closed-Loop (Ultimate Gain) Tuning Procedure.............................. 3-4
Open-Loop (Step Test) Tuning Procedure........................................ 3-5
Using the PID VIs.......................................................................................................... 3-7
The PID VI ...................................................................................................... 3-7
Fault Protection................................................................................. 3-8
Contents
PID and Fuzzy Logic Toolkit User Manual vi ni.com
The PID Advanced VI..................................................................................... 3-8
Bumpless Automatic-to-Manual Transfer ........................................ 3-9
Multi-Loop PID Control ................................................................................. 3-9
Setpoint Ramp Generation.............................................................................. 3-10
Filtering Control Inputs................................................................................... 3-12
Gain Scheduling.............................................................................................. 3-12
Control Output Rate Limiting......................................................................... 3-14
The PID Lead-Lag VI ..................................................................................... 3-14
Converting Between Percentage of Full Scale and Engineering Units........... 3-15
Using the PID Autotuning VI and the Autotuning Wizard............................. 3-15
Using PID on FPGA Targets......................................................................................... 3-18
Implementing a Single-Channel PID on FPGA Targets................................. 3-19
Implementing a Multi-Channel PID on FPGA Targets .................................. 3-19
Initialization Loop on the Host VI.................................................... 3-20
Processing Loop on the Host VI....................................................... 3-20
Chapter 4
Overview of Fuzzy Logic
Fuzzy Systems ............................................................................................................... 4-1
Linguistic Variables ........................................................................................ 4-1
Linguistic Terms and Membership Functions ................................................ 4-2
Rules................................................................................................................ 4-2
Fuzzy Controllers .......................................................................................................... 4-3
Fuzzification.................................................................................................... 4-3
Implementing a Linguistic Control Strategy................................................... 4-4
Defuzzification................................................................................................ 4-5
Chapter 5
Designing a Fuzzy System
Creating Linguistic Variables........................................................................................ 5-1
Creating Membership Functions ................................................................................... 5-3
Creating a Rule Base ..................................................................................................... 5-7
Specifying an Antecedent Connective ............................................................ 5-10
Specifying a Degree of Support ...................................................................... 5-12
Specifying a Consequent Implication ............................................................. 5-12
Chapter 6
Defuzzification Methods
Center of Area ............................................................................................................... 6-2
Modified Center of Area ............................................................................................... 6-5
Center of Sums .............................................................................................................. 6-7
Contents
National Instruments Corporation vii PID and Fuzzy Logic Toolkit User Manual
Center of Maximum....................................................................................................... 6-7
Mean of Maximum........................................................................................................ 6-9
Selecting a Defuzzification Method .............................................................................. 6-10
Chapter 7
I/O Characteristics of Fuzzy Controllers
Chapter 8
Closed-Loop Control Structures with Fuzzy Controllers
Chapter 9
Designing a Fuzzy System with the Fuzzy System Designer
Creating Linguistic Variables ........................................................................................ 9-1
Creating a Rule Base...................................................................................................... 9-5
Specifying a Defuzzification Method............................................................................ 9-7
Testing the Fuzzy System.............................................................................................. 9-7
Controlling the Fuzzy System........................................................................................ 9-8
Chapter 10
Modifying a Fuzzy System with the Fuzzy Logic VIs
Observing the Fuzzy System......................................................................................... 10-1
Loading the Fuzzy System............................................................................................. 10-2
Modifying a Linguistic Variable.................................................................................... 10-3
Modifying Membership Functions ................................................................................ 10-4
Modifying a Rule ........................................................................................................... 10-5
Creating the Antecedents.................................................................................10-6
Creating Consequents...................................................................................... 10-7
Combining the Antecedents and Consequents for a Rule ............................... 10-8
Saving the Fuzzy System...............................................................................................10-9
Appendix A
Technical Support and Professional Services
Glossary
National Instruments Corporation ix PID and Fuzzy Logic Toolkit User Manual
About This Manual
This manual describes the LabVIEWPID and Fuzzy Logic Toolkit.
The PID and Fuzzy Logic Toolkit includes VIs for
Proportional-Integral-Derivative (PID) and fuzzy logic control.
You can use these VIs with input/output (I/O) functions such as data
acquisition (DAQ) to implement control of physical processes.
Conventions
The following conventions appear in this manual:
The symbol leads you through nested menu items and dialog box options
to a final action. The sequence FilePage SetupOptions directs you to
pull down the File menu, select the Page Setup item, and select Options
from the last dialog box.
This icon denotes a note, which alerts you to important information.
bold Bold text denotes items that you must select or click in the software, such
as menu items and dialog box options. Bold text also denotes parameter
names, controls and buttons on the front panel, dialog boxes, sections of
dialog boxes, menu names, and palette names.
italic Italic text denotes variables, linguistic terms, emphasis, a cross-reference,
or an introduction to a key concept. Italic text also denotes text that is a
placeholder for a word or value that you must supply.
monospace Text in this font denotes text or characters that you should enter from the
keyboard, sections of code, programming examples, and syntax examples.
This font is also used for the proper names of disk drives, paths, directories,
programs, subprograms, subroutines, device names, functions, operations,
filenames, and extensions.
monospace bold Bold text in this font denotes the messages and responses that the computer
automatically prints to the screen. This font also emphasizes lines of code
that are different from the other examples.
About This Manual
PID and Fuzzy Logic Toolkit User Manual x ni.com
Related Documentation
The following documents contain information you might find helpful as
you read this manual:
LabVIEW Help, availably by launching LabVIEW and selecting
HelpSearch the LabVIEW Help.
LabVIEWFPGA Module documentation.
LabVIEWReal-Time Module documentation.
LabVIEWControl Design and Simulation Module documentation.
Note The following resources offer useful background information on the general
concepts discussed in this documentation. These resources are provided for general
informational purposes only and are not affiliated, sponsored, or endorsed by National
Instruments. The content of these resources is not a representation of, may not correspond
to, and does not imply current or future functionality in the PID and Fuzzy Logic Toolkit
or any other National Instruments product.
Astrm, K. J. and T. Hagglund. 1984. Automatic tuning of simple
regulators. In Proceedings of IFAC 9th World Congress,
Budapest: 186772.
Astrm, K. J., T. Hagglund, C. C. Hang, and W. K. Ho. 1993.
Automatic tuning and adaptation for PID controllers: a survey.
Control Engineering Practice 1, no. 4:699714.
Corripio, A. B. 2000. Tuning of Industrial Control Systems. 2d ed.
Raleigh, North Carolina: ISA.
Shinskey, F. G. 1988. Process Control Systems: Application, Design, and
Tuning. 3d ed. Texas: McGraw-Hill.
Yen, J., R. Langari, and L. A. Zadeh, eds. 1995. Industrial Applications
of Fuzzy Logic and Intelligent Systems. Piscataway, NJ: IEEE Press.
Ziegler, J. G., and N. B. Nichols. 1942. Optimum settings for automatic
controllers. Trans. ASME 64:75968.
Zimmerman, H.-J. 2001. Fuzzy Set Theory and Its Applications. 4th ed.
Norwell, MA: Kluwer Academic Publishers.
. 1987. Fuzzy Sets, Decision Making, and Expert Systems. Boston:
Kluwer Academic Publishers.
National Instruments Corporation 1-1 PID and Fuzzy Logic Toolkit User Manual
1
Overview of the
PID and Fuzzy Logic Toolkit
You can use the LabVIEW PID and Fuzzy Logic Toolkit to perform both
PID control and fuzzy logic control.
PID Control
Currently, the Proportional-Integral-Derivative (PID) algorithm is the most
common control algorithm used in industry. Often, people use PID to
control processes that include heating and cooling systems, fluid level
monitoring, flow control, and pressure control. In PID control, you must
specify a process variable and a setpoint. The process variable is the system
parameter you want to control, such as temperature, pressure, or flow rate,
and the setpoint is the desired value for the parameter you are controlling.
A PID controller determines a controller output value, such as the heater
power or valve position. The controller applies the controller output value
to the system, which in turn drives the process variable toward the setpoint
value.
You can use the PID VIs with National Instruments hardware to develop
LabVIEW control applications. Use I/O hardware, like a DAQ device,
FieldPoint I/O modules, or a GPIB board, to connect your PC to the system
you want to control. You can use the I/OVIs provided in LabVIEW with
the PID and Fuzzy Logic Toolkit to develop a control application or
modify the examples provided with the toolkit.
Use the PID VIs to develop the following control applications based on
PID controllers:
Proportional (P); proportional-integral (PI); proportional-derivative
(PD); and proportional-integral-derivative (PID) algorithms
Gain-scheduled PID
PID autotuning
Error-squared PID
Lead-Lag compensation
Chapter 1 Overview of the PID and Fuzzy Logic Toolkit
PID and Fuzzy Logic Toolkit User Manual 1-2 ni.com
Setpoint profile generation
Multi-loop cascade control
Feedforward control
Override (minimum/maximum selector) control
Ratio/bias control
You can combine these PID VIs with LabVIEW math and logic functions
to create block diagrams for real control strategies.
Refer to the LabVIEW Help, available by selecting HelpSearch the
LabVIEW Help, for more information about the VIs.
Fuzzy Logic
Fuzzy logic is a method of rule-based decision making used for expert
systems and process control. Fuzzy logic differs from traditional Boolean
logic in that fuzzy logic allows for partial membership in a set. You can use
fuzzy logic to control processes represented by subjective, linguistic
descriptions. Refer to Chapter 4, Overview of Fuzzy Logic, for more
information about fuzzy logic.
Use the Fuzzy System Designer, available by selecting ToolsControl
Design and SimulationFuzzy System Designer, to design a fuzzy
system interactively. Refer to Chapter 9, Designing a Fuzzy System with the
Fuzzy System Designer, for more information about the Fuzzy System
Designer.
Use the Fuzzy Logic VIs to design and control fuzzy systems
programmatically. Refer to Chapter 10, Modifying a Fuzzy System with the
Fuzzy Logic VIs, for more information about the Fuzzy Logic VIs.
To implement real-time decision making or control of a physical system,
you can wire acquired data to a fuzzy controller. You also can use outputs
of the fuzzy controller with DAQ analog output hardware to implement
real-time process control.
National Instruments Corporation 2-1 PID and Fuzzy Logic Toolkit User Manual
2
PID Algorithms
This chapter explains the PID, advanced PID, and autotuning algorithms.
The PID Algorithm
The PID controller compares the setpoint (SP) to the process variable (PV)
to obtain the error (e).
e = SP PV
Then the PID controller calculates the controller action, u(t), where K
c
is
controller gain.
If the error and the controller output have the same range, 100% to 100%,
controller gain is the reciprocal of proportional band. T
i
is the integral time
in minutes, also called the reset time, and T
d
is the derivative time in
minutes, also called the rate time. The following formula represents the
proportional action.
The following formula represents the integral action.
The following formula represents the derivative action.
u t ( ) K
c
e
1
T
i
---- e t T
d

de
dt
------ + d
0
t
}
+
\ .
|
| |
=
u
p
t ( ) K
c
e =
u
I
t ( ) =
K
c

T
i
------- e t d
0
t
}
u
D
t ( ) K
c
T
d

de
dt
------- =
Chapter 2 PID Algorithms
PID and Fuzzy Logic Toolkit User Manual 2-2 ni.com
Implementing the PID Algorithm with the PID VIs
This section describes how the PID VIs implement the positional PID
algorithm. The subVIs used in these VIs are labelled so you can modify any
of these features as necessary.
Error Calculation
The following formula represents the current error used in calculating
proportional, integral, and derivative action.
Proportional Action
Proportional action is the controller gain times the error, as shown in the
following formula.
Trapezoidal Integration
Trapezoidal integration is used to avoid sharp changes in integral action
when there is a sudden change in PV or SP. Use nonlinear adjustment of
integral action to counteract overshoot. The larger the error, the smaller the
integral action, as shown in the following formula.
Partial Derivative Action
Because of abrupt changes in SP, only apply derivative action to the PV,
not to the error e, to avoid derivative kick. The following formula
represents the partial derivative action.
e(k) = (SP PV
f
)
u
P
k ( )= K
c
*e k ( ) ( )
u
I
k ( )=
K
c
T
i
------
e i ( ) e i 1 ( ) +
2
---------------------------------- t
i 1 =
k

u
D
k ( ) = K
c

T
d

t
----- PV
f
k ( ) PV
f
k 1 ( ) ( )
Chapter 2 PID Algorithms
National Instruments Corporation 2-3 PID and Fuzzy Logic Toolkit User Manual
Controller Output
Controller output is the summation of the proportional, integral, and
derivative action, as shown in the following formula.
Output Limiting
The actual controller output is limited to the range specified for control
output.
and
The following formula shows the practical model of the PID controller.
The PID VIs use an integral sum correction algorithm that facilitates
anti-windup and bumpless manual to automatic transfers. Windup occurs at
the upper limit of the controller output, for example, 100%. When the error
e decreases, the controller output decreases, moving out of the windup area.
The integral sum correction algorithm prevents abrupt controller output
changes when you switch from manual to automatic mode or change any
other parameters.
The default ranges for the parameters SP, PV, and output correspond to
percentage values; however, you can use actual engineering units. Adjust
corresponding ranges accordingly. The parameters T
i
and T
d
are specified
in minutes. In the manual mode, you can change the manual input to
increase or decrease the output.
You can call these PID VIs from inside a While Loop with a fixed cycle
time. All the PID Control VIs are reentrant. Multiple calls from high-level
VIs use separate and distinct data.
Note As a general rule, manually drive the process variable until it meets or comes close
to the setpoint before you perform the manual to automatic transfer.
u k ( ) u
P
k ( ) u
I
k ( ) u +
D
k ( ) + =
If u k ( ) u
max
then u k ( ) u
max
=
if u k ( ) u
min
then u k ( ) u
min
=
u t ( ) K
c
SP PV ( )
1
T
i
---- (SP PV)dt T
d
dPV
f
dt
------------
0
t
}
+ =
Chapter 2 PID Algorithms
PID and Fuzzy Logic Toolkit User Manual 2-4 ni.com
Gain Scheduling
Gain scheduling refers to a system where you change controller parameters
based on measured operating conditions. For example, the scheduling
variable can be the setpoint, the process variable, a controller output, or an
external signal. For historical reasons, the term gain scheduling is used
even if other parameters such as derivative time or integral time change.
Gain scheduling effectively controls a system whose dynamics change with
the operating conditions.
With the PID Control VIs, you can define unlimited sets of PID parameters
for gain scheduling. For each schedule, you can run autotuning to update
the PID parameters.
The Advanced PID Algorithm
Error Calculation
The following formula represents the current error used in calculating
proportional, integral, and derivative action.
The error for calculating proportional action is shown in the following
formula.
where SP
range
is the range of the setpoint, is the setpoint factor for the
two degree-of-freedom PID algorithm described in the Proportional Action
section of this chapter, and L is the linearity factor that produces a nonlinear
gain term in which the controller gain increases with the magnitude of the
error. If L is 1, the controller is linear. A value of 0.1 makes the minimum
gain of the controller 10% K
c
. Use of a nonlinear gain term is referred to as
an error-squared PID algorithm.
e(k) = (SP PV
f
)(L+ 1 L ( )*
SP PV
f

SP
range
-------------------------)
eb k ( ) (*SP PV
f
)(L+ 1 L ( )*
SP PV
f

SP
range
----------------------------) =
Chapter 2 PID Algorithms
National Instruments Corporation 2-5 PID and Fuzzy Logic Toolkit User Manual
Proportional Action
In applications, SP changes are usually larger and faster than load
disturbances, while load disturbances appear as a slow departure of the
controlled variable from the SP. PID tuning for good load-disturbance
responses often results in SP responses with unacceptable oscillation.
However, tuning for good SP responses often yields sluggish
load-disturbance responses. The factor , when set to less than one, reduces
the SP-response overshoot without affecting the load-disturbance response,
indicating the use of a two degree-of-freedom PID algorithm. Intuitively,
is an index of the SP response importance, from zero to one. For
example, if you consider load response the most important loop
performance, set to 0.0. Conversely, if you want the process variable
to quickly follow the SP change, set to 1.0.
u
P
k ( )= K
c
*eb k ( ) ( )
Chapter 2 PID Algorithms
PID and Fuzzy Logic Toolkit User Manual 2-6 ni.com
Trapezoidal Integration
Trapezoidal integration is used to avoid sharp changes in integral action
when there is a sudden change in PV or SP. Use nonlinear adjustment of
integral action to counteract overshoot. The larger the error, the smaller the
integral action, as shown in the following formula and in Figure 2-1.
Figure 2-1. Nonlinear Multiple for Integral Action (SP
rng
= 100)
u
I
k ( )=
K
c
T
i
------
e i ( ) e i 1 ( ) +
2
---------------------------------- t
i 1 =
k

1
1
10*e i ( )
2
SP
rng
2
--------------------- +
-------------------------------
Chapter 2 PID Algorithms
National Instruments Corporation 2-7 PID and Fuzzy Logic Toolkit User Manual
The Autotuning Algorithm
Use autotuning to improve performance. Often, many controllers are
poorly tuned. As a result, some controllers are too aggressive and some
controllers are too sluggish. PID controllers are difficult to tune when
you do not know the process dynamics or disturbances. In this case, use
autotuning. Before you begin autotuning, you must establish a stable
controller, even if you cannot properly tune the controller on your own.
Figure 2-2 illustrates the autotuning procedure excited by the setpoint relay
experiment, which connects a relay and an extra feedback signal with the
setpoint. Notice that the PID Autotuning VI directly implements this
process. The existing controller remains in the loop.
Figure 2-2. Process under PID Control with Setpoint Relay
For most systems, the nonlinear relay characteristic generates a limiting
cycle, from which the autotuning algorithm identifies the relevant
information needed for PID tuning. If the existing controller is proportional
only, the autotuning algorithm identifies the ultimate gain Ku and ultimate
period Tu. If the existing model is PI or PID, the autotuning algorithm
identifies the dead time and time constant Tp, which are two parameters
in the integral-plus-deadtime model.
SP e
+

P(I) Controller Process

PV
Relay

G
P
s ( ) =
e
s
T
p
s
--------
Chapter 2 PID Algorithms
PID and Fuzzy Logic Toolkit User Manual 2-8 ni.com
Tuning Formulas
The LabVIEWPID and Fuzzy Logic Toolkit uses Ziegler and Nichols
heuristic methods for determining the parameters of a PID controller.
When you autotune, select one of the following three types of loop
performance: fast (1/4 damping ratio), normal (some overshoot), and slow
(little overshoot). Refer to the following tuning formula tables for each type
of loop performance.
Table 2-1. Tuning Formula under P-Only Control (Fast)
Controller K
c
T
i
T
d
P 0.5K
u

PI 0.4K
u
0.8T
u

PID 0.6K
u
0.5T
u
0.12T
u
Table 2-2. Tuning Formula under P-Only Control (Normal)
Controller K
c
T
i
T
d
P 0.2K
u

PI 0.18K
u
0.8T
u

PID 0.25K
u
0.5T
u
0.12T
u
Table 2-3. Tuning Formula under P-Only Control (Slow)
Controller K
c
T
i
T
d
P 0.13K
u

PI 0.13K
u
0.8T
u

PID 0.15K
u
0.5T
u
0.12T
u
Chapter 2 PID Algorithms
National Instruments Corporation 2-9 PID and Fuzzy Logic Toolkit User Manual
Note During tuning, the process remains under closed-loop PID control. You do not
need to switch off the existing controller and perform the experiment under open-loop
conditions. In the setpoint relay experiment, the SP signal mirrors the SP for the PID
controller.
Table 2-4. Tuning Formula under PI or PID Control (Fast)
Controller K
c
T
i
T
d
P T
p
/
PI 0.9T
p
/ 3.33
PID 1.1T
p
/ 2.0 0.5
Table 2-5. Tuning Formula under PI or PID Control (Normal)
Controller K
c
T
i
T
d
P 0.44T
p
/
PI 0.4T
p
/ 5.33
PID 0.53T
p
/ 4.0 0.8
Table 2-6. Tuning Formula under PI or PID Control (Slow)
Controller K
c
T
i
T
d
P 0.26T
p
/
PI 0.24T
p
/ 5.33
PID 0.32T
p
/ 4.0 0.8
National Instruments Corporation 3-1 PID and Fuzzy Logic Toolkit User Manual
3
Using the PID Software
This chapter contains the basic information you need to begin using the
PID Control VIs.
Designing a Control Strategy
When you design a control strategy, sketch a flowchart that includes the
physical process and control elements such as valves and measurements.
Add feedback from the process and any required computations. Then use
the VIs in this toolkit, combined with the math and logic VIs and functions
in LabVIEW, to translate the flowchart into a block diagram. Figure 3-1
is an example of a control flowchart, and Figure 3-2 is the equivalent
LabVIEW block diagram. The only elements missing from this simplified
VI are the loop-tuning parameters and the automatic-to-manual switching.
Figure 3-1. Block Diagram Representation of the PID Control Flowchart.
FT = Flow Transmitter. LT = Level Transmitter. LC = Level Control. SP = Setpoint.
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Figure 3-2. LabVIEW Block Diagram
You can handle the inputs and outputs through DAQ devices, FieldPoint I/O
modules, GPIB instruments, or serial I/O ports. You can adjust polling rates
in real time. Potential polling rates are limited only by your hardware and
by the number and graphical complexity of your VIs.
Setting Timing
The PID VI and the PID Lead-Lag VI in the LabVIEWPID and Fuzzy
Logic Toolkit are time dependent. A VI can acquire timing information
either from a value you supply to the cycle time control, dt, or from a time
keeper such as those built into the PID VIs. If dt is less than or equal to
zero, the VI calculates new timing information each time LabVIEW calls
it. At each call, the VI measures the time since the last call and uses that
difference in its calculations. If you call a VI from a While Loop that uses
one of the LabVIEW timing VIs, located on the Time & Dialog palette,
you can achieve fairly regular timing, and the internal time keeper
compensates for variations. However, the resolution of the Tick Count (ms)
function is limited to 1 ms.
If dt is a positive value in seconds, the VI uses that value in the calculations,
regardless of the elapsed time. National Instruments recommends you use
this method for fast loops, such as when you use acquisition hardware to
time the controller input or real-time applications. Refer to the example VIs
located in the labview\examples\control\pid\prctrlex.llb
directory for examples of using timing with the PID VIs. If you
installed NI-DAQmx, you also can view relevant examples in the
labview\examples\DAQmx\Control\Control.llb directory.
According to control theory, a control system must sample a physical
process at a rate about 10 times faster than the fastest time constant in the
physical process. For example, a time constant of 60 s is typical for a
temperature control loop in a small system. In this case, a cycle time of
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National Instruments Corporation 3-3 PID and Fuzzy Logic Toolkit User Manual
about 6 s is sufficient. Faster cycling offers no improvement in performance
(Corripio 2000). In fact, running all your control VIs too fast degrades the
response time of your LabVIEW application.
All VIs within a loop execute once per iteration at the same cycle time. To
run several control VIs at different cycle times and still share data between
them, as for example in a cascade, you must separate the VIs into
independently timed While Loops. Figure 3-3 shows an example of a
cascade with two independently timed While Loops.
Figure 3-3. Cascaded Control Functions
A global variable passes the output of Loop A to the PV input of Loop B.
You can place both While Loops on the same diagram. In this case, they are
in separate VIs. Use additional global or local variables to pass any other
necessary data between the two While Loops.
If the front panel does not contain graphics that LabVIEW must update
frequently, the PID Control VIs can execute at kilohertz (kHz) rates.
Remember that actions such as mouse activity and window scrolling
interfere with these rates.
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Tuning Controllers Manually
The following controller tuning procedures are based on the work of
Ziegler and Nichols, the developers of the quarter-decay ratio tuning
techniques derived from a combination of theory and empirical
observations (Corripio 2000). Experiment with these techniques and with
one of the process control simulation VIs to compare them. For different
processes, one method might be easier or more accurate than another. For
example, some techniques that work best when used with online controllers
cannot stand the large upsets described here.
To perform these tests with LabVIEW, set up your control strategy with the
PV, SP, and output displayed on a large strip chart with the axes showing
the values versus time. Refer to the Closed-Loop (Ultimate Gain) Tuning
Procedure and Open-Loop (Step Test) Tuning Procedure sections of this
chapter for more information about disturbing the loop and determining the
response from the graph. Refer to Corripio (2000), as listed in the Related
Documentation section of this manual, for more information about these
procedures.
Closed-Loop (Ultimate Gain) Tuning Procedure
Although the closed-loop (ultimate gain) tuning procedure is very accurate,
you must put your process in steady-state oscillation and observe the PV on
a strip chart. Complete the following steps to perform the closed-loop
tuning procedure.
1. Set both the derivative time and the integral time on your PID
controller to 0.
2. With the controller in automatic mode, carefully increase the
proportional gain (K
c
) in small increments. Make a small change in
SP to disturb the loop after each increment. As you increase K
c
, the
value of PV should begin to oscillate. Keep making changes until the
oscillation is sustained, neither growing nor decaying over time.
3. Record the controller proportional band (PB
u
) as a percent, where
PB
u
= 100/ K
c
.
4. Record the period of oscillation (T
u
) in minutes.
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National Instruments Corporation 3-5 PID and Fuzzy Logic Toolkit User Manual
5. Multiply the measured values by the factors shown in Table 3-1 and
enter the new tuning parameters into your controller. Table 3-1
provides the proper values for a quarter-decay ratio.
If you want less overshoot, increase the gain K
c
.
Note Proportional gain (K
c
) is related to proportional band (PB) as K
c
= 100/PB.
Open-Loop (Step Test) Tuning Procedure
The open-loop (step test) tuning procedure assumes that you can model any
process as a first-order lag and a pure deadtime. This method requires more
analysis than the closed-loop tuning procedure, but your process does not
need to reach sustained oscillation. Therefore, the open-loop tuning
procedure might be quicker and more reliable for many processes. Observe
the output and the PV on a strip chart that shows time on the x-axis.
Complete the following steps to perform the open-loop tuning procedure.
1. Put the controller in manual mode, set the output to a nominal
operating value, and allow the PV to settle completely. Record the PV
and output values.
2. Make a step change in the output. Record the new output value.
Table 3-1. Closed-LoopQuarter-Decay Ratio Values
Controller
PB
(percent)
Reset
(minutes)
Rate
(minutes)
P 2.00PB
u

PI 2.22PB
u
0.83T
u

PID 1.67PB
u
0.50TT
u
0.125T
u
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3. Wait for the PV to settle. From the chart, determine the values as
derived from the sample displayed in Figure 3-4.
The variables represent the following values:
T
d
Deadtime in minutes
TTime constant in minutes
KProcess gain = (change in PV) / (change in output)
Figure 3-4. Output and Process Variable Strip Chart
4. Multiply the measured values by the factors shown in Table 3-2 and
enter the new tuning parameters into your controller. The table
provides the proper values for a quarter-decay ratio. If you want less
overshoot, reduce the gain, K
c
.
Table 3-2. Open-LoopQuarter-Decay Ratio Values
Controller
PB
(percent)
Reset
(minutes)
Rate
(minutes)
P
PI 3.33T
d

PID 2.00T
d
0.50T
d
Max
63.2% (Max-Min)
PV
Min
Output
Td
T
100
KT
d
T
----------
110
KT
d
T
----------
80
KT
d
T
----------
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National Instruments Corporation 3-7 PID and Fuzzy Logic Toolkit User Manual
Using the PID VIs
Although there are several variations of the PID VI, they all use the
algorithms described in Chapter 2, PID Algorithms. The PID VI
implements the basic PID algorithm. Other variations provide additional
functionality as described in the following sections. You can use these VIs
interchangeably because they all use consistent inputs and outputs where
possible.
The PID VI
The PID VI has inputs for setpoint, process variable, PID gains, dt,
output range, and reinitialize?. The PID gains input is a cluster of
three valuesproportional gain, integral time, and derivative time.
You can use output range to specify the range of the controller output.
The default range of the controller output is 100 to 100, which corresponds
to values specified in terms of percentage of full scale. However, you can
change this range to one that is appropriate for your control system, so that
the controller gain relates engineering units to engineering units instead of
percentage to percentage. The PID VI coerces the controller output to the
specified range. In addition, the PID VI implements integrator anti-windup
when the controller output is saturated at the specified minimum or
maximum values. Refer to Chapter 2, PID Algorithms, for more information
about anti-windup.
You can use dt to specify the control-loop cycle time. The default value
is 1, so by default the PID VI uses the operating system clock for
calculations involving the loop cycle time. If the loop cycle time is
deterministic, you can provide this input to the PID VI. Note that the
operating system clock has a resolution of 1 ms, so specify a dt value
explicitly if the loop cycle time is less than 1 ms.
The PID VI will initialize all internal states on the first call to the VI. All
subsequent calls to the VI will make use of state information from previous
calls. However, you can reinitialize the PID VI to its initial state at any time
by passing a value of TRUE to the reinitialize? input. Use this function if
your application must stop and restart the control loop without restarting
the entire application.
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Fault Protection
If the PID VI receives an invalid input, such as NaN (Not a Number), the
VI outputs NaN until you pass a value of TRUE to the reinitialize? input.
You can use the Not A Number/Path/Refnum? VI to check for invalid
inputs and respond in a way that is appropriate to the application.
For example, the following block diagram uses the Not A
Number/Path/Refnum? VI with a Select function and a Feedback Node
to reuse the last valid input when the VI receives an invalid input.
Figure 3-5. Fault Protection
Refer to the General PID with Fault Protection VI in the labview\
examples\control\pid\prctrlex.llb directory for an example of a
single-channel PID implementation that includes fault protection.
The PID Advanced VI
The PID Advanced VI has the same inputs as the PID VI, with the addition
of inputs for setpoint range, beta, linearity, auto?, and manual control.
You can specify the range of the setpoint using the setpoint range input,
which also establishes the range for the process variable. The default
setpoint range is 0 to 100, which corresponds to values specified in terms
of percentage of full scale. However, you can change this range to one that
is appropriate for your control system, so that the controller gain relates
engineering units to engineering units instead of percentage to percentage.
The PID Advanced VI uses the setpoint range in the nonlinear integral
action calculation and, with the linearity input, in the nonlinear error
calculation. The VI uses the beta input in the two degree-of-freedom
algorithm, and the linearity input in the nonlinear gain factor calculation.
Refer to Chapter 2, PID Algorithms, for more information about these
calculations.
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National Instruments Corporation 3-9 PID and Fuzzy Logic Toolkit User Manual
You can use the auto? and manual control inputs to switch between
manual and automatic control modes. The default value of auto? is TRUE,
which means the VI uses the PID algorithm to calculate the controller
output. You can implement manual control by changing the value of auto?
to FALSE so that the VI passes the value of manual control through to the
output.
Bumpless Automatic-to-Manual Transfer
The PID Advanced VI cannot implement bumpless automatic-to-manual
transfer. In order to ensure a smooth transition from automatic to manual
control mode, you must design your application so that the manual output
value matches the control output value at the time that the control mode is
switched from automatic to manual. You can do this by using a local
variable for the manual control control, as shown in Figure 3-6.
Figure 3-6. Bumpless Automatic-to-Manual Transfer
Although this VI does not support automatic-to-manual transfer, it does
support bumpless manual-to-automatic transfer, which ensures a smooth
controller output during the transition from manual to automatic control
mode.
Multi-Loop PID Control
Most of the PID VIs are polymorphic VIs for use in multiple control-loop
applications. For example, you can design a multi-loop PID control
application using the PID VI and DAQ functions for input and output.
A DAQ analog input function returns an array of data when you configure
it for multiple channels. You can wire this array directly into the process
variable input of the PID VI. The polymorphic type of the PID VI
automatically switches from DBL to DBL Array, which calculates and
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PID and Fuzzy Logic Toolkit User Manual 3-10 ni.com
returns an array of output values corresponding to the number of values in
the process variable array. Note that you also can switch the type of the
polymorphic VI manually by right-clicking the VI icon and selecting Select
Type from the shortcut menu.
When the polymorphic type is set to DBL Array, other inputs change
automatically to array inputs as well. For example, the PID VI inputs
setpoint, PID gains, and output range all become array inputs. Each of
these inputs can have an array length ranging from 1 to the array length of
the process variable input. If the array length of any of these inputs is less
than the array length of the process variable input, the PID VI reuses the
last value in the array for other calculations. For example, if you specify
only one set of PID gains in the PID gains array, the PID VI uses these
gains to calculate each output value corresponding to each process
variable input value. Other polymorphic VIs included with the
PID and Fuzzy Logic Toolkit operate in the same manner.
Setpoint Ramp Generation
The PID Setpoint Profile VI can generate a profile of setpoint values over
time for a ramp and soak type PID application. For example, you might
want to ramp the setpoint temperature of an oven control system over time,
and then hold, or soak, the setpoint at a certain temperature for another
period of time. You can use the PID Setpoint Profile VI to implement any
arbitrary combination of ramp, hold, and step functions.
Specify the setpoint profile as an array of pairs of time and setpoint values
with the time values in ascending order. For example, a ramp setpoint
profile can be specified with two setpoint profile array values, as shown
in Figure 3-7.

Figure 3-7. Ramp Setpoint Profile
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National Instruments Corporation 3-11 PID and Fuzzy Logic Toolkit User Manual
A ramp and hold setpoint profile also can have two successive array values
with the same setpoint value, as shown in Figure 3-8.
Figure 3-8. Ramp and Hold Setpoint Profile
Alternatively, a step setpoint profile can have two successive array
values with the same time value but different setpoint values, as shown
in Figure 3-9.

Figure 3-9. Step Setpoint Profile
The PID Setpoint Profile VI outputs a single setpoint value determined
from the current elapsed time. Therefore, you should use this VI inside
the control loop. The first call to the VI initializes the current time in the
setpoint profile to 0. On subsequent calls, the VI, determines the current
time from the previous time and the dt input value. If you reinitialize the
current time to 0 by passing a value of TRUE to the reinitialize? input, you
can repeat the specified setpoint profile.
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If the loop cycle time is deterministic, you can use the input dt to specify
its value. The default value of dt is 1, so by default the VI uses the
operating system clock for calculations involving the loop cycle time.
The operating system clock has a resolution of 1 ms, so specify a dt value
explicitly if the loop cycle time is less than 1 ms.
Filtering Control Inputs
You can use the PID Control Input Filter VI to filter high-frequency noise
from measured values in a control application, for example, if you are
measuring process variable values using a DAQ device.
As discussed in the Setting Timing section of this chapter, the sampling
rate of the control system should be at least 10 times faster than the fastest
time constant of the physical system. Therefore, if correctly sampled, any
frequency components of the measured signal greater than one-tenth of the
sampling frequency are a result of noise in the measured signal. Gains in
the PID controller can amplify this noise and produce unnecessary wear on
actuators and other system components.
The PID Control Input Filter VI filters out unwanted noise from input
signals. The algorithm it uses is a lowpass fifth-order finite impulse
response (FIR) filter. The cutoff frequency of the lowpass filter is one-tenth
of the sampling frequency, regardless of the actual sampling frequency
value. You can use the PID Control Input Filter VI to filter noise from input
values in the control loop before the values pass to control functions such
as the PID VI.
Use the Filters PtByPt VIs or the LabVIEW Digital Filter Design Toolkit
to perform additional filtering tasks. Refer to the National Instruments Web
site at ni.com/info and enter the info code dfdt for more information
about the Digital Filter Design Toolkit.
Gain Scheduling
With the PID Gain Schedule VI, you can apply different sets of PID
parameters for different regions of operation of your controller. Because
most processes are nonlinear, PID parameters that produce a desired
response at one operating point might not produce a satisfactory response
at another operating point. The PID Gain Schedule VI selects and outputs
one set of PID gains from a gain schedule based on the current value of the
gain scheduling value input. For example, to implement a gain schedule
based on the value of the process variable, wire the process variable value
to the gain scheduling value input and wire the PID gains out output to
the PID gains input of the PID VI.
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National Instruments Corporation 3-13 PID and Fuzzy Logic Toolkit User Manual
The PID gain schedule input is an array of clusters of PID gains and
corresponding max values. Each set of PID gains corresponds to the range
of input values from the max value of the previous element of the array to
the max value of the same element of the array. The input range of the PID
gains of the first element of the PID gain schedule is all values less than
or equal to the corresponding max value.
In Figure 3-10, the Gain Scheduling Input example uses the setpoint value
as the gain scheduling variable with a default range of 0 to 100. Table 3-3
summarizes PID parameters.
Figure 3-10. Gain Scheduling Input Example
Table 3-3. PID Parameter Ranges
Range Parameters
0 SP 30 Kc = 10, Ti = 0.02, Td = 0.02
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Control Output Rate Limiting
Sudden changes in control output are often undesirable or even dangerous
for many control applications. For example, a sudden large change in
setpoint can cause a very large change in controller output. Although in
theory this large change in controller output results in fast response of the
system, it may also cause unnecessary wear on actuators or sudden large
power demands. In addition, the PID controller can amplify noise in the
system and result in a constantly changing controller output.
You can use the PID Output Rate Limiter VI to avoid the problem of sudden
changes in controller output. Wire the output value from the PID VI to the
input (controller output) input of the PID Output Rate Limiter VI. This
limits the slew, or rate of change, of the output to the value of the output
rate (EGU/min).
Assign a value to initial output to specify the output value on the first call
to the VI. You can reinitialize the output to the initial value by passing a
value of TRUE to the reinitialize? input.
You can use dt to specify the control-loop cycle time. The default value is
1, so that by default the VI uses the operating system clock for
calculations involving the loop cycle time. If the loop cycle time is
deterministic, you can provide this input to the PID Output Rate Limiter VI.
Note that the operating system clock has a resolution of 1 ms; therefore,
you should specify a dt value explicitly if the loop cycle time is less than
1 ms.
The PID Lead-Lag VI
The PID Lead-Lag VI uses a positional algorithm that approximates a true
exponential lead/lag. Feedforward control schemes often use this kind of
algorithm as a dynamic compensator.
You can specify the range of the output using the output range input. The
default range is 100 to 100, which corresponds to values specified in terms
of percentage of full scale. However, you can change this range to one that
is appropriate for your control system, so that the controller gain relates
30 < SP 70 Kc = 12, Ti = 0.02, Td = 0.01
70 < SP 100 Kc = 15, Ti = 0.02, Td = 0.005
Table 3-3. PID Parameter Ranges (Continued)
Range Parameters
Chapter 3 Using the PID Software
National Instruments Corporation 3-15 PID and Fuzzy Logic Toolkit User Manual
engineering units to engineering units instead of percentage to percentage.
The PID Lead-Lag VI coerces the controller output to the specified range.
The output value on the first call to the VI is the same as the input value.
You can reinitialize the output to the current input value by passing a value
of TRUE to the reinitialize? input.
You can use dt to specify the control-loop cycle time. The default value is
1, so that by default the VI uses the operating system clock for
calculations involving the loop cycle time. If the loop cycle time is
deterministic, you can provide this input to the PID Lead-Lag VI. Note that
the operating system clock has a resolution of 1 ms; therefore you should
specify dt explicitly if the loop cycle time is less than 1 ms.
Converting Between Percentage of Full Scale and Engineering Units
As described above, the default setpoint, process variable, and output
ranges for the PID VIs correspond to percentage of full scale. In other
words, proportional gain (K
c
) relates percentage of full scale output to
percentage of full scale input. This is the default behavior of many PID
controllers used for process control applications. To implement PID in this
way, you must scale all inputs to percentage of full scale and all controller
outputs to actual engineering units, for example, volts for analog output.
You can use the PID EGU to Percentage VI to convert any input from real
engineering units to percentage of full scale, and you can use the PID
Percentage to EGU function to convert the controller output from
percentage to real engineering units. The PID Percentage to EGU VI has an
additional input, coerce output to range?. The default value of the coerce
output to range? input is TRUE.
Note The PID VIs do not use the setpoint range and output range information to convert
values to percentages in the PID algorithm. The controller gain relates the output in
engineering units to the input in engineering units. For example, a gain value of 1 produces
an output of 10 for a difference between setpoint and process variable of 10, regardless of
the output range and setpoint range.
Using the PID Autotuning VI and the Autotuning Wizard
To use the Autotuning Wizard to improve your controller performance, you
must first create your control application and determine PID parameters
that produce stable control of the system. You can develop the control
application using either the PID VI, the PID Gain Schedule VI, or the PID
Autotuning VI. Because the PID Autotuning VI has input and output
consistent with the other PID VIs, you can replace any PID VI with it.
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The PID Autotuning VI has several additional input and output values to
specify the autotuning procedure. The two additional input values are
autotuning parameters and autotune?. The autotuning parameters
input is a cluster of parameters that the VI uses for the autotuning process.
Because the Autotuning Wizard allows you to specify all of these
parameters manually, you can leave the autotuning parameters input
unwired. The autotune? input takes a Boolean value supplied by a user
control. Wire a Boolean control on the front panel of your application to
this input. When the user presses the Boolean control, the Autotuning
Wizard opens automatically. Set the Boolean control mechanical action to
Latch When Released so that the Autotuning Wizard does not open
repeatedly when the user presses the control. The Autotuning Wizard steps
the user through the autotuning process. Refer to Chapter 2, PID
Algorithms, for more information about the autotuning algorithm. The PID
Autotuning VI also has two additional output valuestuning completed?
and PID gains out. The tuning completed? output is a Boolean value. It
is usually FALSE and becomes TRUE only on the iteration during which the
autotuning finishes. The autotuning procedure updates the PID parameters
in PID gains out. Normally, PID gains out passes through PID gains and
outputs PID gains out only when the autotuning procedure completes. You
have several ways to use these outputs in your applications.
Figure 3-11 shows one possible implementation of the PID Autotuning VI.
The shift register on the left stores the initial value of the PID gains. PID
gains out then passes to the right-hand shift register terminal when each
control loop iteration completes. Although this method is simple, it suffers
from one limitation. The user cannot change PID gains manually while the
control loop is running.

Figure 3-11. Updating PID Parameters Using a Shift Register
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National Instruments Corporation 3-17 PID and Fuzzy Logic Toolkit User Manual
Figure 3-12 shows a second method, which uses a local variable to store
the updated PID gains. In this example, the VI reads the PID gains control
on each iteration, and a local variable updates the control only when tuning
complete? is TRUE. This method allows for manual control of the PID
gains while the control loop executes. In both examples, you must save
PID gains so that you can use the PID gains out values for the next control
application run. To do this, ensure that the PID gains control shows the
current updated parameters, then choose Make Current Values Default
from the Operate menu, and then save the VI.

Figure 3-12. Updating PID Parameters Using a Local Variable
To avoid having to manually save the VI each time it runs, you can use
a datalog file to save the PID gains, as shown in Figure 3-13.
Figure 3-13. Storing PID Parameters in a Datalog File
Before the control loop begins, the File I/O VIs read a datalog file to obtain
the PID gains parameters. When the autotuning procedure runs, a local
variable updates the PID gains control. After the control loop is complete,
the VI writes the current PID gains cluster to the datalog file and saves it.
Each time it runs, the VI uses updated parameters.
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Using PID on FPGA Targets
Use the PID (FPGA) Express VI to implement single-channel or
multi-channel PID on a LabVIEW FPGA target.
Note The PID (FPGA) Express VI is available only if you install both the PID and
Fuzzy Logic Toolkit and the LabVIEWFPGA Module.
The PID (FPGA) Express VI implements a fixed-point PID algorithm on
FPGA targets. The PID algorithm features control output range and uses an
integrator anti-windup calculation to limit the effect of the integral action
during transients. The PID algorithm also features bumpless controller
output for PID gain changes.
The PID (FPGA) Express VI represents the PID proportional, integral, and
derivative gains as signed fixed-point numbers with word length 16 and
integer word length 8. Given the proportional gain (K
c
), integral time
(T
i
[minutes]), and derivative time (T
d
[minutes]), respectively, this Express
VI normalizes the gains according to the following formulas:
where T
s
is the sampling period, in seconds, at which the PID loop runs.
The PID controller compares the setpoint SP to the process variable PV at
a given sample instant k and produces the error e, which is defined as the
following:
The PID controller operates on this error and tries to drive it to zero. The
PID controller produces an output u(k), also known as a control action,
according to the following formula:
K
p
K
c
=
K
i
K
c
T
s

T
i
60
----------------- =
K
d
K
c
T
d
60
T
s
------------------------------ =
e k ( ) SP k ( ) PV k ( ) =
u k ( ) u
p
k ( ) u
i
k ( ) u
d
k ( ) + + =
Chapter 3 Using the PID Software
National Instruments Corporation 3-19 PID and Fuzzy Logic Toolkit User Manual
where u
p
(k) is the control output due to the proportional term, u
i
(k) is the
control output due to the integral term, and u
d
(k) is the control output due
to the derivative term. The PID controller calculates these control outputs
according to the following formulas:
Finally, the PID controller limits the output within an output range that you
specify.
Implementing a Single-Channel PID on FPGA Targets
To configure the PID (FPGA) Express VI for a single-channel
implementation, enter 1 in the Number of channels control on the
configuration dialog box. For single-channel PID implementations, any
changes you make to the PID parameters on the host VI take effect
immediately on the FPGA target.
Refer to the Using Discrete PID - cRIO.lvproj in the labview\
examples\control\pid\fpga.llb\CompactRIO directory for an
example of a single-channel PID implementation on an FPGA target. You
also can refer to the Using Discrete PID - R Series.lvproj in the
labview\examples\control\pid\fpga.llb\R Series directory.
Implementing a Multi-Channel PID on FPGA Targets
To configure the PID (FPGA) Express VI for a multi-channel
implementation, enter a number greater than 1 in the Number of channels
control on the configuration dialog box. To handle the values for each
channel, the host VI can include an initialization loop and processing loop,
which you can use to modify parameters or reset channels. The following
sections provide information about these loops.
u
p
k ( ) K
p
e k ( ) =
u
i
k ( ) K
p
K
i
e i ( ) e i 1 ( ) +
2
----------------------------------
i 1 =
k

=
u
d
k ( ) K
p
K
d
PV k ( ) PV k 1 ( ) [ ] =
If u k ( ) u
max
u k ( ) u
max
= ,
If u k ( ) u
min
u k ( ) u
min
= ,

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PID and Fuzzy Logic Toolkit User Manual 3-20 ni.com
Initialization Loop on the Host VI
The initial parameter values you enter on the configuration dialog box
for the PID (FPGA) Express VI set the initial values for all channels.
To specify unique values for individual channels, you must create an
initialization loop on the host VI.
In the initialization loop, you might update the parameter values of some
channels while other channels retain the initial values you specified in the
configuration dialog box. In Figure 3-14, the initialization loop initializes
the parameters of all channels.
Figure 3-14. Initializing PID Parameters on the Host VI
Processing Loop on the Host VI
After initializing the PID parameters and while running the VI on the
FPGA target, you might want to modify parameters or reset channels on a
per-channel basis, without affecting the execution of other channels. Create
a processing loop on the host VI to modify parameters or reset channels
asynchronously during execution of the FPGA VI.
Chapter 3 Using the PID Software
National Instruments Corporation 3-21 PID and Fuzzy Logic Toolkit User Manual
Resetting a PID channel resets the internal channel states to 0 and restarts
the PID algorithm while using either the parameter values stored in
memory or the parameter values from the host VI. To modify different
parameters, you must specify the channel index, which tells the PID
algorithm the channel number to which to apply the new parameter values.
Figure 3-15 shows an example of a processing loop.
Figure 3-15. Processing PID Parameters on the Host VI
Refer to the Template Multichannel PID.lvproj in the labview\
examples\control\pid\fpga.llb\Template\Multichannel
directory for an example of a multi-channel PID implementation on an
FPGA target.
National Instruments Corporation 4-1 PID and Fuzzy Logic Toolkit User Manual
4
Overview of Fuzzy Logic
Fuzzy logic is a method of rule-based decision making used for expert
systems and process control. Fuzzy logic differs from traditional Boolean
logic in that fuzzy logic allows for partial membership in a set.
Traditional Boolean logic is two-valued in the sense that a member either
belongs to a set or does not. Values of one and zero represent the
membership of a member to the set with one representing absolute
membership and zero representing no membership. Fuzzy logic allows for
partial membership, or a degree of membership, which might be any value
along the continuum of zero to one.
Fuzzy Systems
A fuzzy system is a system of variables that are associated using fuzzy logic.
A fuzzy controller uses defined rules to control a fuzzy system based on the
current values of input variables.
You can use the Fuzzy System Designer and the Fuzzy Logic VIs to design
and control fuzzy systems. Refer to Chapter 9, Designing a Fuzzy System
with the Fuzzy System Designer, for information about the Fuzzy System
Designer. Refer to Chapter 10, Modifying a Fuzzy System with the Fuzzy
Logic VIs, for information about the Fuzzy Logic VIs.
Fuzzy systems consist of three main parts: linguistic variables, membership
functions, and rules.
Linguistic Variables
Linguistic variables represent, in words, the input variables and output
variables of the system you want to control. For a heater, you might have
two input linguistic variables, current temperature and desired
temperature, and one output linguistic variable, heater setting. Each
linguistic variable has a range of expected values. For example, the range
of current temperature might be 0 to 100 degrees. The range of desired
temperature might be 50 to 80 degrees.
Chapter 4 Overview of Fuzzy Logic
PID and Fuzzy Logic Toolkit User Manual 4-2 ni.com
A fuzzy controller requires at least one input linguistic variable and one
output linguistic variable.
Refer to the Creating Linguistic Variables section of Chapter 5, Designing
a Fuzzy System, for more information about linguistic variables.
Linguistic Terms and Membership Functions
Linguistic terms represent, in words, categories for the values of a linguistic
variable. The linguistic variables current temperature and desired
temperature each might include the linguistic terms cold, moderate, and
hot. The linguistic variable heater setting might include the linguistic terms
off, low, and high.
Membership functions are numerical functions corresponding to linguistic
terms. A membership function represents the degree of membership of
linguistic variables within their linguistic terms. The degree of membership
is continuous between 0 and 1, where 0 is equal to 0% membership and 1
is equal to 100% membership. For example, the linguistic variable current
temperature might have full membership (1) within the linguistic term hot
at 100 degrees, no membership (0) within that term at 70 degrees or less,
and partial membership at all temperatures between 70 and 100 degrees.
Refer to the Creating Membership Functions section of Chapter 5,
Designing a Fuzzy System, for more information about membership
functions.
Rules
Rules describe, in words, the relationships between input and output
linguistic variables based on their linguistic terms. For example, you might
define the following rule:
IF current temperature is cold AND desired temperature is moderate,
THEN heater setting is low.
The clauses current temperature is cold and desired temperature is
moderate are the antecedents of this rule. The AND connective specifies
how the fuzzy logic controller relates the two antecedents to determine the
truth value for the aggregated rule antecedent. The clause heater setting is
low is the consequent of this rule.
A rule base is the set of rules for a fuzzy system. The rule base is equivalent
to the control strategy of the controller.
Chapter 4 Overview of Fuzzy Logic
National Instruments Corporation 4-3 PID and Fuzzy Logic Toolkit User Manual
Refer to the Creating a Rule Base section of Chapter 5, Designing a Fuzzy
System, for more information about rules.
Fuzzy Controllers
You can use fuzzy controllers to control fuzzy systems. Most traditional
control algorithms require a mathematical model of the system you want to
control. However, many physical systems are difficult or impossible to
model mathematically. In addition, many processes are either nonlinear or
too complex for you to control with traditional strategies. However, if you
can describe a control strategy qualitatively, you can use fuzzy logic to
create a fuzzy controller that emulates a heuristic rule-of-thumb strategy.
Figure 4-1 illustrates the process of a fuzzy controller.
Figure 4-1. Process of a Fuzzy Controller
Fuzzification
Fuzzification is the process of associating crisp, or numerical, input values
with the linguistic terms of the corresponding input linguistic variables.
For example, a fuzzy controller might associate the temperature reading
from a thermometer with the linguistic terms cold, moderate, and hot for
the current temperature linguistic variable. Depending on the membership
functions for the linguistic terms, the temperature value might correspond
to one or more of the linguistic terms.
Rule Base
IF ... AND ... THEN ...
IF ... AND ... THEN ...
IF ... AND ... THEN ...
IF ... AND ... THEN ...
Implementation of a
Linguistic Control Strategy
Fuzzification Defuzzification
Crisp Input
Data 1
Crisp Input
Data 2
Crisp Input
Data n
Crisp
Output
Data
Chapter 4 Overview of Fuzzy Logic
PID and Fuzzy Logic Toolkit User Manual 4-4 ni.com
Implementing a Linguistic Control Strategy
After a fuzzy controller fuzzifies the input values of a fuzzy system, the
fuzzy controller uses the corresponding input linguistic terms and the rule
base to determine the resulting linguistic terms of the output linguistic
variables.
For example, suppose the current temperature of a room is 50 degrees,
which corresponds to a linguistic term of cold with a degree of membership
of 0.4. Also suppose the desired temperature is 70, which corresponds to a
linguistic term of moderate with a degree of membership of 0.8. The fuzzy
controller invokes the following rule of the fuzzy system: IF current
temperature is cold AND desired temperature is moderate, THEN heater
setting is low.
Notice that this rule consists of two antecedents, current temperature is
cold and desired temperature is moderate. The truth value of each
antecedent is equal to the degree of membership of the linguistic variable
within the corresponding linguistic term. The fuzzy logic controller uses an
antecedent connective to determine how to calculate the truth value of the
aggregated rule antecedent. Suppose the invoked rule in this example uses
the AND (Minimum) antecedent connective, which specifies to use the
smallest degree of membership of the antecedents as the truth value of the
aggregated rule antecedent. Therefore, the truth value of the aggregated
rule antecedent is 0.4.
You can specify a degree of support for each rule of a fuzzy system. The
weight of a rule is equal to the degree of support multiplied by the truth
value of the aggregated rule antecedent. The fuzzy controller uses an
implication method to scale the membership functions of an output
linguistic variable based on the rule weight before performing
defuzzification.
Refer to the Specifying a Consequent Implication section of Chapter 5,
Designing a Fuzzy System, for more information about implication
methods.
Chapter 4 Overview of Fuzzy Logic
National Instruments Corporation 4-5 PID and Fuzzy Logic Toolkit User Manual
Defuzzification
Defuzzification is the process of converting the degrees of membership of
output linguistic variables within their linguistic terms into crisp numerical
values. A fuzzy controller can use one of several mathematical methods to
perform defuzzification. The most accurate defuzzification method for a
fuzzy controller varies based on the control application.
Refer to Chapter 6, Defuzzification Methods, for more information about
defuzzification methods.
National Instruments Corporation 5-1 PID and Fuzzy Logic Toolkit User Manual
5
Designing a Fuzzy System
A fuzzy system consists of three main parts: linguistic variables,
membership functions, and rules. This chapter describes the general
process of designing a fuzzy system. Refer to Chapter 9, Designing a Fuzzy
System with the Fuzzy System Designer, and Chapter 10, Modifying a Fuzzy
System with the Fuzzy Logic VIs, for information about designing a fuzzy
system in the LabVIEW PID and Fuzzy Logic Toolkit.
Creating Linguistic Variables
Linguistic variables represent, in words, the input variables and output
variables of the system you want to control.
When you create a linguistic variable to represent an input or output
variable, decide how many linguistic terms, or categories of values of the
linguistic variable, you want to create. Linguistic variables usually have
an odd number of linguistic terms, with a middle linguistic term and
symmetric linguistic terms at each extreme. In most applications, three
to seven linguistic terms are sufficient for categorizing the values of a
linguistic variable.
Consider an example in which you want to automate a vehicle to park itself
from an arbitrary starting position. A driver can control the vehicle by
constantly evaluating the current status of the vehicle, such as the distance
from the target position and the orientation of the vehicle, to derive the
correct steering angle. Figure 5-1 represents this example.
Chapter 5 Designing a Fuzzy System
PID and Fuzzy Logic Toolkit User Manual 5-2 ni.com
Figure 5-1. Automating Vehicle Parking
You can define two input linguistic variables for this example. Vehicle
Position x represents the vehicle position in relation to the destination.
Vehicle Orientation represents the orientation of the vehicle. You also can
define an output linguistic variable, Steering Angle , to represent the
steering angle of the vehicle that you want to control.
You can define linguistic terms of Left, Left Center, Center, Right Center,
and Right for the Vehicle Position x input linguistic variable to describe the
possible positions of the vehicle in relation to the destination. You can
define linguistic terms of Left Down, Left, Left Up, Up, Right Up, Right, and
Right Down for the Vehicle Orientation input linguistic variable to
describe the possible orientations of the vehicle. The linguistic terms of the
Steering Angle output linguistic variable must represent both the
direction and magnitude that the steering angle changes. Therefore, you can
use the linguistic terms Negative Large, Negative Medium, Negative Small,
Zero, Positive Small, Positive Medium, and Positive Large for this output
linguistic variable.
y[m]
2.0
1.0
0.0
2.0
3.0
4.0 5.0 6.0
Ramp
x[m]
Start
Position
Target
Position
Chapter 5 Designing a Fuzzy System
National Instruments Corporation 5-3 PID and Fuzzy Logic Toolkit User Manual
Creating Membership Functions
Membership functions are numerical functions corresponding to linguistic
terms. A membership function represents the degree of membership of
linguistic variables within their linguistic terms.
You can apply the normalized standard membership functions illustrated in
Figure 5-2 to most technical processes. These standard functions include
-type (triangular shape), -type (trapezoidal shape), singleton-type
(vertical line shape), Sigmoid-type (wave shape), and Gaussian-type
(bell shape) membership functions.
Figure 5-2. Shapes of Standard Membership Functions
For example, the linguistic variable Vehicle Position x might have full
membership (1) within the linguistic term Center at 5 meters, no
membership (0) within that term at 4 meters or less and 6 meters or greater,
and partial membership at all distances between 4 and 6 meters. If you plot
the degree of membership against the value of Vehicle Position x, you can
see that the resulting membership function is a triangle function.
Sigmoid-type -type -type Gaussian-type Singleton-type
Chapter 5 Designing a Fuzzy System
PID and Fuzzy Logic Toolkit User Manual 5-4 ni.com
Figure 5-3. Triangular Membership Function for the Linguistic Term Center
Sometimes a linguistic variable has full membership within a linguistic
term at a range of values rather than at a point value. If, for example, the
linguistic variable Vehicle Position x has full membership within the
linguistic term Center at values x = 5 0.25 m, a trapezoidal membership
function applies, as shown in Figure 5-4.
1.0
0.8
0.6
0.4
0.2
0.0
0.0 1.0 2.0 3.0 7.0 8.0 9.0 10.0
Center
Vehicle Position x
4.0 5.0 6.0 [m]
[x]
Chapter 5 Designing a Fuzzy System
National Instruments Corporation 5-5 PID and Fuzzy Logic Toolkit User Manual
Figure 5-4. Trapezoidal Membership Function for the Linguistic Term Center
Figures 5-5, 5-6, and 5-7 show all membership functions for the input and
output linguistic variables of the vehicle maneuvering fuzzy system.
1.0
0.8
0.6
0.4
0.2
0.0
0.0 1.0 2.0 3.0 7.0 8.0 9.0 10.0
Center
Vehicle Position x
4.0 5.0 6.0
4.75 5.25
[x]
[m]
Chapter 5 Designing a Fuzzy System
PID and Fuzzy Logic Toolkit User Manual 5-6 ni.com
Figure 5-5. Membership Functions for Vehicle Position x
Figure 5-6. Membership Functions for Vehicle Orientation
1.0
0.8
0.6
0.4
0.2
0.0
0.0 1.0 2.0 3.0 4.0 5.0 6.0 7.0 8.0 9.0 10.0
Left
Left
Center Center
Right
Center Right
x [m]
[x]
Vehicle Position
1.0
0.8
0.6
0.4
0.2
0.0
Vehicle Orientation
Left Down
Left
Left Up
Up
Right Up
Right
Right Down
100
50 0.0 50 100 150 200 250
[]
[]
Chapter 5 Designing a Fuzzy System
National Instruments Corporation 5-7 PID and Fuzzy Logic Toolkit User Manual
Figure 5-7. Membership Functions for Steering Angle
Creating a Rule Base
Rules describe, in words, the relationships between input and output
linguistic variables based on their linguistic terms. A rule base is the set of
rules for a fuzzy system.
To create a rule, you must specify the antecedents, or IF portions, and
consequents, or THEN portions, of the rule. For example, consider the
following rule: IF Vehicle Position x is Left Center AND Vehicle
Orientation is Left Up, THEN Steering Angle is Positive Small. The
clauses Vehicle Position x is Left Center and Vehicle Orientation is
Left Up are the antecedents of this rule. The clause Steering Angle is
Positive Small is the consequent of this rule.
Associate an input linguistic variable with a corresponding linguistic term
to form an antecedent. Associate an output linguistic variable with a
corresponding linguistic term to form a consequent. The consequent of a
rule represents the action you want the fuzzy controller to take if the
linguistic terms of the input linguistic variables in the rule are met.
When constructing a rule base, avoid contradictory rules, or rules with the
same IF portion but different THEN portions. A consistent rule base is a
rule base that has no contradictory rules.
1.0
0.8
0.6
0.4
0.2
0.0
30.0 25.0 20.0 15.0 10.0 5.0 0.0 5.0 10.0 15.0 20.0 25.0 30.0
Steering Angle
Negative
Large
Negative
Medium
Negative
Small
Positive
Small
Positive
Medium
Positive
Large
Zero
[]

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PID and Fuzzy Logic Toolkit User Manual 5-8 ni.com
The total number N of possible rules for a fuzzy system is defined by the
following equation:
where p
n
is the number of linguistic terms for the input linguistic variable n.
If each input linguistic variable has the same number of linguistic terms, the
total number N of possible rules is defined by the following equation:
where p is the number of linguistic terms for each input linguistic variable
and m is the number of input linguistic variables. For example, for three
input linguistic variables with five linguistic terms each, the total number
of possible rules is .
A rule base with at least one active rule for each possible combination of
input linguistic variables and linguistic terms is a complete rule base. If you
define an incomplete rule base, you must specify a default linguistic term
for each output linguistic variable so the fuzzy controller can handle
situations in which no rules are active.
The Vehicle Position x input linguistic variable has five linguistic terms, and
the Vehicle Orientation linguistic variable has seven linguistic terms.
Therefore, the rule base of the vehicle maneuvering example consists of
rules. You can document the complete rule base in
matrix form, as shown in Figure 5-8.
N p
1
p
2
p
n
=
N p
m
=
N 5
3
125 = =
N 5 7 35 = =
Chapter 5 Designing a Fuzzy System
National Instruments Corporation 5-9 PID and Fuzzy Logic Toolkit User Manual
Figure 5-8. Complete Rule Base for the Vehicle Maneuvering Example
Each column or row represents an antecedent of a rule. The term at the
intersection of a column and a row is the consequent of the rule
corresponding to the aggregated rule antecedent. For example, the
following rule is highlighted in Figure 5-8.
IF Vehicle Position x is Left Center AND Vehicle Orientation is Left,
THEN Steering Angle is Negative Small.
Plotting a rule base in matrix form, as in Figure 5-8, is helpful for detecting
inconsistencies, such as contradictory rules. However, plotting a rule base
in matrix form is efficient only for small rule bases. Detecting
inconsistencies in large rule bases is difficult. For fuzzy systems with
numerous controller inputs, you can use cascading fuzzy systems to avoid
large rule bases. In cascading fuzzy systems, the outputs of the first fuzzy
system serve as the inputs to the next fuzzy system, and so on.
AND
Vehicle Position x [m]
Left Down
Left
Left Up
Up
Right Up
Right
Right Down
Left
Negative
Small
Positive
Small
Positive
Small
Positive
Medium
Positive
Medium
Positive
Medium
Positive
Medium
Positive
Large
Positive
Large
Positive
Large
Positive
Large
Positive
Large
Center
Negative
Medium
Negative
Medium
Negative
Medium
Negative
Medium
Negative
Medium
Negative
Medium
Negative
Medium
Negative
Small
Negative
Small
Negative
Small
Negative
Small
Negative
Small
Zero
Positive
Small
Positive
Small
Positive
Medium
Positive
Medium
Positive
Medium
Left Center Right Center
Negative
Large
Negative
Large
Negative
Large
Negative
Large
Negative
Large
Right
V
e
h
i
c
l
e

O
r
i
e
n
t
a
t
i
o
n

]
Chapter 5 Designing a Fuzzy System
PID and Fuzzy Logic Toolkit User Manual 5-10 ni.com
Specifying an Antecedent Connective
If a rule has more than one antecedent, you must specify an antecedent
connective to determine how to calculate the truth value of the aggregated
rule antecedent.
Because linguistic variables can have partial degrees of membership within
linguistic terms, you cannot use Boolean operators from conventional dual
logic as antecedent connectives. The PID and Fuzzy Logic Toolkit uses the
following antecedent connectives instead.
AND (Minimum):
AND (Product):
OR (Maximum):
OR (Probabilistic):
Notice that these definitions agree with the logical operators used in
Boolean logic. A truth table uses conventional operators to yield equivalent
results.
The AND (Minimum) antecedent connective specifies to use the smallest
degree of membership of the antecedents as the truth value of the
aggregated rule antecedent, while the AND (Product) specifies to use the
product of the degrees of membership of the antecedents. The OR
(Maximum) antecedent connective specifies to use the largest degree of
membership of the antecedents. The OR (Probabilistic) antecedent
connective specifies to use the probabilistic sum of the degrees of
membership of the antecedents.
A B min A B , ( ) =
A B A B , ( ) =
A B + max A B , ( ) =
A B + A B + ( ) AB ( ) ( ) =
Chapter 5 Designing a Fuzzy System
National Instruments Corporation 5-11 PID and Fuzzy Logic Toolkit User Manual
Assume the following rules are invoked for a particular set of input values.
Notice that each rule uses the AND (Minimum) antecedent connective.
In Rule 1, Vehicle Position x has a degree of membership of 0.8 within
the linguistic term Center and Vehicle Orientation has a degree of
membership of 1.0 within the linguistic term Left Up. Because the
antecedent connective is AND (Minimum), the fuzzy controller for this
fuzzy system uses the smallest degree of membership of the antecedents,
or 0.8, as the truth value of the aggregated rule antecedent. Similarly,
the smallest degree of membership of the antecedents in Rule 2 is 0.1.
Therefore, the fuzzy controller uses 0.1 as the truth value of the aggregated
rule antecedent. The truth value of the aggregated rule antecedent is
equivalent to the degree of truth of the rule.
If these two rules are the only rules invoked for a given set of input values,
the other linguistic terms for the Steering Angle output linguistic variable
have a truth value of 0. The following table describes the final truth values
for each of the linguistic terms.
Negative Large to a degree of 0.0
Negative Medium to a degree of 0.1
Negative Small to a degree of 0.8
Zero to a degree of 0.0
Positive Small to a degree of 0.0
Positive Medium to a degree of 0.0
Positive Large to a degree of 0.0
If a rule has more than one consequent, the fuzzy logic controller must
evaluate the aggregated rule consequent. When you implement a fuzzy
controller in the PID and Fuzzy Logic Toolkit, the fuzzy controller always
considers only the consequent that has the largest degree of membership.
(1) IF Vehicle Position x is Center
(degree of membership = 0.8)
AND
(Minimum)
Vehicle Orientation is Left Up
(degree of membership = 1.0) = 0.8
THEN Steering Angle is Negative Small
(2) IF Vehicle Position x is Right Center
(degree of membership = 0.1)
AND
(Minimum)
Vehicle Orientation is Left Up
(degree of membership = 1.0) = 0.1
THEN Steering Angle is Negative Medium
Chapter 5 Designing a Fuzzy System
PID and Fuzzy Logic Toolkit User Manual 5-12 ni.com
Specifying a Degree of Support
You can specify a degree of support, between 0 and 1, for each rule of a
fuzzy system. The degree of support represents the relative significance of
each rule and allows for fine-tuning of the rule base. In most cases, the
degree of support is 1. The final weight of a rule is equal to the degree of
support multiplied by the truth value of the aggregated rule antecedent.
Specifying a Consequent Implication
A fuzzy controller uses a consequent implication method to scale the
membership functions of each output linguistic variable based on the
corresponding rule weight before performing defuzzification. Refer to
Chapter 6, Defuzzification Methods, for more information about
defuzzification.
In the PID and Fuzzy Logic Toolkit, you can use either the Minimum or
Product consequent implication method.
In the Minimum implication method, the fuzzy logic controller truncates
the output membership functions at the value of the corresponding rule
weights. For example, if an output linguistic variable has three membership
functions with rule weights 0.5, 0.8, and 0.3, respectively, the scaled
membership functions might appear similar to Figure 5-9.
Figure 5-9. Minimum Implication Method
0.3
0.5
0.8

x
Chapter 5 Designing a Fuzzy System
National Instruments Corporation 5-13 PID and Fuzzy Logic Toolkit User Manual
In the Product implication method, the fuzzy logic controller scales the
output membership functions at the value of the corresponding rule
weights. For example, if an output linguistic variable has three membership
functions with rule weights 0.5, 0.8, and 0.3, respectively, the scaled
membership functions might appear similar to Figure 5-10.
Figure 5-10. Product Implication Method

x
0.3
0.5
0.8
National Instruments Corporation 6-1 PID and Fuzzy Logic Toolkit User Manual
6
Defuzzification Methods
In Chapter 5, Designing a Fuzzy System, you learn how to design fuzzy
systems. This chapter describes how a fuzzy controller performs
defuzzification on a fuzzy system.
Defuzzification is the process of converting the degrees of membership of
output linguistic variables within their linguistic terms into crisp numerical
values. For example, recall the following rules described in the Specifying
an Antecedent Connective section of Chapter 5, Designing a Fuzzy System.
These two rules specify two non-zero values for the Steering Angle
output linguistic variable:
Negative Medium to a degree of 0.1
Negative Small to a degree of 0.8
A fuzzy controller performs defuzzification to evaluate these two linguistic
values and convert them into a single numerical output value.
Note Fuzzy controllers use an implication method to scale the membership functions of
output linguistic variables before performing defuzzification. Refer to the Specifying a
Consequent Implication section of Chapter 5, Designing a Fuzzy System, for more
information about implication methods.
A fuzzy controller can use one of several mathematical methods to perform
defuzzification: Center of Area (CoA), modified Center of Area (CoA),
Center of Sums (CoS), Center of Maximum (CoM), or Mean of Maximum
(MoM).
(1) IF Vehicle Position x is Center
(degree of membership = 0.8)
AND
(Minimum)
Vehicle Orientation is Left Up
(degree of membership = 1.0) = 0.8
THEN Steering Angle is Negative Small
(2) IF Vehicle Position x is Right Center
(degree of membership = 0.1)
AND
(Minimum)
Vehicle Orientation is Left Up
(degree of membership = 1.0) = 0.1
THEN Steering Angle is Negative Medium
Chapter 6 Defuzzification Methods
PID and Fuzzy Logic Toolkit User Manual 6-2 ni.com
Center of Area
In the Center of Area (CoA) defuzzification method, also called the Center
of Gravity (CoG) method, the fuzzy controller first calculates the area
under the scaled membership functions and within the range of the output
variable. The fuzzy logic controller then uses the following equation to
calculate the geometric center of this area.
where CoA is the center of area, x is the value of the linguistic variable, and
x
min
and x
max
represent the range of the linguistic variable.
The Center of Area defuzzification method effectively calculates the best
compromise between multiple output linguistic terms.
CoA
f x ( ) x x d
x
min
x
max
}
f x ( ) x d
x
mi n
x
max
}
------------------------------ =
Chapter 6 Defuzzification Methods
National Instruments Corporation 6-3 PID and Fuzzy Logic Toolkit User Manual
Figure 6-1 illustrates the Center of Area defuzzification method for the
Steering Angle output linguistic variable, assuming the Minimum
implication method. The shaded portion of the graph represents the area
under the scaled membership functions.
Figure 6-1. Center of Area (CoA) Defuzzification Method
Negative
Large
Negative
Medium
Negative
Small
Positive
Small
Positive
Medium
Positive
Large
Zero
Validity
of Rule (2)
Validity
of Rule (1)
1.0
0.8
0.6
0.4
0.2
0.0
30.0 25.0 20.0 15.0 5.0 0.0 5.0 10.0 15.0 20.0 25.0 30.0
Steering Angle
Defuzzified Result: = 9.3
[]
[] 10.0
Chapter 6 Defuzzification Methods
PID and Fuzzy Logic Toolkit User Manual 6-4 ni.com
Figure 6-2 summarizes the process of a fuzzy controller for the vehicle
maneuvering example described in Chapter 5, Designing a Fuzzy System,
using the CoA method of defuzzification.
Figure 6-2. Process of a Fuzzy Controller Using CoA Defuzzification
(1) IF vehicle position x = center
AND vehicle orientation = left up
THEN steering angle = negative small
(2) IF vehicle position x = right center
AND vehicle orientation = left up
THEN steering angle = negative medium
Fuzzy
Inference
0.8
1.0
negative
medium
negative
small
1
0
30 15 0 15 30
steering angle []
left up
1
0
0 90 180 270 90
vehicle orientation []
center
1
0
0.0
10.0
5.0
vehicle position x[m]
negative
medium
negative
small
1
0
30 15 0 15 30
steering angle []
left up
1
0
0 90 180 270 90
vehicle orientation []
right center
1
0
0.0
10.0
5.0
vehicle position x[m]
max
0.1
1.0
negative
medium
negative
small
1
0
30 15 0 15 30
steering angle []
Technical Level
Linguistic Level
steering angle = 9.3 vehicle position x = 5.1 m
vehicle orientation = 70
min
min
Defuzzification Fuzzification
Chapter 6 Defuzzification Methods
National Instruments Corporation 6-5 PID and Fuzzy Logic Toolkit User Manual
Modified Center of Area
Because the CoA defuzzification method evaluates the area under the
scaled membership functions only within the range of the output linguistic
variable, the resulting crisp output values cannot span the full range.
To solve this problem, use the modified Center of Area defuzzification
method.
The modified Center of Area defuzzification method is similar to the
Center of Area defuzzification method. However, the fuzzy logic controller
considers the full area under the scaled membership functions, even if this
area extends beyond the range of the output variable. The fuzzy logic
controller uses the following equation to calculate the geometric center of
the full area under the scaled membership functions.
where mCoA is the modified center of area.
The interval of integration is between the minimum membership function
value and the maximum membership function value. Note that this interval
might extend beyond the range of the output variable.
mCoA
f x ( ) x x d
}
f x ( ) x d
}
-------------------------- =
Chapter 6 Defuzzification Methods
PID and Fuzzy Logic Toolkit User Manual 6-6 ni.com
Figure 6-3 illustrates the difference between the CoA and modified CoA
defuzzification methods.
Figure 6-3. Comparison of CoA and Modified CoA Defuzzification Methods
1.0
0.5
0.0
0.0 100
1.0
0.0 100
1.0
0.0 100
1.0
0.5
0.0
0.0 100
0.5
0.0
1.0
0.0 100
Modified CoA
1.0
0.5
0.0
0.0 100
1.0
0.5
0.0
0.0 100
1.0
0.5
0.0
0.0 100
CoA
0.0
0.0
0.5
0.5
Chapter 6 Defuzzification Methods
National Instruments Corporation 6-7 PID and Fuzzy Logic Toolkit User Manual
Center of Sums
In the Center of Sums (CoS) defuzzification method, the fuzzy logic
controller first calculates the geometric center of area for each membership
function, as the Figure 6-4 illustrates:
Figure 6-4. Calculating the Geometric Center of Area for a Membership Function
The fuzzy controller then uses the following equation to calculate a
weighted average of the geometric center of area for all membership
functions.
where CoA
n
is the geometric center of area of the scaled membership
function n, and area
n
is the area of the scaled membership function n.
Center of Maximum
In the Center of Maximum (CoM) defuzzification method, the fuzzy logic
controller first determines the typical numerical value for each scaled
membership function. The typical numerical value is the mean of the
numerical values corresponding to the degree of membership at which the
membership function was scaled.
CoA

x
max
x
min
x
x
final
CoA
1
area
1
CoA
2
area
2
CoA
n
area
n
+ + + ( )
area
1
area
2
area
n
+ + + ( )
------------------------------------------------------------------------------------------------------------------- =
Chapter 6 Defuzzification Methods
PID and Fuzzy Logic Toolkit User Manual 6-8 ni.com
The fuzzy logic controller then uses the following equation to calculate a
weighted average of the typical values.
where x
n
is the typical numerical value for the scaled membership function
n, and is the degree of membership at which membership function n was
scaled.
Figure 6-5 illustrates how to use the CoM defuzzification method with the
vehicle maneuvering example described in Chapter 5, Designing a Fuzzy
System.
Figure 6-5. Center of Maximum (CoM) Defuzzification Method
The values 15 and 5 are the typical values of the linguistic terms
Negative Medium and Negative Small. The degrees of truth for these
linguistic terms are 0.1 and 0.8, respectively. Therefore, the defuzzified
crisp output value is calculated by the following equation:
x
final
x
1

1
x
2

2
x
n

n
+ + + ( )

1

2

n
+ + + ( )
--------------------------------------------------------------- =

n
Negative
Large
Negative
Medium
Negative
Small
Positive
Small
Positive
Medium
Positive
Large
Zero
Validity
of Rule (2)
Validity
of Rule (1)
1.0
0.8
0.6
0.4
0.2
0.0

30.0 25.0 20.0 15.0 10.0 5.0 0.0 5.0 10.0 15.0 20.0 25.0 30.0
[] Steering Angle Defuzzified Result: = 6.1

f inal

f inal
15 ( ) 0.1 ( ) 5 ( ) 0.8 ( ) + ( )
0.1 0.8 + ( )
------------------------------------------------------------------- 6.1 = =
Chapter 6 Defuzzification Methods
National Instruments Corporation 6-9 PID and Fuzzy Logic Toolkit User Manual
The defuzzification method CoM is identical to using the CoA method with
singleton membership functions.
The CoM and CoA defuzzification methods usually apply to closed-loop
control applications of fuzzy logic. These methods usually result in
continuous output signals because a small change in input values does not
change the best compromise value for the output.
Mean of Maximum
Use the Mean of Maximum (MoM) defuzzification method for pattern
recognition applications. This defuzzification method calculates the most
plausible result. Rather than averaging the degrees of membership of the
output linguistic terms, the MoM defuzzification method selects the typical
value of the most valid output linguistic term.
Figure 6-6 illustrates the MoM defuzzification method.
Figure 6-6. Mean of Maximum (MoM) Defuzzification Method
Mean of Typical Values for
Maximum Membership Function

x
max
x
min
x
Chapter 6 Defuzzification Methods
PID and Fuzzy Logic Toolkit User Manual 6-10 ni.com
Selecting a Defuzzification Method
In decision support systems, the choice of the defuzzification method
depends on the context of the decision you want to calculate with the fuzzy
controller. For quantitative decisions like project prioritization, apply the
CoM method. For qualitative decisions, such as an evaluation of credit
worthiness, MoM is the correct method.
An important aspect of a defuzzification method is the continuity of the
output signal. Consider a fuzzy system with a complete rule base and
overlapping membership functions. A defuzzification method is
continuous if an arbitrary small change of an input value never causes an
abrupt change in the output signal.
In this respect, the defuzzification methods CoM and CoA are continuous
because, assuming overlapping output membership functions, the best
compromise does not jump to a different value with a small change to the
inputs. The defuzzification method MoM, however, is discontinuous
because an arbitrary small change in the input values of the fuzzy system
can cause the output value to switch to another, more plausible result.
Table 6-1 compares the different defuzzification methods based on various
assessment criteria.
Table 6-1. Comparison of Different Defuzzification Methods
Assessment
Criteria
Method
Center of Area
(CoA)
and
Modified
Center of Area
(mCoA)
Center of Sums
(CoS)
Center of
Maximum
(CoM)
Mean of
Maximum
(MoM)
Linguistic
Characteristic
Best
Compromise
Best
Compromise
Best
Compromise
Most Plausible
Result
Fit with Intuition Implausible with
varying
membership
function shapes
and strong
overlapping
membership
functions
Implausible with
varying
membership
function shapes
and strong
overlapping
membership
functions
Good Good
Chapter 6 Defuzzification Methods
National Instruments Corporation 6-11 PID and Fuzzy Logic Toolkit User Manual
Continuity Yes Yes Yes No
Computational
Effort
Very High Medium Low Very Low
Application
Field
Closed-Loop
Control,
Decision
Support,
Data Analysis
Closed-Loop
Control,
Decision
Support,
Data Analysis
Closed-Loop
Control,
Decision
Support,
Data Analysis
Pattern
Recognition,
Decision
Support,
Data Analysis
Table 6-1. Comparison of Different Defuzzification Methods (Continued)
Assessment
Criteria
Method
Center of Area
(CoA)
and
Modified
Center of Area
(mCoA)
Center of Sums
(CoS)
Center of
Maximum
(CoM)
Mean of
Maximum
(MoM)
National Instruments Corporation 7-1 PID and Fuzzy Logic Toolkit User Manual
7
I/O Characteristics of Fuzzy
Controllers
You can consider a fuzzy controller to be a nonlinear characteristic field
controller. The rule base and membership functions of the fuzzy system
determine the behavior of the controller. Because the controller has no
internal dynamic aspects, the I/O characteristics can describe the transient
response of the controller completely.
To illustrate how the I/O characteristics of a fuzzy controller depend
on design parameters such as the rule base and membership function
specifications of the fuzzy system, first consider a single-input fuzzy
controller. Many of the characteristics of a single-input fuzzy controller
apply to fuzzy controllers with two or more inputs.
Figure 7-1 shows the I/O characteristic of a fuzzy controller for a fuzzy
system that has only three linguistic terms for the input variable x and the
output variable y. The rule base consists of three rules, which indicate that
the increasing input values cause the output value to increase.
Chapter 7 I/O Characteristics of Fuzzy Controllers
PID and Fuzzy Logic Toolkit User Manual 7-2 ni.com
Figure 7-1. I/O Characteristic of a Fuzzy Controller
(Partially Overlapping Input Terms)
Rule
Base
Rule 1: IF x = Negative THEN y = Negative
Rule 2: IF x = Zero THEN y = Zero
Rule 3: IF x = Positive THEN y = Positive
Max-Min-
Inference
Modified
CoA
(x)
1.0
0.8
0.6
0.4
0.2
0.0
1.0 0.5 0.0 0.5 1.0
Positive Zero Negative
x
(y)
1.0
0.8
0.6
0.4
0.2
0.0
1.0 0.5 0.0 0.5 1.0
Positive Zero Negative
y
1.0
0.8
0.6
0.4
0.2
0.0
0.2
0.4
0.6
0.8
1.0
1.0 0.8 0.6 0.4 0.2 0.0 0.2 0.4 0.6 0.8 1.0
x
Rule 1
Active
Rules 1 and
2 Active
Rules 2 and
3 Active
Rule 2
Active
Rule 3
Active
y
Chapter 7 I/O Characteristics of Fuzzy Controllers
National Instruments Corporation 7-3 PID and Fuzzy Logic Toolkit User Manual
The resulting controller characteristic shows nonlinear behavior. You
obtain different intervals within the controller characteristic because the
input linguistic terms partially overlap. The rule base has only one valid
rule outside of the overlapping regions. The output therefore has a constant
value determined by the output linguistic term of the output linguistic
variable, which is independent of the degree of truth for that rule.
The overlapping sections of the antecedent terms lead to the rising intervals
of the controller characteristic. Within these parts, two rules are
simultaneously active. The different consequent terms, weighted by the
degrees of truth of the different active rules, determine the output value.
Notice that the overlapping triangular consequent terms cause the rising
edges of the controller characteristic to be nonlinear.
Figure 7-2 shows the resulting controller characteristic for antecedent
terms that overlap entirely. The consequent term distribution and the rule
base remain unchanged for this case.
Chapter 7 I/O Characteristics of Fuzzy Controllers
PID and Fuzzy Logic Toolkit User Manual 7-4 ni.com
Figure 7-2. I/O Characteristic of a Fuzzy Controller (Entirely Overlapping Input Terms)
Because the antecedent terms completely overlap, the rule base always has
two active rules. The different consequent terms that lead to the nonlinear
pass of the controller characteristic and that are weighted by the degree of
truth for the different active rules determine the output value.
Rule
Base
Rule 1: IF x = Negative THEN y = Negative
Rule 2: IF x = Zero THEN y = Zero
Rule 3: IF x = Positive THEN y = Positive
Max-Min-
Inference
Modified
CoA
(x)
1.0
0.8
0.6
0.4
0.2
0.0
1.0 0.5 0.0 0.5 1.0
Positive Zero Negative
x
(y)
1.0
0.8
0.6
0.4
0.2
0.0
1.0 0.5 0.0 0.5 1.0
Positive Zero Negative
y
1.0
0.8
0.6
0.4
0.2
0.0
0.2
0.4
0.6
0.8
1.0
x
Rules 1 and
2 Active
Rules 2 and
3 Active
y
1.0 0.8 0.6 0.4 0.2 0.0 0.2 0.4 0.6 0.8 1.0
Chapter 7 I/O Characteristics of Fuzzy Controllers
National Instruments Corporation 7-5 PID and Fuzzy Logic Toolkit User Manual
Figure 7-3 shows the controller characteristic that results when
nonoverlapping antecedent terms describe the input variable.
Figure 7-3. I/O Characteristic of a Fuzzy Controller (Nonoverlapping Input Terms)
Rule
Base
Rule 1: IF x = Negative THEN y = Negative
Rule 2: IF x = Zero THEN y = Zero
Rule 3: IF x = Positive THEN y = Positive
Max-Min-
Inference
Modified
CoA
(x)
1.0
0.8
0.6
0.4
0.2
0.0
1.0 0.5 0.0 0.5 1.0
Positive Zero Negative
x
(y)
1.0
0.8
0.6
0.4
0.2
0.0
1.0 0.5 0.0 0.5 1.0
Positive Zero Negative
y
1.0
0.8
0.6
0.4
0.2
0.0
0.2
0.4
0.6
0.8
1.0
1.0 0.8 0.6 0.4 0.2 0.0 0.2 0.4 0.6 0.8 1.0
x
Rule 1
Active
y
Rule 2
Active
Rule 3
Active
Chapter 7 I/O Characteristics of Fuzzy Controllers
PID and Fuzzy Logic Toolkit User Manual 7-6 ni.com
In this case, only one rule is active for each input situation that leads to the
stepped controller characteristic shown in Figure 7-3.
If the rule base has undefined intervals within input and output linguistic
terms, or if the rule base is incomplete, you must specify the output of the
fuzzy controller. If no rule is available for a certain situation, the output
value remains undefined. One way to avoid this problem is to leave the
current output value unchanged until the controller encounters a situation
that is covered by the rules. Figure 7-4 shows the resulting effect on the
controller characteristic.
Chapter 7 I/O Characteristics of Fuzzy Controllers
National Instruments Corporation 7-7 PID and Fuzzy Logic Toolkit User Manual
Figure 7-4. I/O Characteristic of a Fuzzy Controller (Undefined Input Term Interval)
Rule
Base
Rule 1: IF x = Negative THEN y = Negative
Rule 2: IF x = Zero THEN y = Zero
Rule 3: IF x = Positive THEN y = Positive
Max-Min-
Inference
Modified
CoA
(y)
1.0
0.8
0.6
0.4
0.2
0.0
1.0 0.5 0.0 0.5 1.0
Positive Zero Negative
y
1.0
0.8
0.6
0.4
0.2
0.0
0.2
0.4
0.6
0.8
1.0
1.0 0.8 0.6 0.4 0.2 0.0 0.2 0.4 0.6 0.8 1.0
x
y
Undefined Interval
(x)
1.0
0.8
0.6
0.4
0.2
0.0
1.0 0.5 0.0 0.5 1.0
Positive Zero Negative
x
Chapter 7 I/O Characteristics of Fuzzy Controllers
PID and Fuzzy Logic Toolkit User Manual 7-8 ni.com
If you use an old output value as a default value, undefined intervals or
incomplete rule bases can lead to hysteretic effects on the controller
characteristic.
You can use nonoverlapping, rectangular-shaped consequent terms to
obtain an exact linear controller characteristic for a single-input controller.
In this case, both the area and momentum vary linearly with the degree of
truth, and overlapping regions of the output linguistic terms do not cause
any distortion.
The simplest way to obtain a linear controller characteristic is to use
singletons as consequent terms with entirely overlapping input terms.
Figure 7-5 shows an example of such a controller.
Singletons are normalized rectangular membership functions with an
infinitely small width. Using singleton membership functions for
consequent terms makes the Center of Area (CoA) defuzzification method
identical to the Center of Maximum (CoM) method. Figure 7-5 shows the
controller for the CoA method using singleton membership functions.
Chapter 7 I/O Characteristics of Fuzzy Controllers
National Instruments Corporation 7-9 PID and Fuzzy Logic Toolkit User Manual
Figure 7-5. I/O Characteristic of a Fuzzy Controller (Singletons as Output Terms,
Entirely Overlapping Input Terms)
Rule
Base
Rule 1: IF x = Negative THEN y = Negative
Rule 2: IF x = Zero THEN y = Zero
Rule 3: IF x = Positive THEN y = Positive
Max-Min-
Inference
Modified
CoA
(y)
1.0
0.8
0.6
0.4
0.2
0.0
1.0 0.5 0.0 0.5 1.0
Positive Zero Negative
y
1.0
0.8
0.6
0.4
0.2
0.0
0.2
0.4
0.6
0.8
1.0
1.0 0.8 0.6 0.4 0.2 0.0 0.2 0.4 0.6 0.8 1.0
x
y
(x)
1.0
0.8
0.6
0.4
0.2
0.0
1.0 0.5 0.0 0.5 1.0
Positive Zero Negative
x
Chapter 7 I/O Characteristics of Fuzzy Controllers
PID and Fuzzy Logic Toolkit User Manual 7-10 ni.com
The controller characteristic remains relatively unchanged when you leave
the input terms entirely overlapped to vary the overlapping degree of
the membership functions for the consequent terms, especially if all the
consequent terms are equal in width. Then only the typical values of the
consequent terms are significant.
Therefore, in most closed-loop control applications, you can use singleton
membership functions to model the output terms sufficiently rather than
using triangular or other membership function types.
Chapter 7 I/O Characteristics of Fuzzy Controllers
National Instruments Corporation 7-11 PID and Fuzzy Logic Toolkit User Manual
Figure 7-6 shows that if all the consequent terms are equal in width, the
overlapping degree of the membership functions for the consequent terms
has no significant influence on the controller characteristic.
Figure 7-6. I/O Characteristics of a Fuzzy Controller (Different Overlapping Degrees
of Membership Functions for the Output Terms)
Rule
Base
Rule 1: IF x = Negative THEN y = Negative
Rule 2: IF x = Zero THEN y = Zero
Rule 3: IF x = Positive THEN y = Positive
Max-Min-
Inference
Modified
CoA
(y)
1.0
0.8
0.6
0.4
0.2
0.0
1.0 0.5 0.0 0.5 1.0
Positive Zero Negative
y
1.0
0.8
0.6
0.4
0.2
0.0
0.2
0.4
0.6
0.8
1.0
x
y
(x)
1.0
0.8
0.6
0.4
0.2
0.0
1.0 0.5 0.0 0.5 1.0
Positive Zero Negative
x
1.0 0.8 0.6 0.4 0.2 0.0 0.2 0.4 0.6 0.8 1.0
Chapter 7 I/O Characteristics of Fuzzy Controllers
PID and Fuzzy Logic Toolkit User Manual 7-12 ni.com
If you want to significantly influence the controller characteristic, use
output terms that membership functions model with equally distributed
typical values but different scopes of influence instead. The different terms
have different areas and thus different weights with respect to the
defuzzification process. A wide output term has more influence on the
inference result than a small neighboring output term. Figure 7-7
demonstrates this effect.
Chapter 7 I/O Characteristics of Fuzzy Controllers
National Instruments Corporation 7-13 PID and Fuzzy Logic Toolkit User Manual
Figure 7-7. I/O Characteristics of a Fuzzy Controller (Wide and Small
Membership Functions for the Output Terms)
Rule
Base
Rule 1: IF x = Negative THEN y = Negative
Rule 2: IF x = Zero THEN y = Zero
Rule 3: IF x = Positive THEN y = Positive
Max-Min-
Inference
Modified
CoA
1.0
0.8
0.6
0.4
0.2
0.0
1.0 0.5 0.0 0.5 1.0
Positive Zero Negative
y
1.0
0.8
0.6
0.4
0.2
0.0
0.2
0.4
0.6
0.8
1.0
1.0 0.8 0.6 0.4 0.2 0.0 0.2 0.4 0.6 0.8 1.0
x
y
1.0
0.8
0.6
0.4
0.2
0.0
1.0 0.5 0.0 0.5 1.0
Positive Zero Negative
x
(y) (x)
Chapter 7 I/O Characteristics of Fuzzy Controllers
PID and Fuzzy Logic Toolkit User Manual 7-14 ni.com
Using CoA or CoM as the defuzzification method results in continuous
controller characteristic functions, especially within those intervals of the
input values in which two or more rules are active simultaneously. This
behavior results from the averaging character of the defuzzification
methods described in Chapter 6, Defuzzification Methods.
When you use the Mean of Maximum (MoM) defuzzification method, you
calculate the most plausible result. In other words, the fuzzy controller uses
the typical value of the consequent term of the most valid rule as the crisp
output value. This behavior results in stepped output characteristics, as
shown in Figure 7-8.
Chapter 7 I/O Characteristics of Fuzzy Controllers
National Instruments Corporation 7-15 PID and Fuzzy Logic Toolkit User Manual
Figure 7-8. I/O Characteristic of a Fuzzy Controller with Mean-of-Maximum
(Entirely Overlapping Membership Functions for Input and Output Terms)
Rule
Base
Rule 1: IF x = Negative THEN y = Negative
Rule 2: IF x = Zero THEN y = Zero
Rule 3: IF x = Positive THEN y = Positive
Max-Min-
Inference
Mean-of-
Maximum
(x)
1.0
0.8
0.6
0.4
0.2
0.0
1.0 0.5 0.0 0.5 1.0
Positive Zero Negative
x
(y)
1.0
0.8
0.6
0.4
0.2
0.0
1.0 0.5 0.0 0.5 1.0
Positive Zero Negative
y
1.0
0.8
0.6
0.4
0.2
0.0
0.2
0.4
0.6
0.8
1.0
1.0 0.8 0.6 0.4 0.2 0.0 0.2 0.4 0.6 0.8 1.0
x
y
Chapter 7 I/O Characteristics of Fuzzy Controllers
PID and Fuzzy Logic Toolkit User Manual 7-16 ni.com
The rule base itself has the biggest influence on the controller
characteristic. The rule base determines the principal functionality of the
controller.
Figure 7-9 illustrates how the controller characteristic changes if you
change the rule base of the previous example to include the following rules:
Rule 1: IF x = negative THEN y = negative
Rule 2: IF x = zero THEN y = positive
Rule 3: IF x = positive THEN y = negative
Chapter 7 I/O Characteristics of Fuzzy Controllers
National Instruments Corporation 7-17 PID and Fuzzy Logic Toolkit User Manual
Figure 7-9. I/O Characteristic of a Fuzzy Controller with a Changed Rule Base
These examples show that you can use a fuzzy controller to perform
arbitrary I/O operations. The number of input and output linguistic terms
depends on the desired characteristic type and the precision to which you
approximate the given I/O characteristic.
Rule
Base
Rule 1: IF x = Negative THEN y = Negative
Rule 2: IF x = Zero THEN y = Positive
Rule 3: IF x = Positive THEN y = Negative
Max-Min-
Inference
Modified
CoA
(x)
1.0
0.8
0.6
0.4
0.2
0.0
1.0 0.5 0.0 0.5 1.0
Positive Zero Negative
x
(y)
1.0
0.8
0.6
0.4
0.2
0.0
1.0 0.5 0.0 0.5 1.0
Positive Zero Negative
y
1.0
0.8
0.6
0.4
0.2
0.0
0.2
0.4
0.6
0.8
1.0
x
y
1.0 0.8 0.6 0.4 0.2 0.0 0.2 0.4 0.6 0.8 1.0
Chapter 7 I/O Characteristics of Fuzzy Controllers
PID and Fuzzy Logic Toolkit User Manual 7-18 ni.com
Consider, for example, the stepped linear characteristic curve shown in
Figure 7-10. You can describe the four linear sections with the five circled
base points (xi, yi).
Figure 7-10. Fuzzy Controller for a Given I/O Characteristic
Rule
Base
Rule 1: IF x = x2 THEN y = y2
Rule 1: IF x = x1 THEN y = y1
Rule 2: IF x = x3 THEN y = y3
Rule 3: IF x = x4 THEN y = y4
Rule 3: IF x = x5 THEN y = y5
Max-Min-
Inference
Modified
CoA
(x)
1.0
0.8
0.6
0.4
0.2
0.0
1.0 0.5 0.0 0.5 1.0
x2 x3 x4 x5 x1
x
(y)
1.0
0.8
0.6
0.4
0.2
0.0
1.0 0.5 0.0 0.5 1.0
y3 y4 y5 y1 y2
y
1.0
0.8
0.6
0.4
0.2
0.0
0.2
0.4
0.6
0.8
1.0
x
y
(x1, y1) (x2, y2)
(x3, y3)
(x4, y4)
(x5, y5)
1.0 0.8 0.6 0.4 0.2 0.0 0.2 0.4 0.6 0.8 1.0
Chapter 7 I/O Characteristics of Fuzzy Controllers
National Instruments Corporation 7-19 PID and Fuzzy Logic Toolkit User Manual
To use a single-input fuzzy controller to reproduce the given characteristic,
use five linguistic terms each for the input and output quantities, naming
them x1, x2, , x5 and y1, y2, , y5, respectively. To obtain the stepped
linear sections between the base points, you always must have exactly
two available active rules. To implement this situation, entirely overlap the
triangular membership functions for the input variable, giving each a
typical value that corresponds to a certain base point component, xi.
To obtain characteristic sections that are exactly linear, you must model the
output variable with singleton membership functions, each of which has a
typical value that corresponds to a certain base point component, yi. The
rule base is then a linguistic enumeration of the five base points.
In principle, these conclusions about I/O characteristics are valid for fuzzy
controllers with two or more inputs as well. However, using the AND
(Minimum) antecedent connective to combine the different input
conditions raises an additional nonlinear effect. With the AND (Minimum)
antecedent connective, the fuzzy controller considers the antecedent of the
rule with the lowest degree of truth. Refer to Figure 7-10 for an example.
Figure 7-11 shows the I/O characteristic field for a dual-input fuzzy
controller.
Chapter 7 I/O Characteristics of Fuzzy Controllers
PID and Fuzzy Logic Toolkit User Manual 7-20 ni.com
Figure 7-11. I/O Characteristic Field of a Dual-Input Fuzzy Controller
(y)
1.0 0.5 0.0 0.5 1.0
NL NS ZE PS PL
y
(x)
1.0 0.5 0.0 0.5 1.0
Positive Zero Negative
x

(
d
x
/
d
t
)
1.0 0.5 0.0 0.5 1.0
Positive Zero Negative
dx/dt
Input x
Negative Zero Positive
NL NS ZE
NS
ZE
ZE
PS
PS
PL
I
n
p
u
t

d
x
/
d
t
Max-Min- Inference Modified CoA
Rule
Base
Negative
Zero
Positive
y = f(x, dx/dt)
dx/dt
x
1.00
0.00
1.00
1.00
1.00
1.00
0.00
1.00
0.00
1.0
0.8
0.6
0.4
0.2
0.0
1.0
0.8
0.6
0.4
0.2
0.0
1.0
0.8
0.6
0.4
0.2
0.0
Chapter 7 I/O Characteristics of Fuzzy Controllers
National Instruments Corporation 7-21 PID and Fuzzy Logic Toolkit User Manual
Because the AND (Minimum) antecedent connective is nonlinear, the
characteristic field is not exactly linear despite the membership functions
that overlap entirely for both input variables. Nonoverlapping membership
functions yield a stepped characteristic field with constant planes, as shown
in Figure 7-12.
Chapter 7 I/O Characteristics of Fuzzy Controllers
PID and Fuzzy Logic Toolkit User Manual 7-22 ni.com
Figure 7-12. I/O Characteristic Field of a Dual-Input Fuzzy Controller
(Slightly Overlapping Input Terms)
(y)
1.0
0.8
0.6
0.4
0.2
0.0
1.0 0.5 0.0 0.5 1.0
NL NS ZE PS PL
y
(x)
1.0
0.8
0.6
0.4
0.2
0.0
1.0 0.5 0.0 0.5 1.0
Positive Zero Negative
x

(
d
x
/
d
t
)
1.0
0.8
0.6
0.4
0.2
0.0
1.0 0.5 0.0 0.5 1.0
Positive Zero Negative
dx/dt
Input x
Negative Zero Positive
NL NS ZE
NS
ZE
ZE
PS
PS
PL
I
n
p
u
t

d
x
/
d
t
Max-Min- Inference Modified CoA
y = f(x, dx/dt)
dx/dt
x
1.00
0.00
1.00
1.00
1.00
1.00
0.00
1.00
0.00
Rule
Base
Negative
Zero
Positive
National Instruments Corporation 8-1 PID and Fuzzy Logic Toolkit User Manual
8
Closed-Loop Control Structures
with Fuzzy Controllers
The most common use case for fuzzy controllers is in closed-loop control
structures. The most basic structure of closed-loop control applications
uses sensor signals as input signals for the system and the outputs as
command values to drive the actuators of the process. A corresponding
control loop structure is shown in Figure 8-1.
Figure 8-1. Simple Closed-Loop Control Structure with Fuzzy Controller
Pure fuzzy control applications are more the exception than the rule. In
most cases the fuzzy controller outputs serve as reference parameters, such
as gains, that you provide to a conventional controller instead of directly to
driving actuators.
Because you can regard a fuzzy controller as a nonlinear characteristic field
controller, it has no internal dynamic aspects. Thus, you must implement
any dynamic property by an appropriate preprocessing of the measured
input data.
Rule Base
IF ... AND ... THEN ...
IF ... AND ... THEN ...
IF ... AND ... THEN ...
Implementation of a
Linguistic Control Strategy
Fuzzification Defuzzification
Set Point
Values
Fuzzy Controller
Command
Variables
Process
Measured Values
Chapter 8 Closed-Loop Control Structures with Fuzzy Controllers
PID and Fuzzy Logic Toolkit User Manual 8-2 ni.com
A PI controller is a controller that produces proportional plus integral
control action. The PI controller has only one input and one output. The
output value increases when the input value increases. A fuzzy-PI
controller is a generalization of the conventional PI controller that uses an
error signal and its derivative as input signals. Fuzzy-PI controllers have
two inputs and one output. Multiple inputs allow for greater control
diversity for a fuzzy-PI controller over a conventional PI controller.
The fuzzy-PI controller, shown in Figure 8-2, uses the error signal e(t) and
its derivative de(t)/dt from the measured data preprocessing step as inputs.
If the output signal describes the necessary difference toward the current
output value, you need a subsequent integrator device to build up the
command variable value.
Figure 8-2. Closed-Loop Control Structure with Fuzzy-PI Controller
The benefit of the fuzzy-PI controller is that it does not have a special
operating point. The rules evaluate the difference between the measured
value and the set value, which is the error signal. The rules also evaluate the
tendency of the error signal to determine whether to increase or decrease
the control variable. The absolute value of the command variable has no
influence.
Another advantage of a fuzzy-PI controller over a conventional PI
controller is that it can implement nonlinear control strategies and that it
uses linguistic rules. With fuzzy-PI controllers, you can consider the error
tendency by itself when the error becomes small.
Rule Base
IF ... AND ... THEN ...
IF ... AND ... THEN ...
IF ... AND ... THEN ...
Fuzzification Defuzzification
Set Point
Value
Fuzzy Controller
Command
Variable
Process
Measured Value
error(t )
d/dt
d error (t )/dt
dx
Inc./Dec.
1
T
N
dy(t )/dt = K (d error(t )/dt + error(t ))
Implementation of a
Linguistic Control Strategy
Chapter 8 Closed-Loop Control Structures with Fuzzy Controllers
National Instruments Corporation 8-3 PID and Fuzzy Logic Toolkit User Manual
The chemical industries and process technologies often use fuzzy
controllers with underlying PID control loops. The fuzzy controllers these
industries use are PID fuzzy controllers that control single-process
parameters. Usually, people supervise the operating point of the entire
process.
Figure 8-3 shows the controller structure of the fuzzy controller with
underlying PID control loops.
Figure 8-3. Fuzzy Controller with Underlying PID Control Loops
For automatic operation of such multivariable control problems, you must
build a model-based controller. However, for most applications, either the
process is too complex to model adequately, or the mathematical modeling
task requires too much time.
The next example structure shows how to use a fuzzy controller to tune the
parameters of a conventional PID controller automatically. This fuzzy
controller constantly interprets the process reaction and calculates the
optimal P, I, and D gains. You can apply this control structure to processes
that change their characteristics over time. Figure 8-4 shows this control
structure.
Rule Base
IF ... AND ... THEN ...
IF ... AND ... THEN ...
IF ... AND ... THEN ...
Fuzzification Defuzzification
Set Point
Values
Fuzzy Controller Process
Measured Values
PID
PID
PID
Reference
Magnitude
Signals
Implementation of a
Linguistic Control Strategy
Chapter 8 Closed-Loop Control Structures with Fuzzy Controllers
PID and Fuzzy Logic Toolkit User Manual 8-4 ni.com
Figure 8-4. Fuzzy Controller for Parameter Adaptation of a PID Controller
In Figure 8-5, both the fuzzy controller and the PID controller work in
parallel. The process adds the output signals from both controllers, but the
output signal from the fuzzy controller is zero under normal operating
conditions. The PID controller output leads the process. The fuzzy
controller intervenes only when it detects abnormal operating conditions,
such as strong disturbances.
Figure 8-5. Fuzzy Controller for Correction of a PID Controller Output
Set Point
Values
Fuzzy Controller Process
Measured Values
PID
P
I
D
Command
Variable
Rule Base
IF ... AND ... THEN ...
IF ... AND ... THEN ...
IF ... AND ... THEN ...
Fuzzification Defuzzification Implementation of a
Linguistic Control Strategy
Set Point
Values
Fuzzy Controller Process
Measured Values
PID
Command
Variable
Rule Base
IF ... AND ... THEN ...
IF ... AND ... THEN ...
IF ... AND ... THEN ...
Fuzzification Defuzzification Implementation of a
Linguistic Control Strategy
Chapter 8 Closed-Loop Control Structures with Fuzzy Controllers
National Instruments Corporation 8-5 PID and Fuzzy Logic Toolkit User Manual
You can use the LabVIEW PID and Fuzzy Logic Toolkit to design fuzzy
systems and to implement the control structures described in this chapter
for those fuzzy systems. Use either the Fuzzy System Designer or the
Fuzzy Logic VIs to design a fuzzy system. Then use the FL Fuzzy
Controller VI to implement a fuzzy controller for the fuzzy system. Finally,
you can integrate the fuzzy controller into a control structure you create
using the PID VIs.
Refer to Chapter 3, Using the PID Software, for more information about
creating control structures using the PID VIs. Refer to Chapter 9,
Designing a Fuzzy System with the Fuzzy System Designer, or Chapter 10,
Modifying a Fuzzy System with the Fuzzy Logic VIs, for more information
about designing fuzzy systems and implementing fuzzy controllers.
National Instruments Corporation 9-1 PID and Fuzzy Logic Toolkit User Manual
9
Designing a Fuzzy System with
the Fuzzy System Designer
You can use the LabVIEW PID and Fuzzy Logic Toolkit to design a fuzzy
system in one of two ways: using the Fuzzy System Designer or using the
Fuzzy Logic VIs. This chapter describes how to use the Fuzzy System
Designer to design a fuzzy system. Select ToolsControl Design and
SimulationFuzzy System Designer to launch the Fuzzy System
Designer. Refer to Chapter 10, Modifying a Fuzzy System with the Fuzzy
Logic VIs, for information about designing a fuzzy system using the Fuzzy
Logic VIs.
In this chapter, you use the Fuzzy System Designer to design a fuzzy
system similar to the vehicle maneuvering example from Chapter 5,
Designing a Fuzzy System. The Truck - backward.fs fuzzy system,
located in the labview\examples\control\fuzzy\Car Parking
directory, provides the complete fuzzy system that you design in this
chapter.
Creating Linguistic Variables
The first step in designing a fuzzy system with the Fuzzy System Designer
is to create the input and output linguistic variables for the system. Refer to
the Creating Linguistic Variables section of Chapter 5, Designing a Fuzzy
System, for more information about linguistic variables.
In the vehicle maneuvering example in Chapter 5, Designing a Fuzzy
System, the fuzzy system has two linguistic input variables, Vehicle Position
x and Vehicle Orientation , and one linguistic output variable, Steering
Angle . Figure 5-5, Membership Functions for Vehicle Position x,
Figure 5-6, Membership Functions for Vehicle Orientation , and
Figure 5-7, Membership Functions for Steering Angle , illustrate the
range and membership functions for each of these linguistic variables.
Chapter 9 Designing a Fuzzy System with the Fuzzy System Designer
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Complete the following steps to create an input linguistic variable
corresponding to the Vehicle Position x input linguistic variable of the
vehicle maneuvering example.
1. Select ToolsControl Design and SimulationFuzzy System
Designer to launch the Fuzzy System Designer. The Fuzzy System
Designer displays the Variables page by default.
2. Click the Add Input Variable button to the right of the Input
variables list to launch the Edit Variable dialog box.
3. Enter vehicle-position in the Name text box.
4. Enter a minimum value of 0 and a maximum value of 10. This range
specifies that the position of the vehicle relative to the destination
ranges from 0.0 to 10.0 meters.
5. Click the Add Membership Function button to create a new
membership function for the vehicle-position linguistic variable.
6. Enter left in the Name text box.
7. Select Trapezoid from the Shape pull-down menu to specify that a
trapezoid function determines the degrees of membership for the
linguistic variable.
8. Select the color you want to use for the membership function in the
Membership functions graph from the color picker.
9. Enter 0, 0, 1, and 4 in the fields of the Points array. These points
specify the values of the linguistic variable corresponding to the base
and top points, in order from left to right and base to top, of the
membership function.
10. Repeat steps 5 through 9 for each of the membership functions in
Figure 5-5, Membership Functions for Vehicle Position x.
Note In the Points array for each membership function, ensure that each point is greater
than or equal to all previous points.
Chapter 9 Designing a Fuzzy System with the Fuzzy System Designer
National Instruments Corporation 9-3 PID and Fuzzy Logic Toolkit User Manual
Figure 9-1 displays the Edit Variable dialog box with all membership
functions for the vehicle-position input variable.
Figure 9-1. Membership Functions for the vehicle-position Input Variable
11. Click the OK button to save the changes. Notice that the
vehicle-position input variable appears in the Input variables list and
the corresponding membership functions appear in the Input variable
membership functions graph.
You can repeat the previous procedure to create an input linguistic variable
corresponding to the Vehicle Orientation input linguistic variable of the
vehicle maneuvering example. Figure 5-6, Membership Functions for
Vehicle Orientation , illustrates the range and membership functions for
the Vehicle Orientation input linguistic variable. For the purposes of this
example, you can use approximate values for the points of the membership
functions when creating this input linguistic variable. Figure 9-2 displays
the Edit Variable dialog box with all membership functions for the
vehicle-orientation input variable.
Chapter 9 Designing a Fuzzy System with the Fuzzy System Designer
PID and Fuzzy Logic Toolkit User Manual 9-4 ni.com
Figure 9-2. Membership Functions for the vehicle-orientation Input Variable
You create output linguistic variables similarly to how you create input
linguistic variables in the Fuzzy System Designer. Complete the following
steps to create an output linguistic variable corresponding to the Steering
Angle output linguistic variable of the vehicle maneuvering example.
1. Click the Add Output Variable button to the right of the Output
variables list to launch the Edit Variable dialog box.
2. Enter steering-angle in the Name text box.
3. Enter a minimum value of 30 and a maximum value of 30. This
range specifies that the amount that the steering wheel can turn ranges
from 30.0 to 30.0 degrees.
4. Click the Add Membership Function button to create a new
membership function for the steering-angle output variable.
5. Enter NegBig in the Name text box.
6. Select Triangle from the Shape pull-down menu to specify that a
triangle function determines the degrees of membership for the
linguistic variable.
7. Select the color you want to use for the membership function in the
Membership functions graph from the color picker.
8. Enter 30, 30, and 15 in the fields of the Points array. These points
specify the values of the linguistic variable corresponding to the base
and top points, in order from left to right and base to top, of the
membership function.
9. Repeat steps 4 through 8 to create each of the membership functions in
Figure 5-7, Membership Functions for Steering Angle .
Chapter 9 Designing a Fuzzy System with the Fuzzy System Designer
National Instruments Corporation 9-5 PID and Fuzzy Logic Toolkit User Manual
Figure 9-3 displays the Edit Variable dialog box with all membership
functions for the steering-angle output variable.
Figure 9-3. Membership Functions for the steering-angle Output Variable
10. Click the OK button to save the changes.
11. Select FileSave As to save the fuzzy system as Vehicle
Maneuvering.fs in an easily accessible location.
After you define the input and output linguistic variables for the fuzzy
system, you use the linguistic variables to create a rule base for the fuzzy
system.
Creating a Rule Base
Rules describe, in words, the relationships between input and output
linguistic variables based on their linguistic terms. The rule base of a fuzzy
system determines the output values of the fuzzy system based on the input
values. Refer to the Creating a Rule Base section of Chapter 5, Designing
a Fuzzy System, for more information about rule bases.
Recall that the vehicle-position input linguistic variable you created in the
Creating Linguistic Variables section of this chapter has five membership
functions, and the vehicle-orientation input linguistic variable has seven
membership functions. Therefore, you can construct rules to associate
35 possible combinations of the linguistic terms of these input linguistic
variables with the linguistic terms of the steering-angle output linguistic
variable. Refer to Figure 5-8, Complete Rule Base for the Vehicle
Maneuvering Example, to view this complete rule base.
Chapter 9 Designing a Fuzzy System with the Fuzzy System Designer
PID and Fuzzy Logic Toolkit User Manual 9-6 ni.com
Complete the following steps to create the complete rule base for the
vehicle maneuvering example using the Fuzzy System Designer. You must
have created both input linguistic variables and the output linguistic
variable in order to create this rule base.
1. Click the Rules tab of the Fuzzy System Designer to display the Rules
page.
2. Select OperatePre-Generate Rules to display the Pre-Generate
Rules dialog box.
3. Select AND (Minimum) from the Antecedent connective pull-down
menu. This option specifies that the smallest degree of membership of
the antecedents determines the truth value of the aggregated rule
antecedent for each rule.
4. Enter a Degree of support of 1. This option specifies the weight that
you want to apply to each rule. The final rule weight for each rule is
equal to the Degree of support multiplied by the truth value of the
aggregated rule antecedent.
5. Select Minimum from the Consequent implication pull-down menu.
This option specifies that the fuzzy logic controller truncates the output
membership functions at the value of the corresponding rule weights
before performing defuzzification.
6. Click the OK button to populate the Rules list with all
35 combinations of linguistic terms of the input variables. Each rule
uses the same antecedent connective, degree of support, and
implication method that you specified in the Pre-Generate Rules
dialog box.
Notice that the consequent of each rule in the Rules list is THEN
steering-angle IS NegBig. However, as Figure 5-8, Complete Rule
Base for the Vehicle Maneuvering Example, illustrates, the linguistic term
of the steering-angle output variable depends on the combination of
linguistic terms of the input variables.
Complete the following steps to modify the pre-generated rules to use the
correct consequents.
1. Select Rule 1 in the Rules list.
2. In the THEN column for Rule 1, select NegSmall as the linguistic
term for the steering-angle output linguistic variable. Notice the
consequent of Rule 1 changes to THEN steering-angle IS
NegSmall.
Chapter 9 Designing a Fuzzy System with the Fuzzy System Designer
National Instruments Corporation 9-7 PID and Fuzzy Logic Toolkit User Manual
3. Repeat steps 1 and 2 for each rule using the consequents in Figure 5-8,
Complete Rule Base for the Vehicle Maneuvering Example.
4. Select FileSave to save the fuzzy system.
The fuzzy system now has a complete linguistic rule base with which to
analyze input data and produce output data. However, the rule base returns
the output data as linguistic terms. The fuzzy controller must defuzzify the
output data that the rule base specifies before the output can apply to the
control structure the fuzzy system automates. You therefore must specify a
defuzzification method for the fuzzy controller to use.
Specifying a Defuzzification Method
After you create the rule base for a fuzzy system, you must specify how a
fuzzy controller performs defuzzification for the system. Defuzzification is
the process of converting the degrees of membership of output linguistic
variables into numerical values.
In the vehicle maneuvering example, you must supply a continuous output
signal to control the steering angle of the vehicle. Therefore, you must use
a defuzzification method that calculates the best compromise between any
rules that apply at a given time. According to the guidelines in Table 6-1,
Comparison of Different Defuzzification Methods, you can choose either
the Center of Maximum, Center of Area, or Center of Sums defuzzification
method.
On the Rules page of the Fuzzy System Designer, select either of these
defuzzification methods from the Defuzzification method pull-down
menu. Then select FileSave to save the fuzzy system.
The fuzzy system is complete. Before you integrate the fuzzy system into
the control structure you want to automate, however, you might want to test
the functionality of the system.
Testing the Fuzzy System
You can test the relationship between the input and output values of a fuzzy
system to validate the rule base of the fuzzy system. Use the Test System
page of the Fuzzy System Designer to test the fuzzy system you created in
the previous sections of this chapter.
Complete the following steps to test the vehicle maneuvering fuzzy system.
1. Click the Test System tab of the Fuzzy System Designer to display the
Test System page.
Chapter 9 Designing a Fuzzy System with the Fuzzy System Designer
PID and Fuzzy Logic Toolkit User Manual 9-8 ni.com
2. Enter an Input value of 5 for the vehicle-position input linguistic
variable. Recall from the Creating Linguistic Variables section of this
chapter that a value of 5 for the vehicle-position input linguistic
variable corresponds to the center linguistic term.
3. Enter an Input value of 30 for the vehicle-orientation input linguistic
variable. Recall from the Creating Linguistic Variables section of this
chapter that a value of 30 for the vehicle-orientation input linguistic
variable corresponds to the left-down linguistic term.
In the Invoked Rules table, notice that the fuzzy system invokes Rule
15: IF vehicle-position IS center AND vehicle-orientation IS
left-down THEN steering-angle IS NegMed
Recall from the Creating Linguistic Variables section of this chapter
that the NegMed linguistic term for the steering-angle output linguistic
variable corresponds to the range between 30 and 5. Notice that the
Output value of the steering-angle output variable is 16.7334,
which is within this range.
Note If you used approximate values for the points of the membership functions of the
steering-angle output variable, you might see a slightly different Output value.
The fuzzy controller calculates the Output value based on the weight
of the rule, the consequent implication method, and the defuzzification
method.
You also can use the Input value 1 and Input value 2 slide controls to
sweep a range of values for the input linguistic variables of the fuzzy
system. You then can observe the corresponding change in the
Input/Output relationship graph. You can use the Input/Output
relationship graph to verify that the rule base is reasonable and complete.
For example, if the Input/Output relationship graph is 0 at some points,
the rule base might be incomplete.
Controlling the Fuzzy System
After you create a fuzzy system in the Fuzzy System Designer, you can use
the FL Fuzzy Controller VI to implement a controller for the fuzzy system.
The FuzzyEx Car Backward Parking example VI, located in the labview\
examples\control\fuzzy\Car Parking directory, illustrates how to
implement a controller for a fuzzy system.
Chapter 9 Designing a Fuzzy System with the Fuzzy System Designer
National Instruments Corporation 9-9 PID and Fuzzy Logic Toolkit User Manual
The block diagram of the FuzzyEx Car Backward Parking example VI
appears similar to the following figure.
Figure 9-4. Block Diagram of the FuzzyEx Car Backward Parking Example VI
This example VI uses the FL Load Fuzzy System VI to load both the
Truck - forward.fs and Truck - backward.fs files. These files
represent the fuzzy systems for moving the vehicle forward and backwards,
respectively.
Each FL Load Fuzzy System VI passes a .fs file to a FL Fuzzy Controller
VI, which implements a fuzzy controller for the fuzzy system.
Figure 9-5. Detail of the FuzzyEx Car Backward Parking Example VI
Chapter 9 Designing a Fuzzy System with the Fuzzy System Designer
PID and Fuzzy Logic Toolkit User Manual 9-10 ni.com
The fuzzy system you created with the Fuzzy System Designer in the
previous sections of this chapter is similar to the Truck - backward.fs
file. You can implement a fuzzy controller for the fuzzy system you created
in the same fashion that the FuzzyEx Car Backward Parking example VI
implements a controller for the Truck - backward.fs file.
National Instruments Corporation 10-1 PID and Fuzzy Logic Toolkit User Manual
10
Modifying a Fuzzy System with
the Fuzzy Logic VIs
In Chapter 9, Designing a Fuzzy System with the Fuzzy System Designer,
you design a fuzzy system interactively using the Fuzzy System Designer
and then implement a fuzzy controller for that system using the FL Fuzzy
Controller VI. You also can design a fuzzy system programmatically using
the Fuzzy Logic VIs. However, in most cases, use the Fuzzy System
Designer to design the fuzzy system first, and then use the Fuzzy Logic VIs
to make programmatic modifications to the fuzzy system. In this chapter,
you modify a fuzzy system programmatically using the Fuzzy Logic VIs.
This chapter uses the example of a greenhouse control system to illustrate
how to modify a fuzzy system using the Fuzzy Logic VIs. The
greenhouse.fs file, located in the labview\examples\control\
fuzzy\Dynamic greenhouse controller directory, represents the
fuzzy system that you modify in this chapter.
Observing the Fuzzy System
Before modifying the greenhouse fuzzy system, first open and observe the
fuzzy system in the Fuzzy System Designer.
Complete the following steps to open and observe the greenhouse fuzzy
system in the Fuzzy System Designer.
1. Select ToolsControl Design and SimulationFuzzy System
Designer to launch the Fuzzy System Designer.
2. Select FileOpen.
3. In the file dialog box that appears, navigate to the labview\
examples\control\fuzzy\Dynamic greenhouse controller
directory and select the greenhouse.fs file.
4. Click the OK button. The greenhouse fuzzy system appears in the
Fuzzy System Designer.
On the Variables page, notice that the Input variables and Output
variables lists display the input and output linguistic variables,
Chapter 10 Modifying a Fuzzy System with the Fuzzy Logic VIs
PID and Fuzzy Logic Toolkit User Manual 10-2 ni.com
respectively, for the fuzzy system. The greenhouse fuzzy system has
two input linguistic variables, Temperature and Humidity, and
two output linguistic variables, Electric Roof and Water Spills.
The Temperature input linguistic variable represents the temperature,
in degrees Celsius, inside the greenhouse.
By default, the Input variable membership functions graph and the
Output variable membership functions graph display information
about the Temperature input linguistic variable and the Electric Roof
output linguistic variable, respectively. Notice that the Temperature
input linguistic variable has a range from 0 to 50 and three membership
functions: Cold, Normal, and Warm.
Notice that a trapezoid function represents the shape of the Cold
membership function. The left base, left top, right top, and right base
points of this membership function are 0, 0, 13, and 21, respectively.
5. Click the Rules tab of the Fuzzy System Designer to display the Rules
page. Notice that the Rules list displays nine rules for the fuzzy
system. This rule base corresponds to all possible combinations of the
membership functions of the two input linguistic variables.
Also notice that the Defuzzification method for the fuzzy system is
Center of Area. Refer to Chapter 6, Defuzzification Methods, for
information about defuzzification methods.
6. Click the first rule in the Rules list: IF Temperature IS Cold AND
Humidity IS Dry THEN Electric Roof IS Closed ALSO Water
Spills IS Moderate. Notice that the Antecedent connective, Degree
of support, and Consequent implication for this rule are AND
(Minimum), 1, and Product, respectively. Refer to the Creating a
Rule Base section of Chapter 5, Designing a Fuzzy System, for
information about these rule characteristics.
7. Click the Close button to close the Fuzzy System Designer.
The following sections describe how to modify the greenhouse fuzzy
system using the Fuzzy Logic VIs.
Loading the Fuzzy System
Before modifying the greenhouse fuzzy system, you must load the .fs file.
Complete the following steps to load the greenhouse.fs file.
1. Select FileNew VI to create a new VI.
2. Press the <Ctrl-E> keys to display the block diagram.
3. Add an FL Load Fuzzy System VI to the block diagram.
Chapter 10 Modifying a Fuzzy System with the Fuzzy Logic VIs
National Instruments Corporation 10-3 PID and Fuzzy Logic Toolkit User Manual
4. Right-click the file path input of the FL Load Fuzzy System VI and
select CreateConstant from the shortcut menu.
5. Enter the absolute path to the labview\examples\control\
fuzzy\Dynamic greenhouse controller\greenhouse.fs file
in the path constant.
Note You also can use the File I/O VIs and functions to create a relative path to wire to
the file path input of the FL Load Fuzzy System VI.
6. Select FileSave and save the VI as Modified Greenhouse Fuzzy
System.vi in an easily accessible location.
Modifying a Linguistic Variable
You can use the Variables VIs to modify the linguistic variables in a fuzzy
system. In this section, you modify the range of the Temperature input
linguistic variable of the greenhouse fuzzy system to use degrees
Fahrenheit instead of degrees Celsius.
Complete the following steps to modify the range of the Temperature input
linguistic variable.
1. Add an FL Set Variable VI to the block diagram. This VI modifies the
name, range, or membership functions of a linguistic variable in a
fuzzy system.
2. Wire the fuzzy system out output of the FL Load Fuzzy System VI to
the fuzzy system in input of the FL Set Variable VI.
3. Right-click the input/output input of the FL Set Variable VI and select
CreateConstant from the shortcut menu. This input specifies
whether you want to modify an input or output linguistic variable.
4. Select Input from the input/output constant.
5. Right-click the variable index input of the FL Set Variable VI and
select CreateConstant from the shortcut menu. This input specifies
the index of the linguistic variable whose information you want to
modify. The index is zero-based and corresponds to the order in which
the linguistic variable was created.
6. Enter 0 in the variable index constant to specify the first linguistic
variable. Recall that the Temperature variable is the first input
linguistic variable in the fuzzy system.
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7. Create constants for the minimum and maximum inputs of the FL Set
Variable VI and set them to 32 and 122, respectively. This new range
represents the possible temperature, in degrees Fahrenheit, inside the
greenhouse.
8. Save the Modified Greenhouse Fuzzy System VI. The block diagram
should appear similar to Figure 10-1.
Figure 10-1. Modifying the Range of a Linguistic Variable
Modifying Membership Functions
You can use the Membership VIs to modify the membership functions for
linguistic variables in a fuzzy system. In this section, you modify the
membership functions of the Temperature input linguistic variable to use
degrees Fahrenheit instead of degrees Celsius.
Complete the following steps to modify the membership functions of the
Temperature input linguistic variable.
1. Add an FL Set Membership Function VI to the block diagram.
2. Wire the fuzzy system out output of the FL Set Variable VI to the
fuzzy system in input of the FL Set Membership Function VI.
3. Create constants for the membership function index, variable index,
and input/output inputs of the FL Set Membership Function VI and
set them to 0, 0, and Input, respectively. These inputs specify that you
want to modify the first membership function, Cold, of the
Temperature input linguistic variable.
4. Create a constant for the shape input of the FL Set Membership
Function VI. This input specifies the shape of the function that
determines the degrees of membership for the linguistic variable.
5. Select Trapezoid from the shape constant.
6. Create a constant for the points input of the FL Set Membership
Function VI. This input specifies the values of the linguistic variable
Chapter 10 Modifying a Fuzzy System with the Fuzzy Logic VIs
National Instruments Corporation 10-5 PID and Fuzzy Logic Toolkit User Manual
corresponding to the base and top points, in order from left to right and
base to top, of the membership function.
7. In the points array constant, enter the values 32, 32, 55, and 70.
8. Repeat steps 1 through 5 for the Normal and Warm membership
functions of the Temperature input linguistic variable. Wire the fuzzy
system out output of each FL Set Membership Function VI to the
fuzzy system in input of the next FL Set Membership Function VI.
Use a Gaussian shape with points 59, 68, 77, and 86 for the Normal
membership function. Use a Trapezoid shape with points 75, 90, 122,
and 122 for the Warm membership function.
9. Save the Modified Greenhouse Fuzzy System VI. The block diagram
should appear similar to Figure 10-2.
Figure 10-2. Modifying the Membership Functions of a Linguistic Variable
Modifying a Rule
You can use the Rules VIs to modify the rules for a fuzzy system. This
section demonstrates how to recreate the first rule of the greenhouse fuzzy
system, IF Temperature IS Cold AND Humidity IS Dry THEN
Electric Roof IS Closed ALSO Water Spills IS Moderate, and replace
the existing first rule of the fuzzy system with the rule you create.
When you use the Rules VIs to create rules, you must create the rules in
parts. First, create the antecedents and consequents separately. Then
combine the antecedents and consequents for a specific rule.
Chapter 10 Modifying a Fuzzy System with the Fuzzy Logic VIs
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Creating the Antecedents
The first step in creating a rule is to create the antecedents of the rule.
Complete the following steps to create the Temperature IS Cold and
Humidity IS Dry antecedents.
1. Add an FL Create Antecedent VI to the block diagram. This VI creates
an antecedent, or IF portion, of a rule for a fuzzy system.
2. Create constants for the variable index and membership function
index inputs of the FL Create Antecedent VI and set them both to 0.
These inputs specify that you want to associate the Temperature input
linguistic variable with the Cold membership function.
3. Create a constant for the condition input of the FL Create Antecedent
VI. This input specifies, when =, to calculate , the degree of
membership of the linguistic variable within the membership function.
Otherwise, this input specifies to calculate the degree of
non-membership, or 1 .
4. Select = from the condition constant. The FL Create Antecedent VI
now creates the Temperature IS Cold antecedent.
5. Repeat steps 1 through 4 to create the Humidity IS Dry antecedent.
In the greenhouse fuzzy system, the Dry membership function is the
first membership function for the Humidity input linguistic variable, so
use 0 as the membership function index.
6. Add a Build Array function to the block diagram.
7. Resize the Build Array function to display two input elements.
8. Wire the antecedent output of the first FL Create Antecedent VI to the
first element of the Build Array function.
9. Wire the antecedent output of the second FL Create Antecedent VI to
the second element of the Build Array function.
10. Save the Modified Greenhouse Fuzzy System VI. The relevant portion
of the block diagram should appear similar to Figure 10-3.
Figure 10-3. Creating Rule Antecedents

Chapter 10 Modifying a Fuzzy System with the Fuzzy Logic VIs

National Instruments Corporation 10-7 PID and Fuzzy Logic Toolkit User Manual
Creating Consequents
You create rule consequents similarly to how you create rule antecedents.
Complete the following steps to create the Electric Roof IS Closed and
Water Spills IS Moderate consequents.
1. Add an FL Create Consequent VI to the block diagram. This VI creates
a consequent, or THEN portion, of a rule for a fuzzy system.
2. Create constants for the variable index and membership function
index inputs of the FL Create Consequent VI and set them both to 0.
These inputs specify that you want to associate the Electric Roof
output linguistic variable with the Closed membership function.
Note Unlike the FL Create Antecedent VI, the FL Create Consequent VI does not have a
condition input. The FL Create Consequent VI always returns the consequent
corresponding to the degree of membership of the output variable within the membership
function.
3. Repeat steps 1 and 2 to create the Water Spills IS Moderate
consequent. In the greenhouse fuzzy system, the Moderate
membership function is the second membership function for the Water
Spills output linguistic variable, so use 1 as the membership function
index.
4. Add a Build Array function to the block diagram.
5. Resize the Build Array function to display two input elements.
6. Wire the consequent output of the first FL Create Consequent VI to
the first element of the Build Array function.
7. Wire the consequent output of the second FL Create Consequent VI to
the second element of the Build Array function.
8. Save the Modified Greenhouse Fuzzy System VI. The relevant portion
of the block diagram should appear similar to Figure 10-4.
Figure 10-4. Creating Rule Consequents
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Combining the Antecedents and Consequents for a Rule
After you create the antecedents and consequents of a rule, you must
combine them to form a specific rule. Complete the following steps to
combine the antecedents and consequents you created in the previous
sections.
1. Add an FL Set Rule VI to the block diagram. This VI modifies the
antecedents, consequents, or relationships of a rule in a fuzzy system.
2. Wire the fuzzy system out output of the last FL Set Membership
Function VI to the fuzzy system in input of the FL Set Rule VI.
3. Create a constant for the rule index input of the FL Set Rule VI and
set it to 0. This input specifies that you want to modify the first rule in
the fuzzy system.
4. Wire the appended array output of the first Build Array function to
the antecedents input of the FL Set Rule VI.
5. Wire the appended array output of the second Build Array function
to the consequents input of the FL Set Rule VI.
6. Create a constant for the antecedent connective input of the FL Set
Rule VI. This input specifies how the VI calculates the truth value of
the aggregated rule antecedent.
7. Select AND (Minimum) from the antecedent connective constant.
The aggregated rule antecedent now is IF Temperature IS Cold
AND Humidity IS Dry, where this VI uses the smallest degree of
membership of the individual antecedents to calculate the truth value
of the aggregated rule antecedent.
Note You cannot specify how this VI calculates the truth value of an aggregated rule
consequent. This VI always uses the greatest degree of membership of the individual
consequents to calculate the truth value of the aggregated rule consequent.
8. Create a constant for the consequent implication input of the FL Set
Rule VI. This input specifies the implication method this VI uses to
scale the membership functions of the output linguistic variables based
on the rule weight.
9. Select Product from the consequent implication constant to specify
that this VI uses the Product implication method.
10. Create a constant for the degree of support input of the FL Set Rule
VI and set it to 1. This input specifies the weight that you want to apply
to the rule. The final rule weight is equal to the degree of support
multiplied by the truth value of the aggregated rule antecedent.
Chapter 10 Modifying a Fuzzy System with the Fuzzy Logic VIs
National Instruments Corporation 10-9 PID and Fuzzy Logic Toolkit User Manual
11. Save the Modified Greenhouse Fuzzy System VI. The relevant portion
of the block diagram should appear similar to Figure 10-5.
Figure 10-5. Modifying a Rule of a Fuzzy System
Saving the Fuzzy System
In previous sections of this chapter, you modified the linguistic variables,
membership functions, and rules of the greenhouse fuzzy system. You now
can save the fuzzy system to a .fs file.
Complete the following steps to save the modified fuzzy system to a .fs
file.
1. Add an FL Save Fuzzy System VI to the block diagram.
2. Wire the fuzzy system out output of the FL Set Rule VI to the fuzzy
system in input of the FL Save Fuzzy System VI.
3. Right-click the file path input of the FL Save Fuzzy System VI and
select CreateConstant from the shortcut menu.
4. Enter the absolute path to a modified greenhouse.fs file in the
path constant.
Note You also can use the File I/O VIs and functions to create a relative path to wire to
the file path input of the FL Save Fuzzy System VI.
Chapter 10 Modifying a Fuzzy System with the Fuzzy Logic VIs
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5. Save the Modified Greenhouse Fuzzy System VI. The block diagram
should appear similar to Figure 10-6.
Figure 10-6. Block Diagram of the Modified Greenhouse Fuzzy System VI
6. Run the Modified Greenhouse Fuzzy System VI. This VI saves the
modified greenhouse.fs file in the location you specified.
You now can use the Fuzzy System Designer to open the modified
greenhouse.fs file and observe the modifications you made to the
greenhouse fuzzy system.
You also can use the FL Fuzzy Controller VI to implement a fuzzy logic
controller for the modified greenhouse fuzzy system. The FuzzyEx
Dynamic Fuzzy Controller for a greenhouse example VI in the
labview\examples\control\fuzzy\Dynamic greenhouse
controller directory implements a controller for the greenhouse fuzzy
system. This example VI uses the FL Load Fuzzy Controller VI to load the
greenhouse.fs file. You can load the modified greenhouse.fs file
instead and then run the FuzzyEx Dynamic Fuzzy Controller for a
greenhouse example VI to implement a controller for the modified
greenhouse fuzzy system.
National Instruments Corporation A-1 PID and Fuzzy Logic Toolkit User Manual
A
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National Instruments Corporation G-1 PID and Fuzzy Logic Toolkit User Manual
Glossary
A
algorithm A prescribed set of well-defined rules or processes for the solution of
a problem in a finite number of steps.
antecedent The IF portion of a rule in a fuzzy system.
antecedent connective An operator that specifies how to calculate the truth value of an aggregated
rule antecedent.
anti-reset windup A method that prevents the integral term of the PID algorithm from moving
too far beyond saturation when an error persists.
autotuning Automatically testing a process under control to determine the controller
gains that will provide the best controller performance.
Autotuning Wizard An automated graphical user interface provided in the PID Autotuning VI.
The Autotuning Wizard gathers some information about the desired control
from the user and then steps through the PID autotuning process.
B
bias The offset added to a controller output.
Boolean set theory Traditional set theory based on strict membership or nonmembership of
elements to a set. Examples are TRUE or FALSE, ON or OFF, 1 or 0,
and so on.
bumpless transfer A process in which the next output always increments from the current
output, regardless of the current controller output value; therefore, transfer
from automatic to manual control is always bumpless.
Glossary
PID and Fuzzy Logic Toolkit User Manual G-2 ni.com
C
cascade control Control in which the output of one controller is the setpoint for another
controller.
Center of Area (CoA) Method of defuzzification in which the crisp output is determined by the
geometrical center of area of the composite output membership functions
within the range of the output linguistic variable. Also known as Center of
Gravity (CoG).
Center of Maximum
(CoM)
Method of defuzzification in which the crisp output is determined by
a weighted average of the typical values of each output membership
function. This method is equivalent to the Center of Area method using
singleton sets.
Center of Sums (CoS) Method of defuzzification in which the crisp output is determined by
a weighted average of the center of area of each output membership
function.
closed loop A signal path which includes a forward path, a feedback path,
and a summing point and which forms a closed circuit. Also called
a feedback loop.
consequent The THEN portion of a rule in a fuzzy system.
controller Hardware and/or software used to maintain parameters of a physical
process at desired values.
controller output See manipulated variable.
crisp value A finite single value such as a measured physical quantity, for example,
x = 5.3 m.
cycle time The time between samples in a discrete digital control system.
D
damping The progressive reduction or suppression of oscillation in a device
or system.
deadtime (T
d
) The interval of time, expressed in minutes, between initiation of an input
change or stimulus and the start of the resulting observable response.
Glossary
National Instruments Corporation G-3 PID and Fuzzy Logic Toolkit User Manual
defuzzification The process of converting the degrees of membership of output linguistic
variables within their linguistic terms into crisp numerical values.
degree of membership A value that represents the degree of partial membership of a linguistic
variable within a linguistic term. This value can range from 0 to 1.
degree of support A weighting value, ranging from 0 to 1, that is applied to each rule in the
rule base of a fuzzy controller. This weighting value represents the relative
significance of each rule and allows for fine-tuning of the rule base.
derivative (control)
action
Control response to the time rate of change of a variable. Also called
rate action.
derivative kick A sudden change in PID controller output resulting from derivative action
applied to the error signal after a change in setpoint value. Derivative kick
is normally avoided in PID control by applying derivative action only to the
process variable and not to the error signal.
deviation Any departure from a desired value or expected value or pattern.
downstream loop In a cascade, the controller whose setpoint is provided by another
controller.
E
EGU Engineering units.
expert A human operator of a system or process that has acquired knowledge
related to controlling the process through experience.
F
FC Flow controller.
feedback control Control in which a measured variable is compared to its desired value
to produce an actuating error signal that is acted upon in such a way
as to reduce the magnitude of the error.
feedback loop See closed loop.
fuzzification The process of associating crisp input values with the linguistic terms of
corresponding input linguistic variables.
Glossary
PID and Fuzzy Logic Toolkit User Manual G-4 ni.com
fuzzy controller A controller that uses defined rules to control a fuzzy system based on the
current values of input linguistic variables.
fuzzy logic An extension of traditional Boolean set theory that allows for partial
membership in a set.
fuzzy system A system of input and output variables associated using fuzzy logic.
G
gain For a linear system or element, the ratio of the magnitude, or amplitude,
of a steady-state sinusoidal output relative to the causal input; the length of
a phasor from the origin to a point of the transfer locus in a complex plane.
Also called the magnitude ratio.
gain scheduling The process of applying different controller gains for different regions of
operation of a controller. Gain scheduling is most often used in controlling
nonlinear physical processes.
I
implication method A mathematical method for scaling the membership functions of an output
linguistic variable based on the rule weight before performing
defuzzification.
integral (control)
action
Control action in which the output is proportional to the time integral of the
input. That is, the rate of change of output is proportional to the input.
ISA Instrument Society of AmericaThe organization that sets standards for
process control instrumentation in the United States.
K
K Process gain.
K
c
Controller gain.
Glossary
National Instruments Corporation G-5 PID and Fuzzy Logic Toolkit User Manual
L
lag A lowpass filter or integrating response with respect to time.
linearity factor A value ranging from 0 to 1, used to specify the linearity of a calculation.
A value of 1 indicates a linear operation. A value of 1 indicates a squared
nonlinear operation
linguistic term A word or set of words that represents categories for the values of a
linguistic variable. A linguistic term is defined quantitatively by the
corresponding membership function.
linguistic variable A word or set of words that represents an input variable or output variable
of a fuzzy system.
load disturbance The ability of a controller to compensate for changes in physical
parameters of a controlled process while the setpoint value remains
constant.
loop cycle time Time interval between calls to a control algorithm.
M
magnitude ratio See gain.
manipulated variable A quantity or condition that is varied as a function of the actuating error
signal so as to change the value of the directly controlled variable. Also
called controller output.
Mean of Maximum
(MoM)
Method of defuzzification in which the crisp output is determined by
selecting a value corresponding to the maximum degree of membership
of the composite output membership function. If there are multiple
maximums, the mean of the corresponding values is selected.
membership function A numerical function that quantitatively defines the degree of membership
of a linguistic variable within a linguistic term.
modified Center of Area
(CoA)
Method of defuzzification in which the crisp output is determined by the
geometrical center of area of the composite output membership functions.
Unlike the Center of Area method, this method allows the crisp output to
realize the full range of the output variable.
Glossary
PID and Fuzzy Logic Toolkit User Manual G-6 ni.com
N
noise In process instrumentation, an unwanted component of a signal or variable.
Noise may be expressed in units of the output or in percent of output span.
O
output limiting Preventing a controller output from travelling beyond a desired maximum
range.
overshoot The maximum excursion beyond the final steady-state value of output
as the result of an input change. Also called transient overshoot.
P
P Proportional.
P controller A controller which produces proportional control action only; that is,
a controller that has only a simple gain response.
partial membership In fuzzy logic, a condition in which the value of a member partially fulfills
the requirements of the membership function of a set.
PC Pressure controller.
PD Proportional, derivative.
PD controller A controller that produces proportional plus derivative (rate) control action.
PI Proportional, integral.
PI controller A controller that produces proportional plus integral (reset) control action.
PID Proportional, integral, derivative.
PID control A common control strategy in which a process variable is measured and
compared to a desired set point to determine an error signal. A proportional
gain (P) is applied to the error signal, an integral gain (I) is applied to the
integral of the error signal, and a derivative gain (D) is applied to the
derivative of the error signal. The controller output is a linear combination
of the three resulting values.
Glossary
National Instruments Corporation G-7 PID and Fuzzy Logic Toolkit User Manual
PID controller A controller that produces proportional plus integral (reset) plus derivative
(rate) control action.
process gain (K) For a linear process, the ratio of the magnitudes of the measured process
response to that of the manipulated variable.
process variable (PV) The measured variable (such as pressure or temperature) in a process
to be controlled.
proportional action Control response in which the output is proportional to the input.
proportional band (PB) The change in input required to produce a full range change in output due
to proportional control action. PB = 100 /K
c
.
Q
quarter-decay ratio A response in which the amplitude of each oscillation is one-quarter that
of the previous oscillation.
R
ramp The total (transient plus steady-state) time response resulting from a sudden
increase in the rate of change from zero to some finite value of the input
stimulus. Also called ramp response.
rate action Control response to the time rate of change of a variable. Also called
derivative control action.
reentrant Execution mode in which calls to multiple instances of a subVI can execute
in parallel with distinct and separate data storage.
reset rate Of proportional plus integral or proportional plus integral plus derivative
control action devices: for a step input, the ratio of the initial rate of change
of output due to integral control action to the change in steady-state output
due to proportional control action.
Of integral control action devices: for a step input, the ratio of the
initial rate of change of output to the input change. Also called integral
action rate.
rule A linguistic representation of the relationships between input and output
linguistic variables based on their linguistic terms.
rule base The set of rules for a fuzzy system.
Glossary
PID and Fuzzy Logic Toolkit User Manual G-8 ni.com
S
selector control The use of multiple controllers and/or multiple process variables in which
the connections may change dynamically depending on process conditions.
singleton A normalized membership function with an infinitely small width.
A singleton is used to model a crisp value with a fuzzy set.
SP SetpointAn input variable which sets the desired value of the controlled
process variable.
span The algebraic difference between the upper and lower range values.
stochastic uncertainty The degree of uncertainty of the occurrence of a given future
nondeterministic event.
T
time constant (T) In process instrumentation, the value T (in minutes) in an exponential
response term, A exp (t/T), or in one of the transform factors, such
as 1 + sT.
transient overshoot See overshoot.
trapezoidal integration A numerical of integration in which the current value and the previous
value are used to calculate the addition of the current value to the integral
value.
W
windup area The time during which the controller output is saturated at the maximum or
minimum value. The integral action of a simple PID controller continues to
increase (wind up) while the controller is in the windup area.