Fuzzy Logic

Andrew Kusiak
Intelligent Systems Laboratory
2139 Seamans Center
The University of Iowa
Iowa City, IA 52242 1527
[email protected]
@
http://www.icaen.uiowa.edu/~ankusiak

What is Fuzzy Logic?

Fuzzy logic is a tool for embedding

human knowledge
(experience, expertise, heuristics)

(Based on the material provided by Professor V. Kecman)

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Why Fuzzy Logic ?

Human knowledge is fuzzy: expressed
in fuzzy
fuzzy linguistic terms
terms, e.g.,
e g young,
young
old, large, cheap.

Temperature is expressed as cold,

warm or hot.
No quantitative meaning.
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Intelligent Systems Laboratory

Fuzzy Logic
Fuzzy
Fuzzy logic may be viewed as a bridge
between the excessively wide gap between
the precision of classical crisp logic and
the imprecision of both the real world and
its human interpretation
Paraphrasing L. Zadeh

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Fuzzy Logic

The World is Not Binary!

Gradual transitions and ambiguities at the boundaries

Fuzzy logic attempts to model the way of

reasoning
i off the
th human
h
brain.
b i

Bad, Night, Old, Ill

NO
False, Sad, Short
, ,1

Almost all human experience can be expressed in

the form of the IF - THEN rules.
H
Human reasoning
i is
i pervasively
i l approximate,
i t
non-quantitative, linguistic, and dispositional
(meaning, usually qualified).
Good, Day, Young, Healthy,
YES,
True, Happy, Tall, , 0

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When and Why to Apply FL?

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When and Why to Apply FL?

Human knowledge is available

Mathematical model is unknown or
impossible to obtain

At higher levels of hierarchical

control systems

Process substantially nonlinear

Lack of precise sensor information
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In decision making processes

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How to Transfer Human Knowledge

Into the Model ?
Knowledge should be structured
structured.
Possible shortcomings:

Fuzzy Sets vs Crisp Sets

Crisp Sets

Fuzzy Sets

Knowledge is subjective
Experts may bounce between extreme points
of view:
Have problems with structuring the knowledge,
knowledge or
Too aware in his/her expertise, or
Tend to hide knowledge, or ...

Venn Diagrams

Solution: Find a good expert.

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Fuzzy Sets vs Crisp Sets

Crisp Sets

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Modeling or Approximating a Function:

Curve or Surface Fitting

Fuzzy Sets

- membership degree, possibility distribution,

grade of belonging
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Terms used in other disciplines:

regression (L or NL), estimation, identification, filtering
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Modeling a Function

Modeling a Function
Standard mathematical approach of curve fitting
((more or less satisfactory
y fit))

Curve fitting by using fuzzy rules (patches)

Surface approximation for 2 inputs or
a hyper
hyper-surface
surface (3 or more inputs)

Small number of rules - Large patches or rough approximation

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Modeling a Function

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Example 1
Consider modeling two different functions by
fuzzy rules
y

More rules - more smaller patches and better approximation

What is the origin of the patches and how do they work?
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Example 1

Example 1

Lesser number of rules decreases the

approximation accuracy. An increase in a number
of rules, increases the precision at the cost of a
computation time needed to process these rules.

This is the most classical soft computing dilemma

- A trade-off between the imprecision and
uncertainty on one hand and low solution cost,
tractability and robustness on the other.
other

IF x is low THEN y is high.

IF x is low THEN y is high.

IF x is medium THEN y is low.

IF x is medium THEN y is
medium.
IF x is large THEN y is low.

The appropriate rules for the two functions are:

IF x is large THEN y is high.
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The University of Iowa

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Example 2
Example 1
These rules define three large rectangular patches
that cover the functions. They are shown in the
next slide together with two possible
approximators for each function.

Modeling two different functions by fuzzy rules

y

The two original functions (solid lines in both graphs) covered by

three patches produced by IF-THEN rules and modeled by two
possible approximators (dashed and dotted curves).
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Example 2

Example 2

Humans do not (or only rarely) think in terms of

nonlinear functions.
Humans do not draw these functions in their
mind.
We neither try to see them as geometrical
artifacts.

Even more,
more our expertise or understanding of
some functional dependencies is often not a
structured piece of knowledge at all.
We typically perform complex tasks without being
able to express how they are executed.
executed

In general, we do not process geometrical figures,

curves, surfaces or hypersurfaces while
performing tasks or expressing our knowledge.
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The University of Iowa

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Car Example

Example 2

Th steps
The
t
in
i fuzzy
f
modeling
d li are always
l
the
th same.

Explain to your colleague in the form of IFTHEN rules how to ride a bike.

i) Define the variables of relevance, interest or importance:

In engineering we call them input and output variables
ii) Define the subsets intervals:
Small - medium, or negative - positive, or
Left - right (labels of dependent variables)

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Car Example

Car Example
iii) Choose the shapes and the positions of fuzzy
subsets, i.e.,
Membership functions, i.e., attributes

INPUTS: D = DISTANCE,
INPUTS
DISTANCE v = SPEED
OUTPUT: B = BRAKING FORCE

iv) Set the rule form, i.e., IF - THEN Rules

v) Perform computation and (if needed) tune (learn,
adjust, adapt) the positions and the shapes of both
the input and the output attributes of the model
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Car Example

Car Example
D

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Velocity
Low

Braking Force

Medium High

Small Medium High

1

v
120 (km/h) 0

10
Analyze the rules for a given distance D and for
different velocity v, i.e., B = f(v)

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100 (%)

IF the Velocity is Low, THEN the Braking Force is Small

IF the Velocity is Medium, THEN the Braking Force is Medium
IF the Velocity is High, THEN the Braking Force is High
,

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Car Example

Car Example
Braking Force
100

Braking Force

100

High

High

The fuzzy
Th
f
patch

Medium
Low

Medium

The fuzzy
patches

Low

(%)

(%)

Velocity

Velocity

10
120
Small Medium High
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10
120
Small Medium High
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Car Example

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The Fuzzy Patches Define the Function

Braking Force

The fuzzy patches

100

Braking Force

Low
(%)

Note the overlapping

fuzzy subsets smooth
approximation
of the function between the
Velocity and Braking Force

Velocity

Caar Examplee

High
Medium

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Three possible
dependencies
p
between the Velocity
and Breaking force.

High

Medium
Low
0

100

Each of us drives
differently

(%)

Velocity
10
120
Small Medium High

10
120
Small Medium High
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Example:
Room Temperature Control

FUNCTIONAL DEPENDENCE OF THE VARIABLES

SURFACE OF KNOWLEDGE
Fuzzy Control of the Distance Between Two Cars

Braking Force

Visualization of 2 INPUTS: D and v, and 1 OUTPUT B is possible.

For more inputs everything remains the same but visualization is not possible.

Cold Warm

90

Hot

80

Fan Speed

Room Temperature

Slow Medium Fast

1

70
60
50
40
0
30
20
100

10
200

80

Speed100

40
20

50

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Room Temperature

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Cold

Warm

100 (%)

If Room Temperature is Cold, then Fan Speed is Slow

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Example:
Room Temperature Control

Slow Medium Fast

1

30 (oC)

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Room Temperature

Fan Speed

Hot

10

100 (%)

Distance

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Example:
Room Temperature Control
Cold Warm

30 (oC)

10

60

150

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Fan Speed

Hot

Slow Medium Fast

1

10
30 (oC)
0
100 (%)
If Room Temperature is Cold, then Fan Speed is Slow
If Room Temperature is Warm, then Fan Speed is Medium
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Example:
Room Temperature Control
Room Temperature
Cold

Warm

Fan Speed

Hot

Slow Medium Fast

Fan Speed
1

100

Example:
Room Temperature Control

Fast

The fuzzy
Th
f
patches

Medium

Slow
(%)

10
30 (oC)
0
100 (%)
If Room Temperature is Cold, then Fan Speed is Slow

Room
Temperature

If Room Temperature is Warm, then Fan Speed is Medium

10

If Room Temperature is Hot, then Fan Speed is Fast

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Example:
Room Temperature Control

Fan Speed

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30 (oC)
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Example:
Room Temperature Control

Fan Speed
100

100

Cold Warm Hot

Fast

Fast

The fuzzy
patches

Medium
Slow

Slow
0

(%)

Room
Temperature
10
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Cold Warm Hot

The fuzzy
patches

Medium

(%)

Note the overlapping

of fuzzy subsets smoothes
approximation
of the function between the
Fan Speed and Temperature

Room
Temperature
10

30 (oC)
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Cold Warm Hot

30 (oC)

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Example:

Example:

Room Temperature Control

There must be some overlapping of the input fuzzy subsets
(membership or characteristic functions) if we want to obtain
a smooth model
12

VL

O
U
T
P
U
T

12

If there was no
overlapping.
one would
obtain the
stepwise
p
function as
shown next

10

VS

0
0

VS
2

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S
4

VL
10

INPUT

Warm

12

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Hot

10

Slow Medium Fast

1

22

30 (oC)

O
U
T
P
U
T

VB
B

10

VS

VS

0
0

Output Computation: Fuzzification, Inference and

Defuzzifaction
Fan Speed
Room Temperature
Cold

Room Temperature Control

There must be some overlapping of the input fuzzy subsets
(membership or characteristic functions) if we want to obtain
a smooth model

100 (%)

R1: If Room Temperature is Cold, Then Fan Speed is Slow

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M
6

INPUT

B
8

VB
10

12

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Example:
Room Temperature Control
After the fuzzy modeling is done there is an
operational phase:
Compute the fan speed when the room
temperature = 22 oC
NOTE
NOTE: 22 oC belongs
b l
to
t the
th subsets
b t Warm
W
andd
Hot

R2: If Room Temperature is Warm, Then Fan Speed is Medium

R3: If Room Temperature is Hot,Then Fan Speed is Fast
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Fuzzification and Inference

Room Temperature
Cold

Warm

Fuzzification and Inference

Fan Speed

Hot

Room Temperature

Slow Medium Fast

Cold

Warm

Fan Speed

Hot

Slow Medium Fast

0.6

0.6
0.3

10

30 (oC))

22

100 ((%))

10

22

30 (oC))

100 ((%))

If Room Temperature is Cold, Then Fan Speed is Slow

If Room Temperature is Cold, then Fan Speed is Slow

If Room Temperature is Warm, Then Fan Speed is Medium

If Room Temperature is Warm, then Fan Speed is Medium

If Room Temperature is Hot, Then Fan Speed is Fast

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If Room Temperature is Hot, then Fan Speed is Fast

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Cold

Warm

Defuzzification

Fan Speed

Hot

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Fan Speed

Fuzzification and Inference

Room Temperature

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Slow Medium Fast

1

0.6
0

0.3
10

22

30 (oC)

100 (%)

WHAT IS THE OUTPUT VALUE?

If Room Temperature is Cold then Fan Speed is Slow
If Room Temperature is Warm then Fan Speed is Medium
If Room Temperature is Hot then Fan Speed is Fast
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60

100

(%)

The result of the fuzzy inference is a fuzzy subset composed of

the slices of fan speed: Medium (blue) and Fast (red)
How to find a crisp (useful in the real world application) value?
One of several methods used to obtain a crisp output value is
the center of area formula
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Example: Vehicle Turning

Problem

Configuration of the Vehicle Turning Problem

Finish

= Car angle

(INPUT 1)

d = Distance from center line

(INPUT 2)

max = /4: Upper bound of steering angle (OUTPUT)

Generic fuzzy logic controller

v = 10.0 m/s

- Developed in Matlab
- User friendly
- Multiple inputs

Many other commercial applications are possible

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Start

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Conclusions

Conclusions

Finding good (dependable) expert

Fuzzy logic can be implemented wherever there is

structured
t t d human
h
knowledge,
k
l d expertise,
ti heuristics,
h i ti
experience.
Fuzzy logic is not needed whenever there is an
analytical closed-form model that, using a
reasonable
bl number
b off equations,
i
can solve
l a
problem in a reasonable time, at the reasonable
costs and with higher accuracy.
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Right choice of the variables

Increasing the number of inputs, as well as the number of
fuzzy subsets per input variable, the number of rules
increases exponentially (curse of dimensionality)
Good news is that there are plenty of real life problems and
situations that can be solved with small number of rules
only

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