4.

Fuzzy Logic Fundamentals

4.1 Background

In ancient Greece, in order to devise a concise theory of logic, and later mathematics, the so-
called "Laws of Thought" were invented by Aristotle and other philosophers who preceded
him. One of these, the "Law of the Excluded Middle," stated that every proposition must
either be True or False. In other words, every statement or sentence has the truth value 1 or 0.
However, even then, there were strong and immediate objections to this proposal. It was
Plato who laid the foundation for what would become fuzzy logic, indicating that there was a
third region (beyond True and False) where these opposites “tumbled about”.

In the early 1900s, Lukasiewicz came and proposed a systematic alternative to the bi-valued
logic (bivalence). He described a three-valued logic, which can best be translated as the term
`possible', and assigned it a numeric value between True and False. Knuth, a former student
of Lukasiewicz proposed a three-valued logic apparently missed by Lukasiewicz, which used
an integral range [-1, 0 +1] rather than [0, 1, 2]. Nonetheless, this alternative failed to gain
acceptance, and has passed into relative obscurity.

It was not until relatively recently that the theory of fuzzy logic was discovered. Lotfi A.
Zadeh, a professor of UC Berkeley in California, soon to be known as the founder of fuzzy
logic observed that conventional computer logic was incapable of manipulating data
representing subjective or vague human ideas such as "an atractive person" or "pretty hot".
Fuzzy logic, hence was designed to allow computers to determine the distinctions among data
with shades of gray, similar to the process of human reasoning. In 1965, Zadeh published his
seminal work "Fuzzy Sets" which described the mathematics of fuzzy set theory, an
extension of fuzzy logic. This theory proposed making the membership function (or the
values False and True) operate over the range of real numbers [0.0, 1.0].

4.2 Fuzzy Logic vis-à-vis Boolean Logic

Fuzzy logic is a superset of conventional (Boolean) logic that has been extended to handle the
concept of partial truth- false values between "completely true" and "completely false". As its
name suggests, it is the logic underlying modes of reasoning which are approximate rather
than exact. The importance of fuzzy logic derives from the fact that most modes of human
reasoning and especially common sense reasoning are approximate in nature. The essential
characteristics of fuzzy logic as founded by Prof. Lofti Zadeh are as follows:

• In fuzzy logic, exact reasoning is viewed as a limiting case of approximate reasoning.

• In fuzzy logic everything is a matter of degree.
• Any logical system can be fuzzified
• In fuzzy logic, knowledge is interpreted as a collection of elastic or, equivalently ,
fuzzy constraint on a collection of variables
• Inference is viewed as a process of propagation of elastic constraints.

The third statement, hence, define Boolean logic as a subset of Fuzzy logic.

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4.3 Fuzzy Sets and Membership Function

It is interesting to note that what Zadeh proposed is very much a paradigm shift that first
gained acceptance not in the US but in the Far East and its successful application has ensured
its adoption around the world.

A paradigm is a set of rules and regulations which defines boundaries and tells us what to do
to be successful in solving problems within these boundaries. For example the use of
transistors instead of vacuum tubes is a paradigm shift - likewise the development of Fuzzy
Set Theory from conventional bivalent set theory is a paradigm shift.

Bivalent Set Theory can be somewhat limiting if we wish to describe a 'humanistic' problem
mathematically. For example, Fig 4.1 below illustrates bivalent sets to characterize the
temperature of a room.

Fig 4.1 Bivalent sets to characterize the temperature of a room

The most obvious limiting feature of bivalent sets that can be seen clearly from the diagram is
that they are mutually exclusive - it is not possible to have membership of more than one set.
For example, in practice opinion would widely vary as to whether 10 degrees Celsius is 'cool'
or 'warm'. Hence, the way we need to define our system is mathematically at odds with the
humanistic world. Clearly, it is not accurate to define a transition from a quantity such as
'warm' to 'hot' by the change of one degree Celsius of temperature. In the real world a smooth
(unnoticeable) drift from warm to hot would occur.
This natural phenomenon can be described more accurately by Fuzzy Set Theory. Fig. 2
below shows how fuzzy sets quantifying the same information can describe this natural drift.

The whole concept can be illustrated with the following example. Let us take the case of
people and "youthness". In this case the set S (the universe of discourse) is the set of people.
A fuzzy subset YOUNG is also defined, which answers the question "to what degree is
person X young?" To each person in the universe of discourse, we have to assign a degree of
membership in the fuzzy subset YOUNG.

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 Fig 4.2 Fuzzy sets to characterize the temperature of a room

The easiest way to do this is with a membership function based on the person's age.

young(x) = 1, if age(x) <= 20,

= (30-age(x))/10, if 20 < age(x) <= 30,
= 0, if age(x) > 30

A graph of this membership function looks like:

Fig 4.3 Simple membership function based on a person’s age

Given the above definition, here are some example values:

Person Age Degree of youth

-----------------------------------------------------------
Ashok 10 1.00
Piyush 21 0.90
Anirban 25 0.50
Nilima 26 0.40
Ashfaq 28 0.20
Robin 83 0.00

45
So given this definition, we would say that the degree of truth of the statement "Anirban is
YOUNG" is 0.50.

However, membership functions almost never have as simple a shape as discussed above.
They will at least tend to be triangles pointing up, and they can be much more complex than
that. Furthermore, membership functions so far are discussed, as if they always are based on a
single criterion, but this isn't always the case, although it is the most common case. One
could, for example, want to have the membership function for YOUNG to depend on both a
person's age and their height (e.g. Nilima is short for her age). This is perfectly legitimate,
and occasionally used in practice. It is referred to as a two-dimensional membership function.
It is also possible to have even more criteria, or to have the membership function depend on
elements from two completely different universes of discourse.

4.4. Some Important Terms

Universe of Discourse
The Universe of Discourse is the range of all possible values of a fuzzy set.

Crisp Set
In a conventional or crisp set the set boundary is very rigid. That is, an element is
either a member of that set or it does not belong to the set. So it is some sort of
‘binary’ membership.

Fuzzy Set
A Fuzzy Set is any set that allows its members to have different degrees of
membership (membership function) in the interval [0,1].

Membership Function
For any set A, a membership function on A is any function from A to the real interval
[0, 1].
The membership function which represents a fuzzy set is usually denoted by µA. For
an element x, the value µA(x) is called the membership value of x in the fuzzy set. It
gives the degree of membership of the element x to the fuzzy set. The value 0 means
that x is not a member of the fuzzy set; the value 1 means that x is fully a member of
the fuzzy set.

Support
The Support of a fuzzy set F is the crisp set of all points in the Universe of Discourse
U such that the membership function of F is non-zero.

Crossover point
The Crossover point of a fuzzy set is the element in U at which its membership
function is 0.5.

Fuzzy Singleton
A Fuzzy singleton is a fuzzy set whose support is a single point in U with a
membership function of one.

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4.5. Fuzzy Set Operations

4.5.1 Union

The membership function of the Union of two fuzzy sets A and B with membership
functions µA and µB, respectively is defined as the maximum of the two individual
membership functions. This is called the maximum criterion.

µ A∪ B = max (µ A , µ B )
……………….(4.1)
The Union operation in Fuzzy set theory is the equivalent of the OR operation in
Boolean algebra.

Fig. 4.4 Union of membership functions

4.5.2 Intersection

The membership function of the Intersection of two fuzzy sets A and B with
membership functions µA and µB, respectively is defined as the minimum of the two
individual membership functions. This is called the minimum criterion.

µ A∩B = min (µ A , µ B ) ……………….(4.2)

The Intersection operation in Fuzzy set theory is the equivalent of the AND operation in
Boolean algebra.

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 Fig. 4.5 Intersection of membership functions

4.5.3 Complement

The membership function of the Complement of a Fuzzy set A with membership

function µA is defined as the negation of the specified membership function. This is
called the negation criterion.

µ A = 1− µ A ……………….(4.3)

The Complement operation in Fuzzy set theory is the equivalent of the NOT operation
in Boolean algebra.

Fig. 4.6 Complement of a membership function

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The following rules which are common in classical set theory also apply to Fuzzy set theory.

• De Morgan’s Law:

( A ∩ B)= A ∪ B , ( A ∪ B)= A ∩ B ……………….(4.4)

• Associativity:

( A ∩ B )∩ C = A ∩ (B ∩ C )
( A ∪ B )∪ C = A ∪ (B ∪ C ) ……………….(4.5)

• Commutativity:
…………….(4.6)
A∩ B = B ∩ A , A∪ B = B ∪ A
• Distributivity:

A ∩ (B ∪ C ) = ( A ∩ B ) ∪ ( A ∩ C )
A ∪ (B ∩ C ) = ( A ∪ B ) ∩ ( A ∪ C ) ………….(4.7)

4.6. Membership Functions

A membership function, µA(x), can be expressed mathematically by the mapping:

µ A : x → [0,1], x ∈ X . Here, x is an element (or, attribute) and X is the universe of
discourse. A is a subset of X.

For example, in the earlier demonstration of ‘youthness’, x is the age of the person, A is the
fuzzy set “Young”. µA(x) = 0, i.e. a person can not be said “Young” if x > 30 yrs.

4.6.1 Shape of Membership Function

Triangular is common, but Trapezoidal, Gaussian, Exponential etc have been used. More
complex functions are possible but require greater computing overhead to implement.

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 Mathematical and Graphical Representations of Some Fuzzy Membership Functions

Triangular Membership function

0, x ≤ a
x − a
 , a≤ x≤b

µ A ( x) = triangular ( x; a, b, c) =  b − a
c − x , b ≤ x ≤ c
c − b
0 , c ≤ x


Trapezoidal Membership Function

0, x ≤ a
x − a
 , a≤ x≤b
b − a

µ A ( x) = trapezoid ( x; a, b, c, d ) = 1, b ≤ x ≤ c
d − x
 ,c≤x≤d
d − c
0 , d ≤ x

Gaussian Membership Function

2
1  x −c 
−  
2 σ 
µ A ( x) = gaussian ( x; c, σ ) = e

50
 Bell Membership Function

1
µ A ( x) = bell ( x; a, b, c ) = 2b
 x−c
1+  
 a 

Significant parameters of membership function are as follows: HEIGHT or magnitude

(usually normalized to 1), WIDTH (of the base of function), SHOULDERING (functions
evaluate as 1.0 past their center), CENTER points (center of the membership function
shape) OVERLAP (N&Z, Z&P, typically about 50% of width but can be more or less).

Fig.4.7 Membership Function Parameters

4.6.2 Degree of Membership (DOM) or Membership Value (MV)

The Degree of Membership (DOM) or Membership Value (MV) is determined by

plugging the selected input parameter into the horizontal axis and projecting vertically to
the upper boundary of the membership function.

Short Medium Tall

Membership Value

1
0.75
0.50
0.25
0
150 180 210
Fig. 4.8 Degree of membership

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 Fig.4.8 shows the degree of membership with which a person belongs to the category
'tall', ‘medium’ or ‘short’. Full membership of the class 'tall' is represented by a value of
1, while no membership is represented by a value of 0. At 180 cm and below, a person
does not belong to the class 'tall'. At 210cm and above, a person fully belongs to the class
'tall'. Between 150cm and 210cm the membership increases linearly between 0 and 1. The
degree of belonging to the set 'tall' is called the degree of membership.

Here, it is important to point out the distinction between fuzzy logic and probability. Both
operate over the same numeric range, and have similar values: 0.0 representing False (or
non membership), and 1.0 representing True (or full membership). However, there is a
distinction to be made between the two statements: The probabilistic approach yields the
natural language statement, "There is a 50% chance that Ram is tall", while the fuzzy
terminology corresponds to "Ram’s degree of membership within the set ‘tall’ is 0.50."
The semantic difference is significant: the first view supposes that Ram is or is not tall; it
is just that we only have a 50% chance of knowing which set it is in. By contrast, fuzzy
terminology supposes that Ram is "more or less" tall, or in some other term corresponding
to the value of 0.50.

4.7. Fuzzy Rules

Human beings make decisions based on rules. Although, we may not be aware of it, all the
decisions we make are all based on computer like if-then statements. If the weather is fine,
then we may decide to go out. If the forecast says the weather will be bad today, but fine
tomorrow, then we make a decision not to go today, and postpone it till tomorrow. Rules
associate ideas and relate one event to another.
Fuzzy machines, which always tend to mimic the behaviour of man, work the same way.
However, the decision and the means of choosing that decision are replaced by fuzzy sets and
the rules are replaced by fuzzy rules. Fuzzy rules also operate using a series of if-then
statements. For instance, if “X” is true then do “A”, if “Y” is true then do “B”. Fuzzy rules
define fuzzy patches, which is the key idea in fuzzy logic.
A machine is made smarter using a concept designed by Bart Kosko called the Fuzzy
Approximation Theorem (FAT). The FAT theorem generally states a finite number of patches
can cover a curve as seen in the figure below. If the patches are large, then the rules are
sloppy. If the patches are small then the rules are fine.

Fig.4.9 Fuzzy patches

In a fuzzy system this simply means that all our rules can be seen as patches and the input
and output of the machine can be associated together using these patches. Graphically, if the
rule patches shrink, the fuzzy subset triangles get narrower.

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4.8 Fuzzy Control

Fuzzy control, which directly uses fuzzy rules, is the most important application in fuzzy
theory. Using a procedure originated by Prof. Ebrahim Mamdani in the late 70s, three steps
are taken to create a fuzzy controlled machine:

1) Fuzzification (Using membership functions to graphically describe a situation)

2) Inference from Fuzzy Rules (Application of fuzzy rules)
3) Defuzzification (Obtaining the crisp or actual results)

As a simple example on how fuzzy controls are constructed, consider the case of a DC motor.
Here, the problem is to control the torque of the motor by controlling the field flux and the
armature current of the motor. Therefore, the field flux and the armature current of the motor
are chosen as the inputs of the system. The torque of the motor, hence, is chosen as the
corresponding output.

4.8.1 Step-1: Fuzzification

The transformation of an objective term into a fuzzy concept is called fuzzification. For
example, the different levels of output (high torque, low torque etc.) of the motor are defined
by specifying the membership functions for the fuzzy sets. The graph of the torque function is
shown below. In this example triangular membership functions are used for fuzzification.

Negative Positive
Negative high low low Positive high
Zero 1

Torque
0
Negative Max. Positive Max.
Torque Torque
Fig 4.10 Fuzzification of output torque function

Similarly, the field flux and the armature current are fuzzified as follows.

Negative Positive
Negative high low low Positive high
Zero 1

Flux
0
Negative Max. Positive Max.
Flux Flux
Fig 4.11 Fuzzification of input field flux function

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 Negative Positive
Negative high low low Positive high
Zero 1

Torque
0
Negative Max. Positive Max.
Torque Torque
Fig 4.12 Fuzzification of input armature function

For simplicity, it is assumed that all membership functions are spread equally. Hence, no
actual scale is included in the graphs.

4.8.2 Step-2: Fuzzy Inference

Inference from a set of fuzzy rules involves fuzzification of the conditions of the rules, then
propagating the membership values of the conditions to the conclusions of the rules. The
fuzzy rules are merely a series of if-then statements. These statements are usually derived by
an expert to achieve optimum results. An example of these rules is:
If the flux is positive low and armature current is positive high, then the
torque will be positive low.

Inference from the above rule involves (using fuzzification) looking up the membership value
(MV) of the condition 'flux is positive low' given the value of flux, and the MV of 'armature
current is positive high' given the value of armature current. The method proposed by Prof.
Lotfi Zadeh is to take the minimum MV of all the conditions and to assign it to the outcome
'torque is positive low'. An enhancement of this method involves having a weight for each
rule between 0 and 1 which multiplies the MV assigned to the outcome of the rule. This
weight can be defined apriori, or assigned at run time. By default each rule weight is set to
1.0.

The full set of rules is defined in the Rule Matrix as given below:

Table 4.1 Rule Matrix for the Motor Torque Example

Field Armature Current
Flux Negative Negative Zero Positive Positive
high low low high
Negative Positive Positive Zero Negative Negative
high high low low high
Negative Positive Zero Zero Zero Negative
low low low
Torque

Zero Zero Zero Zero Zero Zero

Positive Negative Zero Zero Zero Positive
low low low
Positive Negative Negative Zero Positive Positive
high high low low high

54
An application of these rules is shown using specific values for field flux and armature
current. For a given value of field flux, the membership values are 0.75 and 0.25 for positive-
low and positive-high flux, and for a given value of armature current, the membership values
are 0.6 and 0.4 for negative-low and negative-high armature current. These points are shown
on the figures below.

Negative Positive
Negative high low low Positive high
Zero 1
0.75

0.25
Flux
0
Negative Max. Positive Max.
Flux Actual Flux Flux
Fig 4.13 Fuzzy set membership values for a given value of field flux

Negative Positive
Negative high low low Positive high
Zero 1

0.6

0.4
Current
0
Negative Max. Positive Max.
Current Actual Current Current
Fig 4.14 Fuzzy set membership values for a given value of armature current

For these given values of field flux and armature current, the following fuzzy rules will be
applicable:
i) If the flux is positive-low and armature current is negative-low, then the torque
will be zero.
ii) If the flux is positive-low and armature current is negative-high, then the torque
will be negative-low.
iii) If the flux is positive-high and armature current is negative-low, then the torque
will be negative-low.
iv) If the flux is positive-high and armature current is negative-high, then the torque
will be negative-high.

Consider the rule "if the flux is positive-low and armature current is negative-low, then the
torque will be zero". The actual values belong to the fuzzy set positive-low with a MV of
0.75 for "flux" and to the fuzzy set negative-low with a MV 0.6 for "armature current". Since
this is an AND operation, the minimum criterion is used , and the fuzzy set zero of the output

55
variable "torque" is cut at 0.6 and the patches are shaded up to that area. This is illustrated in
the figure below.

1 Flux Fuzzy Set Torque Fuzzy Set

0.75
Positive low Zero
MV

0.6
0
Actual Flux Min
AND
1
Current Fuzzy Set
0
Negative low

MV
0.6

0
Actual Current
Fig 4.15 Application of Fuzzy Rule

Similarly, the minimum criterion could be used for the other three rules as follows.
a) For the rule "if the flux is positive-low and armature current is negative-high, then the
torque will be negative-low". The actual values belong to the fuzzy set positive-low
with a MV of 0.75 for "flux" and to the fuzzy set negative-high with a MV 0.4 for
"armature current". So as per the minimum criterion the fuzzy set negative-low of the
output variable "torque" is cut at 0.4.
b) Again, for the rule "if the flux is positive-high and armature current is negative-low,
then the torque will be negative-low". The actual values belong to the fuzzy set
positive-high with a MV of 0.25 for "flux" and to the fuzzy set negative-low with a
MV 0.6 for "armature current". So as per the minimum criterion the fuzzy set
negative-low of the output variable "torque" is cut at 0.25.
c) Further, for the rule "if the flux is positive-high and armature current is negative-high,
then the torque will be negative-high". The actual values belong to the fuzzy set
positive-high with a MV of 0.25 for "flux" and to the fuzzy set negative-high with a
MV 0.4 for "armature current". So as per the minimum criterion the fuzzy set
negative-high of the output variable "torque" is cut at 0.25.

The following figure show the result patches yielded by the other three rules.

Torque Fuzzy Sets

1
1 1

0.4
0.25
0.25

Negative Low 0 Negative Low 0 Negative High 0

Fig 4.16 Application of Fuzzy criterion for the other three rules

56
The four results overlaps and is reduced to the following figure.

0.6
0.4
0.25
Torque
Negative Max. 0
Torque
Fig 4.17 Overlap of all the result patches after the application of Fuzzy Rules

4.8.2.1 Different Methods of Fuzzy Inferencing

The MAX/MIN method tests the magnitudes of each rule and selects the highest/lowest
one. The horizontal coordinate of the "fuzzy centroid" of the area under that function is
taken as the output. This method does not combine the effects of all applicable rules but
does produce a continuous output function and is easy to implement.

The MAX-DOT or MAX-PRODUCT method scales each member function to fit under
its respective peak value and takes the horizontal coordinate of the "fuzzy" centroid of
the composite area under the function(s) as the output. Essentially, the member
function(s) are shrunk so that their peak equals the magnitude of their respective
function. This method combines the influence of all active rules and produces a smooth,
continuous output.

The AVERAGING method is another approach that works but fails to give increased
weighting to more rules per output member function. For example, if three "negative"
rules fire, but only one "zero" rule does, averaging will not reflect this difference since
both averages will equal 0.5. Each function is clipped at the average and the "fuzzy"
centroid of the composite area is computed.

The ROOT-SUM-SQUARE (RSS) method combines the effects of all applicable rules,
scales the functions at their respective magnitudes, and computes the "fuzzy" centroid of
the composite area. This method is more complicated mathematically than other
methods, but was selected for this example since it seemed to give the best weighted
influence to all firing rules.

4.8.3 Step-3: Defuzzification – Getting back to crisp numbers

The result of the fuzzy controller for the case of DC motor torque is a fuzzy set of torque. In
order to choose an appropriate representative value as the final output (crisp value),
defuzzification must be done.
There are several defuzzification methods such as Bisect defuzzification, MOM
defuzzification etc, but the most common one used is the fuzzy centroid of the set. In this
method, the weighted strengths of each output member function are multiplied by their
respective output membership function center points (as shown in the figure below) and
summed. Finally, this area is divided by the sum of the weighted member function strengths

57
and the result is taken as the crisp output. One feature to note is that since the zero center is at
zero, any zero strength will automatically compute to zero. If the center of the zero function
happened to be offset from zero (which is likely in many real systems), then this factor would
have an influence.

MV
1

0.6
0.4
0.25

0 Torque
Center_ Center_ Center_
Negative Negative Zero
_High _Low
Fig 4.18 MVs generated by inference for each fuzzy outcome at the point where the
membership function has its highest value

In this example, the defuzzified value of torque is calculated as the centre of gravity of the
three MVs (viewed) as weights placed at Torque_Center_Zero,
Torque_Center_Negative_Low, and Torque_Center_Negative_High. The expression for the
defuzzified value is:
(Torque_Center_Zero * MV_Zero + Torque_Center_Negative_Low *
MV_Negative_Low + Torque_Center_Negative_High * MV_Negative_High) /
(MV_Zero + MV_Negative_Low + MV_Negative_High)

Fig 4.19 shows the horizontal coordinate of the fuzzy centroid as the crisp output of the
torque.
MV
1

0.6
0.4
0.25
Torque
Negative Max. 0
Torque Crisp Output of
Torque
Fig 4.19 The horizontal coordinate of the centroid is taken as the crisp output

4.9 Tuning the Fuzzy System

Tuning the system can be done by changing the rule antecedents or conclusions, changing the
centers of the input and/or output membership functions, or adding additional degrees to the
input and/or output functions. These new levels would generate additional rules and
membership functions which would overlap with adjacent functions forming longer
"mountain ranges" of functions and responses. The techniques for doing this systematically
are a subject unto itself.

58
4.10 Implementation of Fuzzy Logic in Steps

1) Define the control objectives and criteria: What is to be controlled? What needs to be done
to control the system? What kind of response is needed? What are the probable system failure
modes?
2) Determine the input and output relationships and choose a minimum number of variables
for input to the FL engine (typically error and rate-of-change-of-error).
3) Using the rule-based structure of FL, break the control problem down into a series of IF X
is TRUE AND Y is TRUE THEN do Z rules that define the desired system output response
for given system input conditions. The number and complexity of rules depends on the
number of input parameters that are to be processed and the number fuzzy variables
associated with each parameter. If possible, use at least one variable and its time derivative.
Although it is possible to use a single, instantaneous error parameter without knowing its rate
of change, this cripples the system's ability to minimize overshoot for step inputs.
4) Create FL membership functions that define the meaning (values) of Input/Output terms
used in the rules.
5) Create the necessary pre- and post-processing FL routines if implementing in S/W,
otherwise program the rules into the FL H/W engine.
6) Test the system, evaluate the results, tune the rules and membership functions, and retest
until satisfactory results are obtained.

4.11 Unique Features of Fuzzy Logic

FL offers several unique features that make it a particularly good choice for many control
problems.
1) It is inherently robust since it does not require precise, noise-free inputs and can be
programmed to fail safely if a feedback sensor quits or is destroyed. The output control is a
smooth control function despite a wide range of input variations.
2) Since the FL controller processes user-defined rules governing the target control system, it
can be modified and tweaked easily to improve or drastically alter system performance. New
sensors can easily be incorporated into the system simply by generating appropriate
governing rules.
3) FL is not limited to a few feedback inputs and one or two control outputs, nor is it
necessary to measure or compute rate-of-change parameters in order to implement it. Any
sensor data that provides some indication of a system's actions and reactions is sufficient.
This allows the sensors to be inexpensive and imprecise thus keeping the overall system cost
and complexity low.
4) Because of the rule-based operation, any reasonable number of inputs can be processed (1-
8 or more) and numerous outputs (1-4 or more) generated, although defining the rule-base
quickly becomes complex if too many inputs and outputs are chosen for a single
implementation since rules defining their interrelations must also be defined. It would be
better to break the control system into smaller chunks and use several smaller FL controllers
distributed on the system, each with more limited responsibilities.
5) FL can control nonlinear systems that would be difficult or impossible to model
mathematically. This opens doors for control systems that would normally be deemed
unfeasible for automation.

59