0% found this document useful (0 votes)
3 views

Neuro Fuzzy Control-Class 8 & 9

Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
0% found this document useful (0 votes)
3 views

Neuro Fuzzy Control-Class 8 & 9

Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 20

{}_,,Ll


\

/--
I

~ rr~~/Q__(._ l'\.}eol b..a T


t;_, '\_(__ ctJ- 1.:;_ \. u.. ·'VY> v n. ~ ~ "'-<- ..., yr
F, b ._f

liu
rn, en, - ~ t '--~..L'~
W1

2
b ~::: w I pI -t w L t'J_t .. + h ~ tf t
~ T _)
.1 ~ ~ t -t b .

,4
lr~r 1 n.LU~

ry,,
L
b,
L 'l. , (._.

'n 1. I ht, ,1 Nl,'l.


"'1,
f1 2- yv == ~., w,..,'2-- W2,L
r,_
b'l.- '
J_
~ h.i~ > I N ~ /l- i, t
pf<- L ·. r(\,O . 6b N,,<-vt1 i~

- ~ c>-. k<rt-"-

j
➔ - ~J -4
"Yl - l hl1 p -\
u.#!. I
lld ~:,1.
-,) J
<r)Lxl {:t.L,< I·
j_
[Lj- -;>

~ Lu lt if l, ldJL' 'l j ~p l\l ( t"L 6) 1/.J .

')..-

g_r~r, ~ '}CL \ c( f"h1

' '
-.f''
"1
ti I
-1
/ I
f),

t,, I
'\.-

\ I 011 J'l-
L
rP1{.r.' ~'
b l--
b , 'I--

-€
,__ft, l J I

J-"'•f rP
ml l-

·2 2~
,1 ....
b1., bL 'l.-

1 -.-->--
bt x R
1

J
~3 ;: f Crw'J ;1-
1 T -i- i~)
;, r3( [w'Jf([N']T ~ -i~) + 1,3) +

:= f 3 ( rw'f 1'- ( [N'f l' ([~'.fr-+ b')-t b')


I 'l.. - . . L.t.

t
hi

j) C to1.u l?) Loe k_

-t. (0
;(t) ,;_ u.c1: - 0 .
~ )) [Tl C1-)) .

-
l ~ V.
0~ i t'\J i) ~ b
r, {i i D ~ (l -tD ·
I I' -1
f O')\..l'}\.L ~ l Cfo.L 1
) h
)&__ '1. ~ l,q f-- ,i ,._ · l,

jv=
t~ .

1 1 .

- 1 I

- / --- -1
A
1
:-E' z- .s: ~'f" o-i}
CL

>v: V l ~"-t.
©1

1 s~ Fcw ~/41,_,,l_ 'Lu,_',_ ,u ~ ?. 'el t- a-' rnJt o,_ u 'if ,< 'Hf k r tl__

~ At1/\..C. 'L , l,u ~ o p '}'cc,- v l~ 0 ...tru '-vr, f ivt - ..


0- V IJ t..,,.__f- Ar 0 -LLVL-tvt.1

/VI"--' l c, ci cr.,, i,--£ c, if< '.AL,~ 0'\.l u ,,_ ~l nu- . I


/ ~ ?lo__ 1.. 1, \. f L._ . \('le c r tl'-O,'\.,, •

fl:, ct C k_ - r"" ~ /"'f' 1-,__,n-,


~Ct' 11 J l.1 \ kl~ ~='c ( /;;(P"{J) k._ l+c kJ h~O\...IIA
,1;\) Lcl))_ 6),i) - Hotf ~ '\_ V\_•U LA'
--~~u,-)-~ v~ fvio._d-.~~ . 3 ~o+ f'v-N 7
. c_.,eo~ ~ l fr c._ h,e,,. C)\.__ t~ -0 _ k k.c k - NN , N c... ~ \,U: • b,._;
Q. lJ "'-<-'-'- f:"-"- V~ ~~ ~ : ~r , W .,-_u, I/". o /-< <V. ·

. i L-U: "'1--L;t , Tu'-" ,


c/JYl,~ rrc: w..»-;y-r '.ri
1- ~ - - rL t , ~
·,,,,
.Cfa. r ;}°fl Al
u 4A--t-r " ti, - .__D t-L.., ,
r,--_/U:j_ '- \,V d 1--it l,(_ ,_

p"-~ 1'>4 ~i l'Ju,n_ I- c,L>v., <!Lo L h- "'-' kd F $, c__,,__ ,,_; L 1~


0VV- CA-<- l-0 'tvl -a fh-t1 r CA..~l?.A o..._,,o c. .-t0. (L..4J' -:i a..."\....t: ¼b 'Lt~ VJ,,

(' ~0 < it /µ '-_j-'-\_ V ;_ ~ •l.,,,_>,_ ,~ ;,.,".l ) • Th.,LUO ~,f-_,,.,,,_ A_ i'\C <,1


~ rn-u lu ~ L VJ ~ff ~ "-ol. in AML U~ 1-t Co._ f-c~ p k -o < , ~
r
N ),J /le " ~'MM ~ c ,.)--,_1.,0 n...L c ¼, or., 1-v ,,, C:.;_ cJ... )A,

~,I. L/YY[ u./_jvl ~ b c l,ti l'\.3.-\ ·.


+l-'C).~vt.~';J- l-•<td1A-r~, .k
"r
H {/t I~ V "-..I ( ~,n k .
frr i y,. C~ f I.... ,n f f> c uJ
/4<X.oi,,vc j>LL,
L J' d~ r,-,-r ;i'G rhL L ~ 'l,t__ m '- o.._t .
4, R.-~~t.L~ LC...Lt/\...C l1.L __l,.fl c-t_"l..,.uL~ ~ _3-'i'L ~1-Jz.rrc. cl u,u,'\.f-
)l.c.

lc,"-..,_ ,,_ ,lA-1 , , Lcc 'a 1r·


()v,_ ~ er,-,_,__,_ , fr" ,d r'l" ~r .,,,I,.d
~ r~c__ol 1-,t,,
= "',d_ r uc1c1 +,,. r 7
p--c-'- t
M ~- LAA a-.-r
~ J-,__ ~ h. C', 7/ J '

/4,;, " "" f'· : €- k,-L..., VL; t.-d ~ ryu--~ /'SN .

} e__..,,_ 0-f 1-r oY\ /..c.cu,,.~ 0


~'1,cl-,u'y)'V'

.1.-----:._--+~ t---A..-~_l'- -lk--- t C;:l, ~r

t N) I t) I b r,. ~ii
•1- o· J

p
1 0 r-
UJ H 1 C)
f;J O L

r: ~- t~-(·-0·4 . o u·:J () ,
u-~- o
o '1

3. [~J
+-~,~~---~....1.i,/--1--0---l--t---[-~j=--t---
D g -- -1
.1 - -t--l ---t-- l-
J

0 -
-1
-1 [~
0 [:\]
-~r o__::_
t · '-
~--

O· 1 [ ~ J
- - - + - - + - - - - > - 4 -- - - t - - - c - - + - - ~~- ~

tr ~ J O ·?- i O -1 [] j O· I

[i:iJ O I [ ~J V ' i D ~ [; ,,'j D

c~·~J o GJ o.4 i v _1 Tr:J _o I

G' ~] - 0 I [ :J 1
0 r; 1 /

-D.

- D·

l J
I I
je • I
6)
,n ftl ;,-"' I
I O
l
o
I~

.'.L ., Lf, + o 'Zf, -;.:_, - o A.s '" "-J 1;,,,


;:,
f ----= r•) II ,:~ Ip '>< J< Jv 1i;_,
/l>c.e__,,_, rtr C)Y\ C,.-,-vvA ..,_ff: ,,._ <:..L f~ ./ r
n f, 1.,- " ' .G,u • ti

~I ~ [ f>1]
ti.
--f"J .: :. [:w"":....'] --n- R..,X.it.rt"
L'l) ·Im.
l t;;i f·
;i_
b e'LLL~l
H-u-

W1
--} Nl-
""j.,- - tl- ~ ?-- -
r~
J

NT; + b " ;:;_T -;;_


. LLc<. n. V\-~ 'l~ t.<.. LL • /,<J J,.,,_,/__,u_ ,_,J{ . h, .

= ;_ o-L,,\ + .£ 9.' ( c,,,,v.,_, o/1A-< 1 1~ ,) .


°i (u_D = ~(_k)T f'[k) .·1(k)· fi,__•-h_:w s.,-t.._r].

o(d- -&_ ,, ku.. /'u. et 1--i,~ L ,i Ci:-t.-"- ' ] 1 u.~rt?.. t, Q.. b ~ "- 0

Na-ic', {-;~] ~ (k) = ,c (D)---:;-'r 2 (o) + ~ (,) ]•" i {,) I


1
. ' ·· + ,c {k -I) 11< ,/ lle 1) ·
I nv
-
"' [:; (:., 1) + ..e.(;__ - 1) ?- L•--0] [?1 (k I + ,I' !)1

, ,r (1<_-,) ?t cH) + 2 xT ck . 0 -D ., k .R 1..


-t ,/: (1<-1) r (H) . ,<__(k-) i (k -0 '
N "'" . l c,-e.. k cu.. c,. l v
.e. ( 0 ~* T? ["-) 0
1
> r
p~.__u,1..
b ,,1.li:
-;tw,,.1--
.[ Ck) a 1 0-rR [ "-) ..

k 7'-<,v. f
i,, ;tl,c, D h'rrn."'--l ,:i.e.tu,'} 1 utf LJo «
lo '"'-" .
')(. t-

f+u. cc.<.. t tl" t m cm .. t;,r f-,{J,,°""' l


t<<
«t .u.zt'- I- ~ l
rx Ck) F ~ ») .e (k) 9.- T ( k) ?: Ck) < t) . l+-u <. ~ •

II -; _ Ct) 1r < rx. TC k. -0 'X CH) t ( R.. CIL -In (1<-1)r {e(_k·01{•'
"r

9 11 :; ck) 11,,... <11 ;;. r... l) 1r +


k. - 11 " ck -u 1 ck -.v ; -
Gsvv,,; A,_"·uA
J ,;._ (o) ; D ~ 1 - - ,.t,.-.w cf ?,,.«. =,,:7
i---
-t
~ ?l ( 1) ll
I\.-

< JI e co) 1 ct)) II


ij?.. C~) I.,..< 11 d 0 ) 1 Mir,.. /).et'.o 1to/(

fi C"' )/( < II,,, i ~ 0) { 0) ( +- II,,, c,) ~ ( JIt -t


1
-r //,e ,;r-2 ~
~ IT "' ~ {.e.. [i) 1 {if
L~ b

k'\,- J '1--
J x~n ~

k f.l')')f\..U I- -t_.,
7)/\ t,
J)V-lMv~ 4 p,RJiC_e,r~ @
~ ~~ t- 01,,,-n· [,~,CA'> c(,.,o :i<~c.-..1~.,-,, l~l,
XlfR qcw ~~ «i-- -~If•.r
0 --0 0
0 ) '
1 V 1
I I O

e-l-1.t.h.t""' h:-, , , • p. ,_' ,


/')'\,v-n..-,kt. LCt:t.h c ~ /4).,.t--r-z co-.. n.6Y) _ i_L 0 ~~~
t)Q'\.('C'Jih
_}__ _ _ "

-) pccc-rf'"l:'>Yl-J

(1 ,j)
- {!)
L----::-.> r rC '\ (' Q }-y-Z>Yl - 1-

P1
(_0,'-D'0
f "-"-=f +1-,,,--,, -1 c. t,,v.,_<uf-~ " (o, lJ ~ 1( o , o) ', L,,
l.
0, C,, -0-Li-.,,_t,
n,.,,,, (_ l,,_ ~ HO ..--6,G "- ~ ,MrQ C-i-- L-< ll '- t b e-i .

+I -t- ti ~ 1
-o·s- o•r-
_ '2 r, + 2. p1 - i = o .
~ ¾_t),~'tl- Nl f I t hJ 11
2.. I 1-
-t b ~ 0 .
b a., a. 2.-
--- KO
0
R
-
bi 1,f-f !,tT
. {), rv, + O. ~-v
2 -t b ~ o
[_g J 0
(rn I - -1

[ ~1 I
{lh 1 = 1 .
0. vv, -t-- 1. hl.1-'i- h';D
0 1
[b]
[ ,J.

'l\-j
z .1 ,,,
r, -l ---- 2 - ~ °'
fo
P:i.-
~J gr; '/'\1-
J 1.
l-- 1
f(l~ \. . l · ,r @
~ ~o t """' ~..,, V\,"'·;) _A~,,_~"-':' ~
J . (,yy_ rLC t. a. t
j\lr"cl f ,,._·tth 1' . V\

9. c~r(.,\,U ,(;'t_'.')_6"'(' .e. ~

i. 1--t~ ot;ft l,,,r..rv: e.h~ lt.•-<-;_'J f-Jh i,,J b b ,


r __,
i ~LUA i-1 f ;~r
s. tt~,
1 . f_c_ f{'_A_ r- ,.,~ .<L1.c f 1
.-1--
{_ .P\.

t>.,U
,,.1-tr
he F,,,_f-
..G,._c.,/.,._

r Lf
l LI-

lu-1. V: L

~c,tlu,_,v:,,
e_ ~ ~6'r 'w 3-(l '1.0 (rr \,{ C.>t '-j

V
,.S4~

A :b -A L.l N E w ~o a_ ~ ~ t;.~ f'Vteo--f~


~~ A l<.An.'- (LH~ ;-,_,,,L._ ~ ~t1- b_q
(TY'-. (_ V\...{_ {)y\,.(. ~ ( , Lj ,RY)yi (SY' ..(. l/4.. ~
U, ,__
r : : (-i (k) -
'l---
~ ck)) ~ £ ( I()
w--k~ C "-- 0 0--1,A-u:,. ~ ~ ~ V. .e (k) C O .
f\J no ,e ( t_) = -l ( k) - A ( ll) " t Ck) - rn ( k) [ fr. A-b A L 1NE J
~ t Ck) -[1?i (_k) --t- b]
~ t- (k) -[""1 ~' (_")-+ N, ~, (•) t .. -t WR ~/le)+~
~(,VI
(~,r(t,) t),.t ( It') 1~ C - I J '.) J • • ) R

- - ;j
....

- r/
-1
ADAL:Lt-rf

'f'JI

L ,___m_L1t.)~lzBJ1------
7 CA ( k) .

1\-J ~ • b
. j__
D
'1 &--~i-0 /
p,~ ~) CITTVV~~L CQ_
J I;_ i )
+-

..--t
~-,·~~
~:le:\, t1. ?. {
~
'v1 c-~.l..('._
o7 - r l -,: M7 ·
::- !
-1: [;,: { k I .w,,.ol,.J

9t < ' ~ f1 ? I I? j .,}[_, ~ ·f 2 7


k .

2 r •

~S
I

-I
C ?t /.,_
f h
+J--t· t l C <? ;:t)u
""2_ ~ C}\,,Q ('./.l Oc,h. o I.. tA.. t. ~

r O\...WAW F<.µG ,u
j i Qi~n, '
\. t i'\o» N

n-"-""" °"'-t- F" <L I;, • X,,D ~ i


, ?' .tt:\ ftd-

?. k ll'\.,L ti.., h-{,( {. {' '- ~( hLt.<:


J) ( yY\ {. ~u. ~/,,f ;r
(,...l \'\.

--4
Q,u_,J --'! rJ (°IL ~a') -fr"
~
.
,( ._ ,, J

<)__ ) •
~ /
J.__ fVA o- t.ul

N {)(. (, 1__)_ 1~
b td
. 1} 2, }
K

4 ~ L~ f ~ M lu f r r t:iz ol
/4:. 1,?1 J N.

(,lfYJ"-r,UX• A, ~~D tlc,A.-t.~ C1 a/-eu .

L Aft ~ f iwdo b,__~;·a t ca


(h,O
·1 ~ ~
f trcnQ ~ {,,,,d ,,~ /,
b ~ r: ict..f-0>cte.A
L f .c _c;,.. t- } lrY)' J t ~ r 2
V, t l l t \.l,l l
-J ' I, ? '
;t k ("- c
. l

0lc c[
i<
7 1 ·,,.,

v,"- cl ,,J., dA-:-;! " 11 () J_~ (1" ,,l, " ~ Im 2


( m , J f?J• Lt. l--r_ v1--e: <. I e ~ JA_ h"C')i,,t .

You might also like