T SFuzzyModel PDF

Adaptive Controller for Stability of Stochastic System
Takagi-Sugeno Fuzzy Control System: A Special Class of Fuzzy

Controller
Syed Imranul Islam
School of Electrical and Electronic Engineering
The University of Adelaide
03/06/2015
Imran (The University of Adelaide)
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Contents
Motivatioin
Fuzzy Control System
Takagi-Sugeno (T-S) Fuzzy Control
Fuzzy Representation of Inverted Pendulum
Conclusion
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Motivatioin
Look Out!!!!!!
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Motivatioin
We often say:
More Tall rather than saying 6 feet 2 inches tall
More cold rather than specifying a particular temperature
Little bit louder rather than specifying the dB
More light rather than specifying the Lux
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Motivatioin
We often say:
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Motivatioin
We often say:
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Motivatioin
We often say:
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Motivatioin
Degree of Membership
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Motivatioin
Degree of Association
We need to specify degree of association along with the member
itself while specifying belongingness of that mmember to a class.
The fuzzy set A is a set of ordered pairs showing elements with
their respective degrees of belongingness between zero and
one:A = {(x1, 0.4), (x2, 0.3), (x3, 1), (x4, 0.6)}
Usually Fuzzy Sets are expressed as: A = {(x, MA (x)) | x X }
M is the membership function which tells about the degree of
association
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Motivatioin
one:A = {(x1, 0.4), (x2, 0.3), (x3, 1), (x4, 0.6)}
association
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Motivatioin
one:A = {(x1, 0.4), (x2, 0.3), (x3, 1), (x4, 0.6)}
association
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Motivatioin
one:A = {(x1, 0.4), (x2, 0.3), (x3, 1), (x4, 0.6)}
association
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Motivatioin
one:A = {(x1, 0.4), (x2, 0.3), (x3, 1), (x4, 0.6)}
association
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A Simple Fuzzy Controller
Fuzzy Controller For Temperature and Pressure Control

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A Simple Fuzzy Controller
Fuzzy Controller For Temperature and Pressure Control

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Successful Engineering Applilcation Areas

Power Systems
Network Traffic Management and Congestion Control
Telecommunicatinos
Mechanical and Robotic Systems Automobiles
Industrial and Chemical Processes
Aircraft
Medical Services
Consumer Electronics
Chaos Control, Nuclear Reactor . . . . . . , and the list will go on
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Power Systems
Telecommunicatinos
Aircraft
Medical Services
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Power Systems
Telecommunicatinos
Aircraft
Medical Services
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Power Systems
Telecommunicatinos
Aircraft
Medical Services
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Power Systems
Telecommunicatinos
Aircraft
Medical Services
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Power Systems
Telecommunicatinos
Aircraft
Medical Services
06, 2015
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Power Systems
Telecommunicatinos
Aircraft
Medical Services
06, 2015
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Power Systems
Telecommunicatinos
Aircraft
Medical Services
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Power Systems
Telecommunicatinos
Aircraft
Medical Services
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Power Systems
Telecommunicatinos
Aircraft
Medical Services
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Advantages of Fuzzy Control System

IF THEN rules of fuzzy controller are often obtained based on
an operators control action, knowledge, experience.
It is convenient to handle nonlinearities and uncertainties through
the use of fuzzy set theory.
It is more robust with respect to system variations and
uncertainties.
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uncertainties.
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uncertainties.
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Different Types of Fuzzy Logic Control (FLC)

Conventional Fuzzy Control ( Mamdani-Type Fuzzy Control)
Fuzzy PID Control
Neuro-Fuzzy Control or Fuzzy-Neuro Control
Fuzzy Sliding Mode Control
Adaptive Fuzzy Control
Takagi-Sugeno (T-S) Model-Based Fuzzy Control
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Fuzzy PID Control
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Fuzzy PID Control
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Fuzzy PID Control
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Fuzzy PID Control
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Fuzzy PID Control
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Fuzzy PID Control
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Features of Takagi-Sugeno (T-S) Fuzzy Control

An alternative approach to describe complex nonlinear system.
This model consits of a set of local linear models.
These local models are connected by nonlinear fuzzy membership
functions.
Reduced number of rules in modeling higher-order nonlinear
systems.
Provides a fundamental basis for development of systematic tools
for stability analysis and controller design.
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functions.
systems.
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functions.
systems.
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functions.
systems.
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functions.
systems.
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functions.
systems.
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Fuzzy Implication
Take an example of three implications:
Rule1: If x1 is Small1 and x2 is Small2 then y = x1 + x2
Rule2: If x1 is Big1 then y = 2 x1
Rule3: If x2 is Big2 then y = 3 x2
Grade of membership of x1
Small
Big
0.8
0.8
0.7
0.7
0.6
0.5
0.4
0.6
0.5
0.4
0.3
0.3
0.2
0.2
0.1
0.1
10
X1
15
Small
Big
0.9
Grade of membership
Grade of membership
0.9
20
X2
10
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Rule
R1
Premises ( X1=12 X2=5)

1
0.9
0.9
0.8
0.8
0.7
0.7
0.6
0.6
0.5
0.5
0.4
0.4
0.3
Consequences
TV
= 12 + 5 0.25 0.375
= 17
= 0.25
= 2 12
= 24
= 35
= 15
0.375
0.3
0.25
0.2
0.2
0.1
0.1
10
15
20
10
0.9
0.8
R2
0.7
0.6
0.5
0.4
0.2
0.3
0.2
0.2
0.1
10
15
20
0.9
R3
0.8
0.7
0.6
0.5
0.4
0.375
0.375
0.3
0.2
0.1
10
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Calculation of output ( X1=12 X2=5)
.25
= .303
.25 + .2 + .375
.2
Weighted TV for Rule2 =
= .242
.25 + .2 + .375
.375
= .455
.25 + .2 + .375
Total output Y = Y1 .303 + Y2 .242 + Y3 .455

= 17 .303 + 24 .242 + 15 .455
= 17.78
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.25
= .303
.25 + .2 + .375
.2
= .242
.25 + .2 + .375
.375
= .455
.25 + .2 + .375

= 17 .303 + 24 .242 + 15 .455
= 17.78
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.25
= .303
.25 + .2 + .375
.2
= .242
.25 + .2 + .375
.375
= .455
.25 + .2 + .375

= 17 .303 + 24 .242 + 15 .455
= 17.78
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.25
= .303
.25 + .2 + .375
.2
= .242
.25 + .2 + .375
.375
= .455
.25 + .2 + .375

= 17 .303 + 24 .242 + 15 .455
= 17.78
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Individual Premises and consequents of the three rule system
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Individual Premises and consequents of the three rule system
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The dynamics of motion for the inverted pendulum can be given by:
x 1 (t) = x2 (t)
x 2 (t) =
g sin(x1 (t))a m l x22 (t) sin(2x1 (t))/2a cos(x1 (t)) u(t)

4 l/3a m l cos2 (x1 t)
where,
x1 (t) is in the figure,
x2 (t) is angular velocity
m is mass of the pendulum
M is mass of the cart
2 l is length of the pendulum
u is applied force (F )
a=1/(m+M)
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x 1 (t) = x2 (t)
x 2 (t) =

where,
a=1/(m+M)
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x 1 (t) = x2 (t)
x 2 (t) =

where,
a=1/(m+M)
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This can be simplified in to two rule model

Rule 1:
IF x1 (t) is about 0
THEN x(t)
= A1 x(t) + B1 u(t)
where,

0
1
A1 =
g
0
4 l/3 a m l

0
B1 =
(4 l/3aa m l
Rule 2:
THEN x(t)
= A2 x(t) + B2 u(t)
where,
"
A2 =
0
2g
2
" (4 l/3 a m l #)
0
B1 =
a
4 l/3 a
m l 2
#
1
0
= cos880
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Rule 1:
THEN x(t)
= A1 x(t) + B1 u(t)
where,

0
1
A1 =
g
0
4 l/3 a m l

0
B1 =
(4 l/3aa m l
Rule 2:
THEN x(t)
= A2 x(t) + B2 u(t)
where,
"
A2 =
0
2g
2
" (4 l/3 a m l #)
0
B1 =
a
4 l/3 a
m l 2
#
1
0
= cos880
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Rule 1:
THEN x(t)
= A1 x(t) + B1 u(t)
where,

0
1
A1 =
g
0
4 l/3 a m l

0
B1 =
(4 l/3aa m l
Rule 2:
THEN x(t)
= A2 x(t) + B2 u(t)
where,
"
A2 =
0
2g
2
" (4 l/3 a m l #)
0
B1 =
a
4 l/3 a
m l 2
#
1
0
= cos880
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1
Around pi/2
Around 0
0.9
0.8
Properties of this model
Grade of membership
0.7
0.6
Two rule model
0.5
0.4
One Premise Variable
0.3
0.2
0.1
0
-2
-1.5
-1
-0.5
0.5
1.5
X1
x1 varies from
+ 2
to
Two Fuzzy partitions of the

premise variable
Control input u is to be
designed
Degree of membership varies

between 0 to 1
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1
Around pi/2
Around 0
0.9
0.8
Grade of membership
0.7
0.6
Two rule model
0.5
0.4
0.3
0.2
0.1
0
-2
-1.5
-1
-0.5
0.5
1.5
X1
x1 varies from
+ 2
to

premise variable
designed

between 0 to 1
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1
Around pi/2
Around 0
0.9
0.8
Grade of membership
0.7
0.6
Two rule model
0.5
0.4
0.3
0.2
0.1
0
-2
-1.5
-1
-0.5
0.5
1.5
X1
x1 varies from
+ 2
to

premise variable
designed

between 0 to 1
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1
Around pi/2
Around 0
0.9
0.8
Grade of membership
0.7
0.6
Two rule model
0.5
0.4
0.3
0.2
0.1
0
-2
-1.5
-1
-0.5
0.5
1.5
X1
x1 varies from
+ 2
to

premise variable
designed

between 0 to 1
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1
Around pi/2
Around 0
0.9
0.8
Grade of membership
0.7
0.6
Two rule model
0.5
0.4
0.3
0.2
0.1
0
-2
-1.5
-1
-0.5
0.5
1.5
X1
x1 varies from
+ 2
to

premise variable
designed

between 0 to 1
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T-S fuzzy model The i-th rule of a discrete T-S fuzzy model is
represented in equation
IF
z1 (t) is Mi1 and . . . . . . and zp (t) is Mip
Then x(t)
= Ai x(t) + Bi u(t)
y (t) = Ci x(t)
where z1 (t) . . . . . . zp (t) are premise variables, Mi1 . . . . . . Mip are
respective membership functions, Ai R nXn , Bi R nXq and Ci R qXn are
the matrices for the state space LTI model of the i-th rule of the model.
Final output of the above model is
x(t)
=
y (t) =
r
X
i=1
r
X
where,
hi (Z (t)){Ai x(t) + Bi u(t)}
Z (t) = [z1 (t) z2 (t) . . . zp (t)]

wi (Z (t)) =
r
Y
Mij (Zj (t)
j=1
hi (Z (t)){Ci x(t)}
wi (Z (t))
hi (Z (t)) = P
r
w (Z (t))
i=1 i
i=1
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IF
Then x(t)
= Ai x(t) + Bi u(t)
y (t) = Ci x(t)
x(t)
=
y (t) =
r
X
i=1
r
X
where,
Z (t) = [z1 (t) z2 (t) . . . zp (t)]

wi (Z (t)) =
r
Y
Mij (Zj (t)
j=1
hi (Z (t)){Ci x(t)}
wi (Z (t))
hi (Z (t)) = P
r
w (Z (t))
i=1 i
i=1
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IF
Then x(t)
= Ai x(t) + Bi u(t)
y (t) = Ci x(t)
x(t)
=
y (t) =
r
X
i=1
r
X
where,
Z (t) = [z1 (t) z2 (t) . . . zp (t)]

wi (Z (t)) =
r
Y
Mij (Zj (t)
j=1
hi (Z (t)){Ci x(t)}
wi (Z (t))
hi (Z (t)) = P
r
w (Z (t))
i=1 i
i=1
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IF
Then x(t)
= Ai x(t) + Bi u(t)
y (t) = Ci x(t)
x(t)
=
y (t) =
r
X
i=1
r
X
where,
Z (t) = [z1 (t) z2 (t) . . . zp (t)]

wi (Z (t)) =
r
Y
Mij (Zj (t)
j=1
hi (Z (t)){Ci x(t)}
wi (Z (t))
hi (Z (t)) = P
r
w (Z (t))
i=1 i
i=1
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IF
Then x(t)
= Ai x(t) + Bi u(t)
y (t) = Ci x(t)
x(t)
=
y (t) =
r
X
i=1
r
X
where,
Z (t) = [z1 (t) z2 (t) . . . zp (t)]

wi (Z (t)) =
r
Y
Mij (Zj (t)
j=1
hi (Z (t)){Ci x(t)}
wi (Z (t))
hi (Z (t)) = P
r
w (Z (t))
i=1 i
i=1
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Parallel Distributed Compensation (PDC) in control design

Each control rule is designed from the corresponding rule of a T-S
fuzzy model.
IF
Then

u(t) = Fi (x(t)
Same premise variables and membership functions are used.

Fi is calculated for LTI module of each rule
Followiing equation is used to produce the control input
u(t) =
r
X
hi (Z (t))Fi x(t)
i=1
[Note: In future slides hi (Z (t)) will be written as hi ]

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fuzzy model.
IF
Then

u(t) = Fi (x(t)

u(t) =
r
X
hi (Z (t))Fi x(t)
i=1

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fuzzy model.
IF
Then

u(t) = Fi (x(t)

u(t) =
r
X
hi (Z (t))Fi x(t)
i=1

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fuzzy model.
IF
Then

u(t) = Fi (x(t)

u(t) =
r
X
hi (Z (t))Fi x(t)
i=1

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fuzzy model.
IF
Then

u(t) = Fi (x(t)

u(t) =
r
X
hi (Z (t))Fi x(t)
i=1

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fuzzy model.
IF
Then

u(t) = Fi (x(t)

u(t) =
r
X
hi (Z (t))Fi x(t)
i=1

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fuzzy model.
IF
Then

u(t) = Fi (x(t)

u(t) =
r
X
hi (Z (t))Fi x(t)
i=1

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Stability of the T-S Fuzzy System with PDC control

The system with PDC control can be defined as
x(t)
=
r
X
hi Ai
hj Bi Fj x(t)
j=1
i=1
r
X
r X
r
X
hi hj (Ai Bi Fj )x(t)
i=1 j=1
r
X
(1)
hi hi Gii x(t)
i=1
+2
r X
r
X

hi hj
i=1 j>i
where Gij =
Gij + Gji
2

x(t)
{Ai Bi Fj } + {Aj Bj Fi }
2
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x(t)
=
r
X
hi Ai
hj Bi Fj x(t)
j=1
i=1
r
X
r X
r
X
i=1 j=1
r
X
(1)
hi hi Gii x(t)
i=1
+2
r X
r
X

hi hj
i=1 j>i
where Gij =
Gij + Gji
2

x(t)
2
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x(t)
=
r
X
hi Ai
hj Bi Fj x(t)
j=1
i=1
r
X
r X
r
X
i=1 j=1
r
X
(1)
hi hi Gii x(t)
i=1
+2
r X
r
X

hi hj
i=1 j>i
where Gij =
Gij + Gji
2

x(t)
2
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x(t)
=
r
X
hi Ai
hj Bi Fj x(t)
j=1
i=1
r
X
r X
r
X
i=1 j=1
r
X
(1)
hi hi Gii x(t)
i=1
+2
r X
r
X

hi hj
i=1 j>i
where Gij =
Gij + Gji
2

x(t)
2
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Theorem The equilibrium of the continuous fuzzy control system

described by [1] is globally asymptoticaly stable if there exists a
common positive definite matrix P such that:
GiiT P + PGii < 0,

Gij + Gji
Gij + Gji T
P +P
0,
2
2
i = i, 2, . . . , r
j > i s.t. hi hj 6=
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Theorem The equilibrium of the continuous fuzzy control system

described by [1] is globally asymptoticaly stable if there exists a
common positive definite matrix P such that:
GiiT P + PGii < 0,

Gij + Gji T
Gij + Gji
P +P
0,
2
2
i = i, 2, . . . , r
j > i s.t. hi hj 6=
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PDC Controller for T-S fuzzy model of Inverted Pendulum

Our Inverted Pendulum has two rules. Hence we need two state
feedback gains.
Choose the closed-loop eigenvalues [-2 -2]
We get F1 = [120.6667 22.6667] and F2 = [2551.6 764.0]
Using the conditions as discussed earlier, we get the P as

3.6250 0.62550
P=
0.62550 0.2812
It can be easily shown that it satisfies the stability conditions.
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feedback gains.
We get F1 = [120.6667 22.6667] and F2 = [2551.6 764.0]

3.6250 0.62550
P=
0.62550 0.2812
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feedback gains.
We get F1 = [120.6667 22.6667] and F2 = [2551.6 764.0]

3.6250 0.62550
P=
0.62550 0.2812
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feedback gains.
We get F1 = [120.6667 22.6667] and F2 = [2551.6 764.0]

3.6250 0.62550
P=
0.62550 0.2812
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feedback gains.
We get F1 = [120.6667 22.6667] and F2 = [2551.6 764.0]

3.6250 0.62550
P=
0.62550 0.2812
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Simulation Diagram of the T-S Fuzzy Model of Inverted Pendulum
h1
h1
x1
h2
h2
Fuzzyfier
Terminator
-F1* u
-F1 x
h1F1
-F2* u
-F2 x
h2F2
add
u=(h1F1+h2F2) * x
A1* u
A1
B1* u
Add
w1* (A1*x+B1*u)
B1
xdot
Add2
A2* u
1
s
Integrator
Scope
A2
Add1
w2* (A2*x+B2*u)
B2* u
B2
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Simulation Output
x
1.5
X1
X2
1
0.5
-0.5
-1
-1.5
-2
-2.5
-3
-3.5
0.5
1.5
2.5
3.5
4.5
Time offset: 0
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Linear Matrix Inequality(LMI) Approach

to design stable PDC controller
Given a fuzzy system by equation [1], the controllers for state feedback
cab be designed by solving following LMIs
XATi Ai X + MiT BiT + Bi Mi > 0
XATi Ai X XATj Aj X + MiT BjT + Bj Mi + MjT BiT + Bi Mj 0
i = 1, 2, . . . , r j > i s.t. hi hj 6=
where, X = P 1 and Mi = Fi X
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i = 1, 2, . . . , r j > i s.t. hi hj 6=
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i = 1, 2, . . . , r j > i s.t. hi hj 6=
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Conclusion
Recent Studies in Takagi-Sugeno (T-S) Fuzzy

Systems
Fuzzy Controller Design Using Relaxed Stability Condition
Find X > 0 and Mi (i = 1, 2 . . . , r ) satisfying
XATi Ai X + MiT BiT + Bi Mi (s 1)Y > 0
2Y XATi Ai X XATj Aj X + MjT BiT + Bi Mj
+MiT BjT + Bj Mi 0
such that i < j, hi hj 6= 0
Where, s is the number of rules fired. Now find X > 0 , Y 0 and

Mi 0 and find the state feedback gain Fi = Mi X 1 or determine no
such X Y Mi exist.
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Conclusion

Systems
+MiT BjT + Bj Mi 0

such X Y Mi exist.
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Conclusion

Systems
+MiT BjT + Bj Mi 0

such X Y Mi exist.
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Conclusion
Recent Studies in Takagi-Sugeno Fuzzy Systems

Decay Rate in Controller Design
The largest lower bound on the decay rate can be found by
Generalized Eigen Value Problem (GEVP)
maximize
X , M1 . . . Mr
Subject to
X >0
XATi Ai X + MiT BiT + Bi Mi 2X > 0
XATi Ai X XATj Aj X + MjT BiT + Bi Mj
+MiT BjT + Bj Mi + 4X 0
Now find the state feedback gain Fi = Mi X 1 .

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Conclusion

maximize
X , M1 . . . Mr
Subject to
X >0

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Conclusion

maximize
X , M1 . . . Mr
Subject to
X >0

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Conclusion

maximize
X , M1 . . . Mr
Subject to
X >0

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Conclusion

Fuzzy Observer Design
Fuzzy Observer can designed by solving this GEVP
maximize
P1 , P2 , Y , Q22 M1i , N2i
Subjectto
P1 , P2 > 0, Y 0, Q22 0
T
P1 Ai
+ Ai P1
T
T T
M1i Bi
T
Bi M1i + (s 1)Y + 2P1 > 0
P2 Ai + Ai P2 Ci N2i N2i Ci + (s 1)Q22 + 2P2 > 0

T
P1 Ai + Ai P1 M1j Bi Bi M1j 2Y + 4P1

T
P1 Aj + Aj P1 M1i Bj Bj M1i < 0

T
Ai P2
+ P2 Ai
T T
Cj N2i
T
N2i Cj 2Q22 + 4P2

T
Aj P2 + P2 Aj Ci N2j N2j Ci < 0

Now find state feedback gain Fi = M1i P11 and observer gain Ki = P21 N2i
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Conclusion

maximize
P1 , P2 , Y , Q22 M1i , N2i
Subjectto
P1 , P2 > 0, Y 0, Q22 0
T
P1 Ai
+ Ai P1
T T
M1i Bi
T
Bi M1i + (s 1)Y + 2P1 > 0

T

T

T
Ai P2
+ P2 Ai
T T
Cj N2i
T
N2i Cj 2Q22 + 4P2

T

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Conclusion

maximize
P1 , P2 , Y , Q22 M1i , N2i
Subjectto
P1 , P2 > 0, Y 0, Q22 0
T
P1 Ai
+ Ai P1
T T
M1i Bi
T
Bi M1i + (s 1)Y + 2P1 > 0

T

T

T
Ai P2
+ P2 Ai
T T
Cj N2i
T
N2i Cj 2Q22 + 4P2

T

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Conclusion

maximize
P1 , P2 , Y , Q22 M1i , N2i
Subjectto
P1 , P2 > 0, Y 0, Q22 0
T
P1 Ai
+ Ai P1
T T
M1i Bi
T
Bi M1i + (s 1)Y + 2P1 > 0

T

T

T
Ai P2
+ P2 Ai
T T
Cj N2i
T
N2i Cj 2Q22 + 4P2

T

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Conclusion
Recent Studies in T-S Fuzzy Systems

There are number of works on this fields, few are:
Takagi-Sugeno model based on Extended Kalman Filter.
Suboptimal recursive methodology for Takagi-Sugeno fuzzy
models identification.
Complexity reduction in fuzzy systems using Functional Principal
Component Analysis.
Stability analysis and control design fo Polynomial Fuzzy Systems.
Intelligent tuning of fuzzy controllers by learning and optimizing.
Adaptive evolutionary optimization algorithms for simple fuzzy
controller tuning dedicated to servo systems.
Design problems of l2 , l , H filters for T-S fuzzy systems.
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Conclusion

Component Analysis.
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Conclusion

Component Analysis.
06, 2015
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Conclusion

Component Analysis.
06, 2015
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Conclusion

Component Analysis.
06, 2015
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Conclusion

Component Analysis.
06, 2015
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Conclusion

Component Analysis.
06, 2015
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Conclusion

Component Analysis.
06, 2015
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Conclusion
Questions Yet To Be Answered!!!!

Areas of research interest among researchers.
How can we reduce the computational burden and how much?
How can one use as much information of T-S fuzzy models as
possible to achieve more effective controller synthesis and/or
better performance?
How can one efficiently design adaptive T-S fuzzy system if
information/parameters are not known in priory?
What will be the design conditions if A and B matrices of state
space representation are polynomials of state variables, and local
sector nonlinearity significantly contradicts with the system
nonlinearity?
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Conclusion

better performance?
nonlinearity?
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Conclusion

better performance?
nonlinearity?
06, 2015
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Conclusion

better performance?
nonlinearity?
06, 2015
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Conclusion

better performance?
nonlinearity?
06, 2015
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Conclusion

better performance?
nonlinearity?
06, 2015
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Conclusion

Can fuzzy controllers, designed to stabilize T-S fuzzy models,
stabilize the original nonlinear systems, even if the T-S fuzzy
models universally approximate the original nonlinear systems?
How can one construct exact mathematical description of
event-based system when energy efficiency is prime concern?
How can one efficiently design controllers and filters where
network-induced phenomena, such as channel fadings, randomly
occuring gain variations, etc. are present in networked systems?
How can it be economically viable to apply existing theories and
methodologies to some practical engineering problems?
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Conclusion

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Conclusion

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Conclusion

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Conclusion

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Conclusion
Plan of My Future Work

Minimizing and finding tractable stability condition such that fuzzy
controller can be designed solving some equations.
Finding suitable methods for identifying T-S Fuzzy System when
the model is unknown.
Utilizing these concepts in existing physical systems, such as
electrical distribution system or traffic management system.
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Conclusion

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Conclusion

06, 2015
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Conclusion

06, 2015
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Conclusion
Thank you!
06, 2015
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