Design of Decision Making Unit for Neuro-fuzzy Control of Dynamic Systems
João Viana da Fonseca Neto Gustavo Araújo de Andrade
Federal University of Maranhão
Department of Electrical Engineering
São Luı́s - Brazil
jviana@dee.ufma.br
Abstract—In this work is presented a design and implemen-
tation of an intelligent controller applied to dynamic systems.
The main objective is to design a management intelligent
system that acts in the controllers of Direct current machine
(DC) and thermo-eletric control systems drives. The purpose
is to evaluate the performance of algorithms for intelligent
control that integrate DC and thermal actuators to manage
several process. The designed controller are the classic PID and
intelligent Neuro-fuzzy controllers, PID controllers performs
the temperature and temperature regulation. [1] [2] [3].
Keywords-Fuzzy Logic; Neural Networks; Neuro-fuzzy Con-
trol; Systems Modeling; DC Drives Thermo electric drives
I. I NTRODUCTION
The Process Communication characteristics of industrial
systems have under current development as regards the inte-
gration of systems automation, telecommunications systems
and power systems. This integration makes the systems to
controllers and complex inter dependent such that the control
of these plants can become difficult and cumbersome. In an
industrial system as a whole may be necessary to integrate
the decision-making systems, control systems classical and
intelligent control systems which occurs in a plant where
diversity of instruments is large [4]. The system can be
described as illustrated in Figure 1.
Figure 1. Multi Task System Monitoring
Based on this approach is proposed a Neuro-fuzzy con-
troller that can integrate the plants and so to reduce the
number of controllers and systems running on stand alone
mode inside the plant. The proposal is based on mounting
Federal University of Maranhão
Department of Electrical Engineering
São Luı́s - Brazil
gustavo@dee.ufma.br
a platform that will fire two devices: an thermal peltier cell
and a DC motor. These two plants will be implemented
controllers of the type PID, Fuzzy and Neuro-fuzzy to test
the performance of such strategies control. This performance
directly influences the strategy’s main control system in
order that the proceedings as a whole will be observed
on individual performance and overall plant. This approach
is necessary to evaluate the controller performance under
the engagement necessary in many cases where you want
to make the plant as a control a SISO system but has to
take into account the influence of action of this system
in the general evolution of controllers. This paper presents
a proposal to develop and implement a controller using
computational intelligence techniques for a system with
relative complexity [5].The complexity of the production
system is related to the fact that large industrial systems
have the controller performance monitored by operators who
need a certain experience to perform such a task. The neural
controller is extended to observe and work throughout the
system providing a minimum performance predetermined
by the operation. This performance is the input variable
of the system to act intelligently regulate the parameters
of controllers process as a whole. Importantly, the work is
not about a controller design specific but rather a system of
tuning controllers to ensure the functioning of performance
only.
As stated in the test plants as the Thermal Peltier Cell
and Electromechanical System(DC motor), since this way
can observe the coupling between plants without removing
the complexity required for testing the algorithm [1] [6].The
controller design considering a single plant may be high
or low complexity according to the plant to be controlled.
However a certain system may require that the performance
of all its drivers comply with certain parameters robustness
and perform certain tasks from inter-locking between the
performance of each device within of a given process. In
Figure 2 is observed in schematic of the general will be
carried out.
 Figure 3. Diagram of a Classical PID Controller

As the diagram shows the PID controller is used for a

plant of the type SISO (Single Input - Single Output) and
its project requires further analysis of the system.

IV. I NTELLIGENT S YSTEMS

Figure 2. Multi Task System

As seen there is a single controller that the system with the The controllers based on intelligent systems is to main
approach of discrete event system (DES) and the Continuous feature to be inspired in biological systems such as Artificial
Variables System (CVS). These two approaches are repre- Neural Networks and Systems Fuzzy. Within the focus of
sented here as a classic controller (PID) controllers based on this work will be presented in the following sections a brief
Computational Intelligence (CI), and drives decision making summary about these techniques.
unit (DMU) [7] [8] [9]. A. The Fuzzy Control Systems
II. DYNAMIC S YSTEM M ODEL Fuzzy controllers are spread every day more and industrial
The dynamic system is described a hypothetic situation: systems because its design and implementation may be
there is a temperature model that represents the controlled simpler than in other types of controllers. This type of
variable behavior. The temperature is controlled by peltier controller can be applied to the two approaches control:
cell actuator and a fan or mix that coupled to DC motor. strokes and AED. The block diagram shown in Figure 4
Another process, it is the controlled controlled temperature is shown a simplified description of a driver Fuzzy-based
process that has to be mixed a certain speed. system rules of type if .. then ... else ... as shown in [12]
The dynamic system model in the transfer function de- [9].
scription is given by
    
y1 (z) G11 (z) G12 (z) u1 (z)
= (1)
y2 (z) G21 (z) G22 (z) u2 (z)
where G11 (z) is transfer function Dc drive, G22 (z). the
transfer function of coupling systems are given by G21 (z)
e G22 (z). Figure 4. Basic Fuzzy System Diagram
III. C LASSICAL C ONTROLLERS
For the design of controllers Fuzzy is necessary to model
The controllers considered classics are used in wide scale the system heuristic to obtain knowledge about the plant
in the industry because it already has evidence of its good behavior from this step is formulated so the bank rules
performance statements [10] [11]. These controllers are shown in Table I.
developed from the analysis of the modeling system to
be controlled. This analysis modeling for the purpose of Table I
classical control, may become increasingly complicated with DATA BASE OF A Fuzzy C ONTROLLER .
the complexity plant and whether the desire for coupling the Error \ δError NB NS ZR PS PB
whole system [10]. NB PB PB PB PB NB
Among these controllers of the PID are, without doubt, of NS PS PS PS PS NS
the most scope systems within industries, because its benefits ZR PS ZR ZR NS ZR
and practices have long to demonstrated your efficiency. This PS NS NS NS NS PS
driver is to algebraically manipulate the error signal of the PB NB NB NB NS PS
plant and perform multiplication operations, integration and From this knowledge will be implemented in real time
derivation of this signal to have the controller output control controller for comparison purposes with multi-system master
signal as shown in Figure 3. controller.
B. Neural Network Based Controllers
Neural Networks are used to control the shape of many
algorithms and approaches such as Neural-PID, FEL, among
others [13]. This type of controller is an algorithm that
maps input values in a given system output given a specific
training. The training of an MLP network, using the algo-
rithm back propagationcan be of simple implementation and
their training needs few heuristics parameters. In Figure 5
is shown in the diagram of operation of an artificial neural
network for our situation
the base granularity of each membership function, which in
some cases may leave the project very susceptible to heuris-
tics of the designer. This failure is that the neural networks
are introduced, because their training is to determine these
parameters of membership functions, which are interpreted
as weights in the ANN [20] [21].
V. T HE S YSTEM M ANAGER P LATFORM
To enable the test system of choice is proposed the de-
velopment of a platform that encompasses a certain number
of dynamic devices to be controlled. The platform layout is
construction and is shown in the picture of Figure 7.

Figure 5. Functional Diagram of a Artificial Neural Network for the DC

Plant
It can be concluded that RNA is a matrix operator that
uses certain functions (activation functions) to the neuron Figure 7. Functional Diagram of a Neuro-Fuzzy System
can be activated and the weights attached to it may be
transmitted to the output [14] [15]. This platform will integrate dynamic systems that can
C. Neuro-fuzzy Systems ensure a resemblance to a high scale industrial system. This
similarity is described as regards the amount of plants, stock
Neurofuzzy controllers are systems using concepts and
control and management system.
techniques of ANN and Fuzzy systems to obtain controller
The experiment is a key part of this work and there-
with the facilities design from Fuzzy Controller but with
fore their characterization and implementation are of vital
adaptability and easy tuning of the ANN [16] [17] [4]. The
importance to demonstrate the features of the proposed
composition of an algorithm neurofuzzy is shown in Figure
development. The diagram shown in Figure 8 demonstrates
6
how to be prepared logical devices to be developed both
the system decision-making Neuro-fuzzy shown in previous
sections as the dedicated controllers.

Figure 6. Functional Diagram of a Neuro-fuzzy System

The controller shown is an algorithm of NEFCON type

[18] [19] and reunite with some nice features simplicity of
both algorithms. The drivers Fuzzy has basically, its location-
based tuning of the parameters of membership functions, ie Figure 8. Hardware Platform Testings
 VI. S YSTEM S IMULATION
The simulation of the test platform is a necessary ap-
proach who embraces automation systems with n con-
trollers. In section VI-A each system is shown in dynamic
stand alone simulation .
A. the algorithms for system characterization
From the identification of dynamic systems can be ob-
tained, so the transfer function are discrete system. With the
model OE (Output-Error) polynomial function is found to
be in the form
Y (z) bm + bm−1 z m−1 + . . . + b1 z + b0
= G(z) =
U (z) an + an−1 z n−1 + . . . + a1 z + a0
Where we get thus the following difference equation for the
simulation of mechanical system that is given by
Ydc (k) = 0.0350Udc (k) + 0.0334Udc (k − 1)
+0.3077Ydc (k − 1) + 0.6034Ydc (k − 2)
With the behavior shown in Figure 9
Figure 9. Simulation of a Mechanical System Model
And so for the thermal system, even after the identification
process the systems is given by
Yth (k) = 0.001138Uth (k) + 0.001138Uth (k − 2)
+1.969Yth (k − 1) − 0.969Yth (k − 2)
Where the step response of 100o C is shown in Figure 10
(2)
Figure 10. Simulation of a Thermal System Model
From this parameter we can proceed with the design of
intelligent control system using a Neuro-fuzzy approximator
(3)
B. The Design Efficiency Project Factor
The performance of system controllers in industry mainly
depends on the experience that the operator needs to resolve
certain situations that may appear in the control process. As
focus of this work we highlight a control system intelligent
approach to the performance of controllers who are acting
on independent processes, but their performance affects the
performance of the process as a whole.
To this proposal the main architecture of the system is
shown in Figure 11 and the target for training the system
is the overall performance of the production factory to
work. This factor is by far the variable to be controlled by
Neuro-fuzzy network. However this approach can show for
each complication plant has differentiated steady state error
between the plants, which may cause individual performance
with a lower quality.
C. Computational Results
For system simulation software MATLAB was used. This
tool is important it facilitates the work of the developer in
order to have a wide range of functions already written in
their libraries. Such functions, such as membership functions
of systems Fuzzy for example, help keep the simulation code
in a more comprehensible. The developed multi-controller
has a single core to all processes in the system as a whole.
(4) What differs the content of this proposal is that there is
an overall performance system that is the parameter to
consist in training the neural network. Figure 11 is the
truly demonstration of the idea of inference a controller in
classical control other systems.
 Figure 11. Diagram of the Intelligent System Core
The prepositional improvements of this algorithm are
good because there is still research being done on the
parameters intelligent control systems involved in this idea.
The Figures 12 e 13 show a system of two processes (one
thermal and one mechanical) working with the intelligent
system developed. The performance is simulated and satis-
factory to the classic controller working mode stand alone
Figure 12. Mechanical System Performance
To the thermal system, the performance can be considered
best, because the delay in the nature of the process become a
better training to Neural Network. This problem is a question
for future works. The advent of introducing Neural Networks
they have their training on line is inserted in this context as
an aggregation system robustness, however causes instability
of response control and limitation of integral gain.
Figure 13. Thermal System Performance
VII. C ONCLUSIONS AND R EMARKS
This work is to present, in its final form results that
prove the theory exposed and who can prove that control
systems serving with coupling and timing can have an
intelligent central note that features and overall performance
of the plant. This research aims to show that the correlation
between various sectors of an industrial plant could have
a positive the performance of intelligent controllers and
system in general. Applying concepts of DES and stroke
to achieve an efficient plant as a whole.
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