DESIGN AND IMPLEMENTATION OF

FPGA BASED
NEURO-FUZZY CONTROL
FOR A QUADRUPLE TANK
PROCESS

CHAITANYA S. GAJBHIYE
M150261EE
M.TECH(IPA)
EED, NIT CALICUT

OUTLINE
INTRODUCTION
STATE OF ART
FUZZY-NEURAL NETWORK CONTROLER DESIGN
HARDWARE DESCRIPTION
LABVIEW FPGA AND CRIO
ADVANTAGES
FUTURE SCOPE
CONCLUSION
REFERENCES
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M.Tech(IPA) Seminar- Chaitanya Gajbhiye

INTRODUCTION
Quadruple Tank Process MIMO System
Traditional PID Controller
Limitations
difficult to achieve the desired response
without considering the actuator dynamics
adjustment of gain
Objective

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M.Tech(IPA) Seminar- Chaitanya Gajbhiye

STATE OF ART
Sl.
No.
1

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Paper
Pontus Nordfeld and Tore Haggland,
Decoupler and PID controller design of
TITO Systems, Journal of Process
Control, 16(9),923-936,2006

S. Chopra, R. Mitra, Vijay Kumar, Neural

Network Tuned Fuzzy Controller for
MIMO System, International Journal of
Electrical and Computer Engineering 2:5
2007

Developments

Introduce method of Automatic

tunning of controller, which
includes decoupler and
diagonal PID controller

MIMO system divided into

SISO controllers with dynamic
coupling fuzzy controller

M.Tech(IPA) Seminar- Chaitanya Gajbhiye

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No.

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Paper
Rajni Jain, T.Vinopraba, N. Sivakumaran,
T.K.Radhakrishnan, Design and
implementation of controllers for MIMO
process, 2009 International Conference
on Advances in Recent Technologies in
Communication and Computing, 2009.
ARTCom09. International Conference,
pages 750-752. IEEE,2009.
Junghui Chen and Tian-Chih Huang,
Applying neural network to online
updated PID controllers for nonlinear
process control, Journal of Process
Control, 14(2), :211-230, 2004

Developments

Control by individual local

controller based on fuzzy logic
if- then rules

Improved PID control scheme

through a specified Neural
Network scheme

M.Tech(IPA) Seminar- Chaitanya Gajbhiye

PROCESS DESCRIPTION

Quadruple Tank
Process
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M.Tech(IPA) Seminar- Chaitanya Gajbhiye

IMPLEMENTATION OF FUZZY
CONTROLLER IN LABVIEW

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M.Tech(IPA) Seminar- Chaitanya Gajbhiye

 A fuzzy controller takes two inputs, error and change in error

Advantages: cheaper to develop, Wider range of operating conditioning ,
tracks the set point smoothly at faster rate
With seven fuzzy values for both inputs and outputs, fuzzy controller

49 rules forms the knowledge base.

NB = negative big
NM=negative medium
NS = negative small

Z= zero

PS = positive small
PM = positive medium
PB = positive big
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M.Tech(IPA) Seminar- Chaitanya Gajbhiye

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M.Tech(IPA) Seminar- Chaitanya Gajbhiye

FUZZY NEURAL NETWORK

CONTROLLER DESIGN
Drawbacks of Fuzzy controller
Neuro- fuzzy Systems
Two Algorithms are used
Subtractive Clustering
Radial Base Function(RBF) ANN

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CLUSTERING

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SUBTRACTIVE CLUSTERING
Steps :
1) Sampling the input data e1 and e1 computing u1
2) Generating cluster centers
3) Calculate measure of potential of data

ra is radius defining neighbourhood

4) Find out remaining cluster centers
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RADIAL BASE FUNCTION (RBF)

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RADIAL BASE FUNCTION (RBF)

Steps
1) Cluster Centers forms centers of hidden neuron
2) Each hidden neuron forms radial basis function
3) Each input vector(2D) is compared with radial basis
function
4) Select Ci and i such that 0.5d y)2
should be minimum
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M.Tech(IPA) Seminar- Chaitanya Gajbhiye

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RADIAL BASE FUNCTION (RBF)

Where,
Xk is input feature vector
Xi is centers of radial activation function of the hidden
neuron
is radius of RBF
||xk ci|| Euclidean Distance

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M.Tech(IPA) Seminar- Chaitanya Gajbhiye

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HARDWARE DESCRIPTION

BLOCK DIAGRAM SHOWING HARDWARE IMPLEMENTATION

QUADRUPLE TANK PROCESS
LEVEL TRANSMITTER(4-20 mA)
CONTROL VALVE (4-20mA)
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FIELD PROGRAMMABLE GATE ARRAY

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 an integrated circuit designed to be configured by a customer

configuration is generally specified using a hardware description
language(HDL)
contain an array of programmable logic blocks

a hierarchy of reconfigurable interconnects that allow the blocks to be

"wired together

Logic blockscan be configured to perform complex

combinational functions

Simplified example illustration of a logic cell

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LABVIEW FPGA AND CRIO

Graphically describes implementations of different digital circuits inside
FPGA
CRIO-Compact Re- Configurable Input and Output
Processor
Re- configurable FPGA
I/O modules

Reconfigurable FPGA chassis

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ADVANTAGES
High processing speed
Ease of programming
Simultaneous execution of multiple parallel
task
Human machine interface
Size reduction
Cost reduction
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CONCLUSION
Required to develop nonlinear intelligent
controller
Fuzzy controller is capable of tracking setpoint
change with minimum disturbances to other
loops
Neuro- fuzzy controller is having minimum
iteration of mean square error

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FUTURE SCOPE
Designing Hybrid controller like fuzzy-GA
controller
Wireless control of process

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REFERENCE
1. S. Chopra, R. Mitra, Vijay Kumar, Neural Network Tuned
Fuzzy Controller for MIMO System, International Journal
of Electrical and Computer Engineering 2:5 2007.
2. Robert Fuller, Neuro-Fuzzy Methods, vacation school,
Neuro-Fuzzy Methods for Modelling & Fault Diagnosis,
Lisbon, August 31 and September 1, 2001
3. Karl Johan Astrom, Karl Henrik Johansson, and Qing- Guo
Wang, Design of Decoupled PID Controllers for MIMO
Systems, Proceedings of the American Control Conference
Arlington, VA June 25-27, 2001
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4. D Nauck. Neuro-fuzzy methods. Fuzzy logic control:

Advances in applications, 23:65, 1999
5. Shebeera Cheriya Arakkal, Mathew Vaidyan, Shijoh V.,
Nonlinear Modeling and Fuzzy Control of Quadruple
Tank Process, conference paper, Feb 2014,
http://www.researchgate.net/publication/260981079
6. Pontus Nordfeld and Tore Haggland, Decoupler and PID
controller design of TITO Systems, Journal of Process
Control, 16(9),923-936,2006
7. Junghui Chen and Tian-Chih Huang, Applying neural
network to online updated PID controllers for nonlinear
process control, Journal of Process Control, 14(2), :211230, 2004

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