Dr. K.

Uma Rao
 Industry perspective
 Can replace PID controllers
 Implement expert knowledge for a higher degree of
automation
 Control of non-linear systems. PID have difficulty in
adapting. Fast with oscillations or slow and smooth.
Fuzzy works well – sliding mode control
 Development time is reduced since there is abstraction
at linguistic and algorithm level.
 By-pass patent issues
A KBS is a closed loop control system which enhances
performance , reliability and robustness of a control by
using knowledge not accommodated in analytic
models used in the design of the control algorithm .

Two classes
1. KBS is involved in supervision of closed loop
operation, complementing conventional control
algorithm. (Supervisory Expert Control System –
SECS)
2. KBS directly realizes closed loop control , replacing
conventional control algorithm. (Direct Expert
Control System – DECS)
Fuzzy Knowledge Based Control – special case of DECS
Fuzzy control is used in a real time expert system or non
linear control systems where we cant use PID
parameters or differential equations but rather
situation/action rules. They are symbolic if-then-else
rules and in qualitative fuzzy variables.
Example : IF temp is high AND increasing slowly THEN
load is MEDIUM negative.
Fuzzy operators and values are combined into
algorithms, objects, function tables etc/ . This gives it
fast, real-time implementation. It is used to extend
existing technology to seek hybrid solutions. We can
call it “A heuristic , modular way of defining non-
linear control systems’.
Based on Representation theorem
“ Any continuous non-linear
function can be approximated as
exactly as needed with a finite set
of fuzzy variables, values and rules.
“
Benefits of FKBC
1. Implement expert knowledge for higher degree of
automation. Provides method for representing
human expertise where mathematical modelling is
not possible or too complex.
2. Robust non-linear control : Simple robust solutions
over a wide range of system parameters to cope with
major disturbances.
3. Reduction of development and maintenance time
4. Marketing and patents
Limits of fuzzy control
Myths
1. Fuzzy control leads to higher degree of automation
for complex ill-structured systems – Not always true.
Only if relevant info is not available.
2. They are more robust than conventional.
3. Reduces development time.
Areas of process control where KBS can be used
1. Process Monitoring : Real time data, operates
continuously and helps operator to choose right
information to provide best overview of process in a
certain perspective.
Tasks
 Detect changes in process outputs and hence its
deviations
 Cause for alarms?
 Is alarm important? Nuisance?
 Avoid and recover from deviations
 Use past history to guide operator
Functions to perform tasks
 Integrate large data and represent at different levels of
abstraction
 Reasoning of time stamped events
 Precise time decision making
 Validation of KBS

Examples : GENAID : on line errors in power generation

by Westinghouse corp
AFS : Alarm filtering
COOKER – on-line monitoring of batch manufacturing
by Honeywell
2. FAULT Diagnosis
On-line support tool for trouble shooting.
First generation - Based on operators knowledge
 Second generation – Principle of knowledge , generic
model based
Tasks
KBS should reason with
 Real-time measurements which have tolerance ranges;
cost of measurement and sampling
 Deep model representations at different levels of
abstraction and resolution; communication between
them.
 Time criticality
3. Planning and scheduling
Complementary to existing analytic tools. KBS needs
knowledge of different types
 Physical knowledge
 Process configuration knowledge
 Knowledge of pre-planned actions
 Experiential knowledge
 Statistical knowledge
 Simulation facilities
4. Supervisory control
Explicitly represent and reason with the heuristic
knowledge available. Can replace conventional control
element.
Knowledge based controllers (KBC)
KBC is designed for performing a specific task during a
particular phase of the life cycle.
Operation phase : For Monitoring, control , planning
Each task is characterised in terms of its
 Scope : Single loop operation , plant wide
 Nature : Operator assisted or closed loop without operator
Control phase : used for
 Manual control assistance. Can be single-loop or plant –
wide
 For plant-wide tuning of parameters – adjust control loop
operations
 Quality control – See that quality is close to specifications
 Expert control : DECS or SECS
 DECS : It completely replaces conventional control
SECS complements conventional control
Knowledge representation in KBCs
 KBC is a DECS. It is a specialized on-line, closed loop
operation of a process control. Model has two
dimensions :
 Resolution – the level of detail of a model
 Abstraction – primitives on which model is built
An SECS
1. extends conventional algorithm wrt auto-tuning,
adaptation;
2. Prevents deterioration of performance
3. Design of reconfigurable controller.
To design a PI controller
 PI controller has to be tuned to meet specifications
such as maximum overshoot, undershoot, damping
ratio etc. Open-loop response is first done. Possible
responses
To design the closed loop transient step response we use
(i) magnitude of overshoot and undershoot of process
output and control variable (ii) Integrals of these .
We get different closed loop transient reponse.
Rules
Are of two types
Context type : If open loop transient response is medium
delay overtone then
Closed loop response is overshoot
Tuning rule : If control variable continues to increase
after first swing and crosses set point then reduce
integral gain.
Knowledge using FKBC
Three objectives
1. Remove error in y(k) by adjusting control output
u(k)
2. Prevent process output from exceeding a limit ie
keep y(k) < y limit
3. Produce smooth control action near set point

FKBCs build KBS using operators experience in the form

of if-then rules.
Why FKBC? In a conventional PI controller, gain is fixed.
However, if output is close to y(sp) ---the specified value –
the gain has to be less. If deviations are large, gain has to be
large.
u = Kp.e + KI where u is control output
Differentiating

Discretizing we can write

Δu(k) = kpΔe(k)+KIe(k)
Δu(k) = u(k) –u(k-1)
e(k) = ysp –y(k)
Δe(k) =e(k) –e(k-1) = -(y(k) –y(k-1))
K is the kth sampling time. Rules would look like
IF (process state) THEN (control output )
Process state is called rule antecedent and contains
information on process output in terms of error,
change of error. Control output part is called rule
consequent. It gives the control output to be produced.
It is in terms of change of control output. Here we
compute Δu from e and Δe. In FKBC e is verbally
stated as Negative big, negative small, zero .... Etc.
Rules are of two types
1. Active rules – which are always active. The
incremental change in control output is determined
by these rules and applied for every sampling time.
2. Constraint rules – become active when process
output is near the constraint.