Lecture 12 Introduction to Neural Networks and Fuzzy Logic President UniversityErwin SitompulNNFL...
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Lecture 12 Introduction to Neural Networks and Fuzzy Logic President University Erwin Sitompul NNFL 12/1 Dr.-Ing. Erwin Sitompul President University http://zitompul.wordpress.com 2 0 1 3
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Transcript of Lecture 12 Introduction to Neural Networks and Fuzzy Logic President UniversityErwin SitompulNNFL...
Lecture 12
Introduction to Neural Networksand Fuzzy Logic
President University Erwin Sitompul NNFL 12/1
Dr.-Ing. Erwin SitompulPresident University
http://zitompul.wordpress.com
2 0 1 3
President University Erwin Sitompul NNFL 12/2
Solution: Homework 8Fuzzy ControlFuzzy Logic
President University Erwin Sitompul NNFL 12/3
FC with 5 Rules
Solution: Homework 8 (Cont.)Fuzzy ControlFuzzy Logic
Rule 1: IF level is okay, THEN valve is no change.Rule 2: IF level is low, THEN valve is open fast.Rule 3: IF level is high, THEN valve is close fast.Rule 4: IF level is okay AND rate is negative,
THEN valve is open slow.Rule 5: IF level is okay AND rate is positive,
THEN valve is close slow.
Rule 1: IF error is zero, THEN valve is no change.Rule 2: IF error is positive,THEN valve is open fast.Rule 3: IF error is negative,THEN valve is close fast.Rule 4: IF error is zero AND error rate is positive,
THEN valve is open slow.Rule 5: IF error is zero AND error rate is negative,
THEN valve is close slow.
error = reference – levelrate of error = – rate of level
President University Erwin Sitompul NNFL 12/4
Solution: Homework 8 (Cont.)Fuzzy ControlFuzzy Logic
Valve control signal [%/s]
no
chan
ge
ope
n fa
st
clos
e fa
st
–30 –20 –10 0 10 20 30
1 o
pen
slow
clos
e slow
Rate of level error [cm/s]
zero positivenegative
–4 –0.5 0 0.5 4
1
Level error [cm]
zero positivenegative
–5 –4 0 4 5
1
1st Set of Membership Functions
President University Erwin Sitompul NNFL 12/5
Solution: Homework 8 (Cont.)Fuzzy ControlFuzzy Logic
President University Erwin Sitompul NNFL 12/6
Solution: Homework 8 (Cont.)Fuzzy ControlFuzzy Logic
Level error [cm]
zero positivenegative
–5 1 0 1 5
1
2nd Set of Membership Functions
Valve control signal [%/s]
no
chan
ge
ope
n fa
st
clos
e fa
st
–30 –20 –10 0 10 20 30
1 o
pen
slow
clos
e slow
Rate of level error [cm/s]
zero positivenegative
–4 –0.5 0 0.5 4
1
President University Erwin Sitompul NNFL 12/7
Solution: Homework 8 (Cont.)Fuzzy ControlFuzzy Logic
President University Erwin Sitompul NNFL 12/8
Solution: Homework 8 (Cont.)Fuzzy ControlFuzzy Logic
Level error [cm]
zero positivenegative
–10 –4 0 4 10
1
3rd Set of Membership Functions
Valve control signal [%/s]
no
chan
ge
ope
n fa
st
clos
e fa
st
–30 –20 –10 0 10 20 30
1 o
pen
slow
clos
e slow
Rate of level error [cm/s]
zero positivenegative
–4 –0.5 0 0.5 4
1
President University Erwin Sitompul NNFL 12/9
Solution: Homework 8 (Cont.)Fuzzy ControlFuzzy Logic
President University Erwin Sitompul NNFL 12/10
PID-like Fuzzy Controllers
Fuzzy P Controller
u+–
e r y
Fuzzy ControlFuzzy Logic
President University Erwin Sitompul NNFL 12/11
PID-like Fuzzy Controllers
Fuzzy PD Controller
u+–
e ry
Fuzzy ControlFuzzy Logic
President University Erwin Sitompul NNFL 12/12
PID-like Fuzzy Controllers
Fuzzy PID Controller
ue r y+–
• Weakness: too many rules
Fuzzy ControlFuzzy Logic
President University Erwin Sitompul NNFL 12/13
PID-like Fuzzy Controllers
Fuzzy PD+I Controller
r+–
eyDu
Fuzzy ControlFuzzy Logic
President University Erwin Sitompul NNFL 12/14
PID-like Fuzzy Controllers
r u+–
e y++
Du
Fuzzy PD+I Controller
Fuzzy ControlFuzzy Logic
President University Erwin Sitompul NNFL 12/15
PID-like Fuzzy Controllers
Fuzzy PD+I Controller
r u+–
e y++
Fuzzy ControlFuzzy Logic
President University Erwin Sitompul NNFL 12/16
End of the LectureFuzzy ControlFuzzy Logic
