Fuzzy Set Theory

Intelligent Control Systems
EPM643
Fuzzy Sets theory, Fuzzy Reasoning,

Introduction to FLC
Revised Oct.2017 Dr. Khaled El-Metwally, CU 1

Introduction

A Train Runs in Sandai (1987) !
One of the most Advanced System on the Earth
•The train starts up with gossamer ease,

no jolts, no tug of inertia
•Few people bother to hang on the straps,
even when it stops or starts.
•Halts with accurate precision.
•10% less fuel consumption
The secrete is behind the Fuzzy Logic

14/10/2009 Dr. Khaled El-Metwally, CU - FL2017 3
4 Years Later
In 1991, Los Anglos Was building a subway system and
needed a control system while Sandai Subway system had
carried passengers for 4 years
Robert Townly, engineering manager for automatic train

operationin this project said:
“I’ve heard of fuzzy logic very vaguely and I’m not familiar
with it”.
He added “none of the bids to design the subway used fuzzy

logic”

Western Scientists Views
In 1972 conference in Bordeaux, Zadah clashed with Rudolph E. Kalman, the inventor of
Kalman filter!!
“No doubt Prof. Zadah’s enthusiasm for fuzziness has been reinforced
by prevailing political climate in the U.S.- one of unprecedented
permissiveness. ‘Fuzzification’ is a kind of scientific permissiveness; it
tends to result in socially appealing slogans unaccompanied by
discipline of hard scientific work and patient observation.
I must confess that I can not conceive of ‘fuzzification’ as a viable
alternative for scientific method”
Western Scientists Views
William Kahan is an mathematician and a collogue of Zadah’s at Berkely University. In
1975 he pointed out;
“Logic is not following the rules of Aristolte blindly. It takes the kind
of pain known to the runner. He knows he is doing something.
When you think of something hard, you’ll feel a similar sort of
pain.
Fuzzy logic is marvelous. It insulates you form pain. It’s the cocaine
of science.”
 Why fuzzy?
As Zadeh said, the term is concrete, immediate and
descriptive; we all know what it means. However,
many people in the West were repelled by the word
fuzzy, because it is usually used in a negative sense.
 Why logic?
Fuzziness rests on fuzzy set theory, and fuzzy logic is
just a small part of that theory.

The Gifts Fuzzy Logic Gave to the
Japanese
•Intelligent washing machines.
•Intelligent microwave ovens.
•Sharper TV pictures.
•Video Stabilizers.
•Intelligent traffic lights.
•15% less fuel consumption vehicles.

Objectives
Introduction to Fuzzy Set Theory
1- Fuzzy Sets
2- MF Formulation
3- Set Operations
4- Fuzzy Extension principle
5- Fuzzy Relations
6- Linguistic Variables
7- Fuzzy Rules
8- Fuzzy Reasoning
Introduction to Fuzzy Control Systems
1- Basic Structure of Fuzzy Systems
2- Fuzzy Inference Systems (different models)

1- Fuzzy Sets (revisited)

Lotfi A. Zadeh, The founder of fuzzy logic.
Fuzzy Sets
L. A. Zadeh, “Fuzzy sets,” Information and Control,

vol. 8, pp. 338-353, 1965.

Fuzzy Sets Are Used to Define
the Uncertainties

Types of Uncertainty
• Stochastic uncertainty
– E.g., rolling a dice
• Linguistic uncertainty
– E.g., low price, tall people, young age
• Informational uncertainty
– E.g., credit worthiness, honesty

Crisp or Fuzzy Logic
• Crisp Logic
– A proposition can be true or false only.
• Bob is a student (true)
• Smoking is healthy (false)
– The degree of truth is 0 or 1.
• Fuzzy Logic
– The degree of truth is between 0 and 1.
• William is young (0.3 truth)
• Ariel is smart (0.9 truth)

Crisp Sets
• Classical sets are called crisp sets
– either an element belongs to a set or
not, i.e.,
x A or x A
• Member Function of crisp set
0 x  A
 A ( x)    A ( x) 0,1
1 x  A

Crisp Sets
P : the set of all people.
Y : the set of all young people. P
Y
Young   y y  age( x)  25, x  P
Young ( y)
1
25 y

Crisp sets  A ( x) 0,1
Fuzzy Sets
 A ( x) [0,1]
Example
Young ( y)
1

Definition:
Fuzzy Sets and Membership Functions
If U is a collection of objects denoted generically by x, then
a fuzzy set A in U is defined as a set of ordered pairs:
A  ( x,  A ( x)) x U 
membership
function
U : universe of
discourse.
 A : U  [0,1]
Example: Discrete Fuzzy Sets with
Discrete Universes
• Fuzzy set C = “desirable city to live in”
X = {Cairo, Alex, Asswan} (discrete and nonordered)
C = {(Cairo, 0.9), (Alex, 0.8), (Asswan, 0.6)}
• Fuzzy set A = “sensible number of children”
X = {0, 1, 2, 3, 4, 5, 6} (discrete universe)
A = {(0, .1), (1, .3), (2, .7), (3, 1), (4, .6), (5, .2), (6, .1)}

Example (Discrete Universe)
U  {1, 2,3, 4,5,6,7,8} # courses a student may

take in a semester.
 (1, 0.1) (2, 0.3) (3, 0.8) (4,1)  appropriate

A  # courses taken
(5, 0.9) (6, 0.5) (7, 0.2) (8, 0.1) 
1
 A ( x)
0.5
0
2 4 6 8
x : # courses

Example (Discrete Universe)
U  {1, 2,3, 4,5,6,7,8} # courses a student may

take in a semester.
 (1, 0.1) (2, 0.3) (3, 0.8) (4,1)  appropriate

A  # courses taken
(5, 0.9) (6, 0.5) (7, 0.2) (8, 0.1) 
Alternative Representation:
A  0.1/ 1  0.3/ 2  0.8/ 3  1.0 / 4  0.9 / 5  0.5/ 6  0.2 / 7  0.1/ 8

Example (Continuous Universe)
U : the set of positive real numbers possible ages
B  ( x, B ( x)) x U 
1 about 50 years old
 B ( x) 
 x  50 
4
1  
 5  1.2
0.8
Alternative
Representation:  B ( x) 0.6
0.4
B
0.2
1
x
 
0
R  1 x50 4
5 0 20 40 60 80 100
x : age
Alternative Notation
A  ( x,  A ( x)) x U 
U : discrete universe A 
xi U
A ( xi ) / xi
U : continuous universe A    A ( x) / x
U
Note that  and integral signs stand for the union of membership grades;
“ / ” stands for a marker and does not imply division.

Membership Functions (MF’s)
• A fuzzy set is completely characterized
by a membership function.
– a subjective measure.
– not a probability measure.
“tall” in Asia
Membership
1
value
“tall” in USA
“tall” in NBA
0
5’10” height

Fuzzy Partition
• Fuzzy partitions formed by the linguistic
values “young”, “middle aged”, and “old”:

2- MF Formulation

MF Formulation
  xa cx 
• Triangular MF trimf ( x; a, b, c)  max  min  , ,0
  b  a c  b  
  xa d x 
• Trapezoidal MF trapmf ( x; a, b, c, d )  max  min  ,1, , 0 
  b  a d  c  
2
1  x c 
  
• Gaussian MF gaussmf (x ;  , c )  e 2  
1
• Generalized bell MF gbellmf ( x; a, b, c) 
xc
2b
1
a

MF Formulation

The Generalized Bell Function
1
gbellmf ( x; a, b, c) 
xc
2b
1
cross points a
Slope =-b/2a
1
MF
0.5

0
x
core
2a width
-cut
support
Manipulating Parameter of the
Generalized Bell Function
1
gbellmf ( x; a, b, c) 
xc
2b
1
a

Sigmoid MF
1
sigmf ( x; a, c) 
1  e  a ( x c )
Extensions:
Abs. difference
of two sig. MF
Product
of two sig. MF

L-R MF  cx
 FL    , x  c
  
LR ( x; c,  ,  )  
F  x  c  , x  c
R  

   
Example: FL ( x)  max(0,1  x 2 )
FR ( x)  exp  x  3

c=65 c=25
=60 =10
=10 =40

More Terminologies Fuzzy
singletons
• Normality 1
(x)
– core non-empty
• Fuzzy singleton 0
– support one single point Small Medium Big
• Fuzzy numbers
– fuzzy set on real line R that satisfies convexity and
normality
• Symmetricity 1
(x)
 A (c  x)   A (c  x), x U
0
• Open left or right, closed height
1
lim  A ( x)  1, lim  A ( x)  0
(x)
x  x 
0 age
3- Set Operations

Set-Theoretic Operations
• Subset
A B
A  B   A ( x)  B ( x), x U
A
• Complement
A  U  A   A ( x )  1   A ( x)
A B
A B
• Union
C  A  B  C ( x)  max(  A ( x), B ( x))   A ( x)  B ( x)
• Intersection
C  A  B  C ( x)  min(  A ( x), B ( x))   A ( x)  B ( x)

Properties
Involution A A De Morgan’s laws
A B  B  A A B  A  B
Commutativity
A B  B  A
A B  A  B
 A  B  C  A   B  C 
Associativity
 A  B  C  A   B  C 
A   B  C    A  B   A  C 
Distributivity
A   B  C    A  B   A  C 
A A  A The following properties are
Idempotence
A A  A invalid for fuzzy sets:
A   A  B  A The laws of contradiction
Absorption
A   A  B  A A A  
The laws of excluded middle
A A U
Now Compare
Conventional Logic Operation Fuzzy Logic Operation
T-Norm
0.2 0.2
0 0 Min
AND 0.7
1
T-CoNorm
0 1 0.2 0.7
OR Max
1 0.7
0 0.8
1 NOT 0.2 1-

Generalized Union/Intersection
• Generalized Intersection
T-norm
• Generalized Union
T-conorm
Examples: T-Norm & T-Conorm
• Minimum/Maximum:
T (a, b)  min(a, b)  a  b
S (a, b)  max(a, b)  a  b
• Lukasiewicz:
T (a, b)  max(a  b 1,0)  LAND(a, b)
S (a, b)  min(a  b,1)  LOR(a, b)
• Probabilistic:
T (a, b)  ab  PAND(a, b)
S (a, b)  a  b  ab  POR(a, b)
4- Extension Principle

Functions Applied to Crisp Sets
y y = f(x)
B  f ( A)
B
x
B(y) A
A(x)

Functions Applied to Fuzzy Sets
y y = f(x)
B
B  f ( A)
x
B(y)
A(x)
A
x

Functions Applied to Fuzzy Sets
y y = f(x)
B
B  f ( A)
x
B(y)
A(x)
A
x

The Extension Principle
Assume a fuzzy set A and a function f.
How does the fuzzy set f(A) look like?
y y = f(x)  B ( y )   f ( A) ( y )
B  max  ( x )
1 A
x f ( y)
x
 sup  A ( x)
B(y) x  f 1 ( y )
A(x)
A
Revised Oct.2017 x 44
Dr. Khaled El-Metwally, CU
Extension Principle
A is a fuzzy set on X :
A   A ( x1 ) / x1   A ( x2 ) / x2   A ( xn ) / xn
The image of A under f( ) is a fuzzy set B:
B   B ( y1 ) / y1   B ( y2 ) / y2     B ( yn ) / yn
where yi = f(xi), i = 1 to n.
If f( ) is a many-to-one mapping, then

 B ( y )  max  A ( x )
1
x f ( y)

5-Fuzzy Relations

Binary Relation (R)
b1
a1
b2
A a2
a3
b3 B
b4
a4 b5
R  A B
Binary Relation (R)
R  A B
b1
a1
b2
A a2
a3
b3 B
b4
a4 b5
1 0 1 0 0 a1 Rb1 a1 Rb3 a2 Rb5

0 1 
0 0 0 (a1 , b1 ), (a1 , b3 ), (a2 , b5 ) 
MR   R 
1 0 0 1 0  3 1
( a , b ), ( a3 , b4 ), ( a4 , b2 
)
 
0 1 0 0 0 a3 Rb1 a3 Rb4 a4 Rb2
49
The Real-Life Relation
• x is close to y
– x and y are numbers
• x depends on y
– x and y are events
• x and y look alike
– x and y are persons or objects
• If x is large, then y is small
– x is an observed reading and y is a
corresponding action

Fuzzy Relations
A fuzzy relation R is a 2D MF:
R   ( x, y), R ( x, y)  | ( x, y)  X  Y 

Example (Approximate Equal)
R   ( x, y), R ( x, y)  | ( x, y)  X  Y 
X  Y  U  {1, 2,3, 4,5}
 1 0.8 0.3 0 0 
1 u v  0 0.8 1 0.8 0.3 0 
  
0.8 u  v  1 M R   0.3 0.8 1 0.8 0.3
 R (u, v)  
0.3 u  v  2  
0 otherwise  0 0.3 0.8 1 0.8
 0 0 0.3 0.8 1 

Max-Min Composition
X Y Z
R: fuzzy relation defined on X and Y.
S: fuzzy relation defined on Y and Z.

R。S: the composition of R and S.
A fuzzy relation defined on X and Z.
R S (x, z)  max y min  R ( x, y), S ( y, z) 

  y  R ( x, y)  S ( y, z ) 

Example
S R (x, y)  max v min  R ( x, v), S (v, y) 
R a b c d S   
1 0.1 0.2 0.0 1.0 a 0.9 0.0 0.3
2 0.3 0.3 0.0 0.2 b 0.2 1.0 0.8
3 0.8 0.9 1.0 0.4 c 0.8 0.0 0.7
0.1 0.2 0.0 1.0
d 0.4 0.2 0.3
min 0.9 0.2 0.8 0.4
max 0.1 0.2 0.0 0.4
R S   
1 0.4 0.2 0.3
2 0.3 0.3 0.3
3 0.8 0.9 0.8
Max-min composition is not mathematically tractable,
therefore other compositions such as max-product
composition have been suggested.
Max-Product Composition
X Y Z R: fuzzy relation defined on X and Y.
S: fuzzy relation defined on Y and Z.

R。S: the composition of R and S.
A fuzzy relation defined on X and Z.
R S (x, z)  max y  R ( x, y) S ( y, z) 

Projection
Dimension Reduction
R
RY   R  Y  RX   R  X 

Projection
R
Dimension Reduction
RY   R  Y  RX   R  X 
RY   R  Y  RX   R  X 
  max R ( x, y) / y   maxR ( x, y) / x
Y x X y
R ( y)  max R ( x, y) R ( x)  max R ( x, y)
X
Y y
x

Cylindrical Extension
Dimension Expansion
A : a fuzzy set in X.
C(A) = [AXY] : cylindrical extension of A.
C ( A)    A ( x) | ( x, y) C ( A) ( x, y)   A ( x)
X Y

6- Linguistic Variables

Linguistic Variables
• Linguistic variable is “a variable whose
values are words or sentences in a
natural or artificial language”.
• Each linguistic variable may be assigned

one or more linguistic values, which are
in turn connected to a numeric value
through the mechanism of membership
functions.

Motivation
• Conventional techniques for system
analysis are intrinsically unsuited for
dealing with systems based on human
judgment, perception & emotion.

Example
if temperature is cold and oil is cheap
then heating is high

Example
Linguistic Linguistic Linguistic Linguistic
Variable Value Variable Value
if temperature is cold and oil is cheap

cold cheap
high
then heating is high

Linguistic Linguistic
Variable Value

Definition [Zadeh 1973]
A linguistic variable is characterized by a quintuple
 x, T ( x),U , G, M 
Name
Term Set
Universe
Syntactic Rule
Semantic Rule

Example
A linguistic variable is characterized by a quintuple
 x, T ( x),U , G, M 
age
Example semantic rule:
𝑇 𝑎𝑔𝑒 = {𝑜𝑙𝑑, 𝑣𝑒𝑟𝑦 𝑜𝑙𝑑, 𝑦𝑜𝑢𝑛𝑔, 𝑞𝑢𝑖𝑡𝑒 𝑦𝑜𝑢𝑛𝑔, }
M (old)   u, old (u)  u [0,100]
 0 u  [0,50]

 1
old (u )     u  50 2 
[0, 100]  1     u  [50,100]
 
  5  

Example
Linguistic Variable : temperature
Linguistics Terms (Fuzzy Sets) : {cold, warm, hot}
(x)
cold warm hot
1
20 60 x

Hedges & Linguistic Values (Terms)
Extremely old
More or less old
Not young and Not old
Young but not too Young
Revised Oct.2017
complv.m
Dr. Khaled El-Metwally, CU 67
Operations on Linguistic Values (Hedges )
Concentration: CON ( A)  A2
Dilation: DIL( A)  A0.5

Contrast  2 A2 , 0   A ( x )  0.5
INT ( A)  
intensification:   2( A ) 2
, 0.5   A ( x )  1
Revised Oct.2017 intensif.m

Dr. Khaled El-Metwally, CU 68
7- Fuzzy Rules

Fuzzy If-Than Rules
A  B  If x is A then y is B.
antecedent consequence
or or
premise conclusion

Examples
 If pressure is high, then volume is small.
 If the road is slippery, then driving is dangerous.
 If a tomato is red, then it is ripe.
 If the speed is high, then apply the brake a little.

Fuzzy Rules as Relations
R
A fuzzy rule can be defined as a
binary relation with MF R  x, y    AB  x, y 
Depends on how
to interpret A  B

Interpretations of A  B
R  x, y    AB  x, y   ?
A coupled with B A entails B

y y
B B
xx xx
A A
R  x, y    AB  x, y   ?
A coupled with B A coupled with (A andBB)

A Bentails
y y
R  AB
B   B  A ( x)* B ( y) /( x, y)
X Y
t-norm
xx xx
A A
R  x, y    AB  x, y   ?
A coupled with B A coupled with (A andBB)

A Bentails
y y
R  AB
B   B  A ( x)* B ( y) /( x, y)
X Y
E.g.,
xx x
R  x, y   min   A ( x), B ( y)x
A A
Introduction to
Fuzzy Set Theory
8- Fuzzy Reasoning

Generalized Modus Ponens
Single rule with single antecedent
Rule: if x is A then y is B
Fact: x is A’
Conclusion: y is B’

Fuzzy Reasoning
Single Rule with Single Antecedent
Fact: x is A’
 ( x) A  ( y) B
A’
x y
Fuzzy Reasoning
R  ( x, y)   ( x)  B ( y)
A
Max-Min Composition
B ( y)  max x min   A ( x), R ( x, y) 
Fact: x is A’
  x   A ( x)  R ( x, y) 
  x   A ( x)   A ( x)  B ( y) 
  x   A ( x)   A ( x)   B ( y)
Firing Strength
Firing Strength
 ( x) A  ( y) B
A’
B
x y
Fuzzy Reasoning
R ( x, y)   A ( x)  B ( y)
Max-Min Composition
B ( y)  max x min   A ( x), R ( x, y) 
Fact: x is A’
  x   A ( x)  R ( x, y) 
  x   A ( x)   A ( x)  B ( y) 
  x   A ( x)   A ( x)   B ( y)
B  A ( A  B)
 ( x) A  ( y) B
A’
B
x y
Summary
Single rule with Single antecedent
 B ( y)   AR ( x, y)  [ A ( x)   R ( x, y)]

x
B  A  R  A  ( A  B)
 B ( y)  [  A ( x)   A ( x)]   B ( y)
x
 B ( y )  w   B ( y )
Firing Strength
Fuzzy Reasoning
Single Rule with Multiple Antecedents
Rule: if x is A and y is B then z is C
Fact: x is A’ and y is B’
Conclusion: z is C’

Fuzzy Reasoning
Single Rule with Multiple Antecedents
 ( x)  ( y)  ( z)
A A’
B’ B C
x y z
R  A B  C
Fuzzy Reasoning
 ( x, y, z)    ( x, y, z)
Single
Fact: Rule
x is A’ and y is B’with Multiple Antecedents R AB C
  A ( x)  B ( y)  C ( z)
Max-Min Composition
C ( z )  max x, y min   A, B ( x, y), R ( x, y, z) 
  x, y   A, B ( x, y)  R ( x, y, z ) 
  x, y   A ( x)  B ( y)   A ( x)  B ( y)  C ( z) 
  x   A ( x)   A ( x)    y  B ( y)  B ( y)   C ( z)
Firing Strength
 ( x)  ( y)  ( z)
A A’
B’ B C
C
x y z
R  A B  C
Fuzzy Reasoning
 ( x, y, z)    ( x, y, z)
Single
Fact: Rule
x is A’ and y is B’with Multiple Antecedents R AB C
  A ( x)  B ( y)  C ( z)
Max-Min Composition
C ( z )  max x, y min   A, B ( x, y), R ( x, y, z) 
  x, y   A, B ( x, y)  R ( x, y, z ) 
C   A  B   A  B  C 
     ( x )   ( y )   ( x)   ( y )   ( z ) 
x, y A B A B C
  x   A ( x)   A ( x)    y  B ( y)  B ( y)   C ( z)
Firing Strength
 ( x)  ( y)  ( z)
A A’
B’ B C
C
Revised Oct.2017 x Dr. Khaled El-Metwally, CU y z
87
Fuzzy Reasoning
Multiple Rules with Multiple Antecedents
Rule1: if x is A1 and y is B1 then z is C1


Fuzzy Reasoning
 ( x)  ( y)  ( z) C1
A’ A1 B1 B’
x y z
 ( x)  ( y)  ( z)
A’ A2 B2 B’ C2
x y z

Fuzzy Reasoning
Max-Min Composition
 ( x)  ( y)  ( z) C1
A’ A1 B1 B’
C1
x y z
 ( x)  ( y)  ( z)
A’ A2 B2 B’ C2
C2
x y z
Max
C   A  B   R1  R2   ( z)
  A  B  R1    A  B  R2  C  C1  C2
 C1  C2
Revised Oct.2017 Dr. Khaled El-Metwally, CU z
Summary
Single rule with multiple antecedent
Rm ( A, B, C )  A  B  C  A  B  C
Rm ( A, B, C )  
X Y  Z
A ( x)  B ( y )  C ( y ) /( x, y, z )
C  ( A  B)  ( A  B  C )
C ( z )   [  A ( x)   B ( y)   A ( x)   B ( y )  C ( z )]
x, y
C ( z )  [  A ( x)   A ( x)]  [  B ( y )   B ( y )]  C ( z )
x y
C ( z )  w1  w2  C ( z )
Firing Strength
1- Basic Structure of Fuzzy Systems

Basic Structure of Fuzzy Systems
X  ( X) Inference  ( Y) Y
Fuzzifier Defuzzifier
Engine
Fuzzy
Knowledge
Base

Fuzzifier
Fuzzifier
Engine
Fuzzy
Knowledge
Base
Converts the crisp input to a linguistic variable using the membership

functions stored in the fuzzy knowledge base.

Defuzzifier
Defuzzifier
Engine
Fuzzy
Knowledge
Base
Converts the fuzzy output of the inference engine to crisp using

membership functions analogous to the ones used by the fuzzifier.

Fuzzy Knowledge Base
Engine
Fuzzy
Fuzzy
Knowledg
Knowledge
eBase
Base
Information storage for

1. Linguistic variables definitions.
2. Fuzzy rules.

Basic Operations in a Fuzzy Logic
System
Knowledge Base
Data base Rule base Data base
Crisp Fuzzification Fuzzy Inference Fuzzy Defuzzification Crisp

2- Fuzzy Inference

Types of Inference
1. Mamadani Fuzzy Model
2. Sugeno Fuzzy Model
3. Tsukamoto Fuzzy Model

1- Fuzzy inference Mamadani
• One of the most commonly used fuzzy inference
technique is the so-called Mamdani method. In
1975, Professor Ebrahim Mamdani of London
University built one of the first fuzzy systems to
control a steam engine and boiler combination.
He applied a set of fuzzy rules supplied by
experienced human operators.

Mamdani fuzzy inference
 The Mamdani-style fuzzy inference process is
performed in four steps:
 fuzzification of the input variables,
 rule evaluation;
 aggregation of the rule outputs, and finally
 defuzzification.

Fuzzy Inference System
Rule 1
w1 fuzzy
x is A1 y is B1
Fuzzy Or Crisp
Crisp Rule 2 fuzzy
fuzzy y
x
w2
x is A2 y is B2 Aggregator Defuzzifier
Rule r fuzzy
wr
x is Ar y is Br

Mamadani FIS
• Fuzzy reasoning
• Rule base
If X is A1 and Y is B1 then Z is C1
A1 B1 C1
w1
Z
X Y
A2 B2 C2
w2
Z
X Y
x=3 y=2
Min
C’
Revised Oct.2017 Dr. Khaled El-Metwally, CU Z 103
z COA
Defuzzification

*
Largest of Max.
Smallest of Max.
Mean of Max. Centroid of Area/Gravity
Bisector of Area

Mamadani Eample 1
• Single input single output rule base
If X is Small then Y is Small

If X is Medium then Y is Medium
If X is Large then Y is Large

Mamadani Eample 1
small medium large
Membership Grades
10
0.5
8
0
-10 -5 0 5 10
X 6
Y
small medium large
Membership Grades
1 4
0.5 2
0 0
0 2 4 6 8 10 -10 -5 0 5 10
Revised Oct.2017 Y Dr. Khaled El-Metwally, CU X 106
Mamadani Eample 1
• Two input single output rule base
If X is Small then Y is Small

If X is Medium then Y is Medium
If X is Large then Y is Large

Mamadani Example 2
Membership Grades Membership Grades Membership Grades
small large
1
0.5
0
-5 0 5
X
small large
1
2
0.5
0
Z
0 -2
-5 0 5
Y
large negative small negative small positive large positive 5
1
5
0
0
0.5 Y -5 -5 X
0
-5 0 5
Z
2-Sugeno fuzzy inference
 Mamdani-style inference, as we have just seen,
requires us to find the centroid of a two-dimensional
shape by integrating across a continuously varying
function. In general, this process is not
computationally efficient.
 Michio Sugeno suggested to use a single spike, a
singleton, as the membership function of the rule
consequent. A singleton, or more precisely a fuzzy
singleton, is a fuzzy set with a membership function
that is unity at a single particular point on the
universe of discourse and zero everywhere else.
Sugeno-style fuzzy inference is very similar to the
Mamdani method. Sugeno changed only a rule
consequent. Instead of a fuzzy set, he used a
mathematical function of the input variable. The
format of the Sugeno-style fuzzy rule is
IF x is A
AND y is B
THEN z is f (x, y)
where x, y and z are linguistic variables; A and B
are fuzzy sets on universe of discourses X and Y,
respectively; and f (x, y) is a mathematical
function.

The most commonly used zero-order Sugeno fuzzy
model applies fuzzy rules in the following form:
IF x is A
AND y is B
THEN z is k
where k is a constant.
In this case, the output of each fuzzy rule is constant. All

consequent membership functions are represented by
singleton spikes.

First-Order Sugeno FIS
• Rule base
If X is A1 and Y is B1 then Z = p1*x + q1*y + r1
If X is A2 and Y is B2 then Z = p2*x + q2*y + r2
• Fuzzy reasoning
A1 B1 z1 =
w1 p1*x+q1*y+r1
X Y
A2 B2 z2 =
w2 p2*x+q2*y+r2
X Y w1*z1+w2*z2
x=3 y=2 z=
Min w1+w2

Sugeno Example 1

Sugeno Example 1
(a) Antecedent MFs for Crisp Rules (b) Overall I/O Curve for Crisp Rules
8
Membership Grades small medium large
1
6
0.8
0.6 4
Y
0.4
2
0.2
0 0
-10 -5 0 5 10 -10 -5 0 5 10
X X
(c) Antecedent MFs for Fuzzy Rules (d) Overall I/O Curve for Fuzzy Rules
8
small medium large
Membership Grades
1
6
0.8
0.6 Y 4
0.4
2
0.2
0 0
-10 -5 0 5 10 -10 -5 0 5 10
X X
Sugeno Example 2

Sugeno Example 2
Membership Grades
Small Large
1
0.5
0
-5 0 5
X
Membership Grades
Small Large
1
0.5
0
-5 0 5
Y

3- TSUKAMOTO FIS
• Rule base
A1 B1 C1
w1
Z
X Y z1
A2 B2 C2
w2
Z
X Y z2
x=3 y=2
Min
w1*z1+w2*z2
z=
w1+w2
Tsukamoto Example

Tsukamoto Example
(a) Antecedent MFs (b) Consequent MFs
small medium large

Membership Grades
Membership Grades
1 1
0.5 0.5 C1 C2 C3
0 0
-10 -5 0 5 10 0 5 10
X Y
(c) Each Rule's Output (d) Overall Input-Output Curve
10 10
Y
5 5
0 0
-10
Revised Oct.2017 -5 0 5 10 -10 CU
Dr. Khaled El-Metwally, -5 0 5 10 119
X X
Fuzzy Reasoning: MATLAB Demo
• >> ruleview mam21

Fuzzy Set Theory

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Intelligent Control Systems

Fuzzy Sets theory, Fuzzy Reasoning,

Revised Oct.2017 Dr. Khaled El-Metwally, CU 1

Revised Oct.2017 Dr. Khaled El-Metwally, CU 2

•The train starts up with gossamer ease,

The secrete is behind the Fuzzy Logic

Robert Townly, engineering manager for automatic train

He added “none of the bids to design the subway used fuzzy

14/10/2009 Dr. Khaled El-Metwally, CU - FL2017 4

14/10/2009 Dr. Khaled El-Metwally, CU - FL2017 7

•Intelligent microwave ovens.

•Intelligent traffic lights.

•15% less fuel consumption vehicles.

Revised Oct.2017 Dr. Khaled El-Metwally, CU 9

1- Fuzzy Sets (revisited)

Revised Oct.2017 Dr. Khaled El-Metwally, CU 10

L. A. Zadeh, “Fuzzy sets,” Information and Control,

Revised Oct.2017 Dr. Khaled El-Metwally, CU 11

Revised Oct.2017 Dr. Khaled El-Metwally, CU 12

Revised Oct.2017 Dr. Khaled El-Metwally, CU 13

Revised Oct.2017 Dr. Khaled El-Metwally, CU 14

Revised Oct.2017 Dr. Khaled El-Metwally, CU 15

Revised Oct.2017 Dr. Khaled El-Metwally, CU 16

Revised Oct.2017 Dr. Khaled El-Metwally, CU 17

14/10/2009 Dr. Khaled El-Metwally, CU - FL2017 19

U  {1, 2,3, 4,5,6,7,8} # courses a student may

 (1, 0.1) (2, 0.3) (3, 0.8) (4,1)  appropriate

Revised Oct.2017 Dr. Khaled El-Metwally, CU 20

U  {1, 2,3, 4,5,6,7,8} # courses a student may

 (1, 0.1) (2, 0.3) (3, 0.8) (4,1)  appropriate

A  0.1/ 1  0.3/ 2  0.8/ 3  1.0 / 4  0.9 / 5  0.5/ 6  0.2 / 7  0.1/ 8

Revised Oct.2017 Dr. Khaled El-Metwally, CU 21

U : the set of positive real numbers possible ages

Revised Oct.2017 Dr. Khaled El-Metwally, CU 23

Revised Oct.2017 Dr. Khaled El-Metwally, CU 24

Revised Oct.2017 Dr. Khaled El-Metwally, CU 25

Revised Oct.2017 Dr. Khaled El-Metwally, CU 26

Revised Oct.2017 Dr. Khaled El-Metwally, CU 27

Revised Oct.2017 Dr. Khaled El-Metwally, CU 28

Revised Oct.2017 Dr. Khaled El-Metwally, CU 30

Revised Oct.2017 Dr. Khaled El-Metwally, CU 31

Revised Oct.2017 Dr. Khaled El-Metwally, CU 32

Revised Oct.2017 Dr. Khaled El-Metwally, CU 34

Revised Oct.2017 Dr. Khaled El-Metwally, CU 35

Revised Oct.2017 Dr. Khaled El-Metwally, CU 37

Revised Oct.2017 Dr. Khaled El-Metwally, CU 40

Revised Oct.2017 Dr. Khaled El-Metwally, CU 41

Revised Oct.2017 Dr. Khaled El-Metwally, CU 42

Revised Oct.2017 Dr. Khaled El-Metwally, CU 43

If f( ) is a many-to-one mapping, then

Revised Oct.2017 Dr. Khaled El-Metwally, CU 46

Revised Oct.2017 Dr. Khaled El-Metwally, CU 47

1 0 1 0 0 a1 Rb1 a1 Rb3 a2 Rb5

Revised Oct.2017 Dr. Khaled El-Metwally, CU 50

A fuzzy relation R is a 2D MF:

Revised Oct.2017 Dr. Khaled El-Metwally, CU 51

X  Y  U  {1, 2,3, 4,5}

Revised Oct.2017 Dr. Khaled El-Metwally, CU 52

S: fuzzy relation defined on Y and Z.

R S (x, z)  max y min  R ( x, y), S ( y, z) 

Revised Oct.2017 Dr. Khaled El-Metwally, CU 53

S: fuzzy relation defined on Y and Z.

Revised Oct.2017 Dr. Khaled El-Metwally, CU 55

Revised Oct.2017 Dr. Khaled El-Metwally, CU 56