Based on intuition and judgment

No need for a mathematical model

Relatively simple, fast and adaptive
Less sensitive to system fluctuations
Can implement design objectives, difficult to express mathematically,
in linguistic or descriptive rules.

Robert Jackson Marks II

Continued Controversy
The image which is portrayed is of the ability to perform
magically well by the incorporation of `new age technologies
of fuzzy logic, neural networks,
... approximate reasoning, and
self-organization in the face of
dismal failure of traditional
methods. This is pure unsupported
claptrap which is pretentious
and idolatrous in the extreme,
and has no place in scientific
literature.
Professor Bob Bitmead,
IEEE Control Systems Magazine,
June 1993, p.7.
<bob@[Link]>
< [Link]

Robert Jackson Marks II

The Wisdom of Experience ... ???

(Fuzzy theorys) delayed exploitation
outside Japan teaches several lessons.
...(One is) the traditional intellectualism in
engineering research in general and the
cult of analyticity within control system
engineering research in particular.
E.H. Mamdami, 1975 father of fuzzy control (1993).

"All progress means war with society."

George Bernard Shaw
Robert Jackson Marks II

 I never tell the truth

Frank shaved all in the village who did
not shave themselves.
This statement is false.
Nothing is impossible.

Robert Jackson Marks II

Conventional or crisp sets are binary. An element

either belongs to the set or doesn't.

Fuzzy sets, on the other hand, have grades of

memberships. The set of cities `far' from Los Angeles
is an example.

LA 0.0 / LA 0.5 / Chicago

0.8 / New York 0.9 / London
Robert Jackson Marks II

 The term far used to define this set is a

fuzzy linguistic variable.
Other examples include close, heavy, light,
big, small, smart, fast, slow, hot, cold, tall
and short.
e.g. On a scale
of one to 10,
how good was
the dive?

10

Robert Jackson Marks II

9.5

 The set, B, of numbers near to two is

1
B ( x)
2
( x 2)
or...

B ( x) e

B(x)

| x 2|

Robert Jackson Marks II

 A fuzzy set, A, is said to be a subset of B if

A ( x) B ( x)
e.g. B = far and A=very far.
For example...

A ( x) ( x)
2
B

Robert Jackson Marks II

 Crisp membership functions are either one

or zero.
e.g. Numbers greater than 10.
A(x)

A ={x | x>10} 1
x
10
Robert Jackson Marks II

10

 Fuzzy Probability
Example #1
Billy has ten toes. The
probability Billy has
nine toes is zero. The
fuzzy membership of
Billy in the set of people
with nine toes, however,
is nonzero.
Robert Jackson Marks II

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Example #2

#1

A bottle of liquid has a probability of

of being rat poison and of being pure
water.
A second bottles contents, in the fuzzy
set of liquids containing lots of rat
poison, is .
The meaning of for the two bottles
clearly differs significantly and would
impact your choice should you be
dying of thirst.

#2

(cite: Bezdek)

Robert Jackson Marks II

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Example #3
Fuzzy is said to measure possibility rather than probability.
Difference
All things possible are not probable.
All things probable are possible.

Contrapositive
All things impossible are improbable
Not all things improbable are impossible

Robert Jackson Marks II

13

 The probability that a fair die will show

six is 1/6. This is a crisp probability.
All credible mathematicians will agree
on this exact number.
The weatherman's forecast of a
probability of rain tomorrow being
70% is also a fuzzy probability. Using
the same meteorological data, another
weatherman will typically announce a
different probability.
Robert Jackson Marks II

14

Criteria for fuzzy and, or, and complement

Must meet crisp boundary conditions
Commutative
Associative
Idempotent

Monotonic
Robert Jackson Marks II

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Example Fuzzy Sets to Aggregate...

A = { x | x is near an integer}
B = { x | x is close to 2}
A(x)

B(x)

Robert Jackson Marks II

x
16

 Fuzzy Union (logic or)

A B ( x) max [ A ( x), B ( x)]

Meets crisp boundary conditions

Commutative
Associative

Idempotent
Monotonic
Robert Jackson Marks II

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A OR B = A+B ={ x | (x is near an integer) OR (x is close to 2)}

= MAX [A(x), B(x)]

A+B (x)

2
Robert Jackson Marks II

x
18

 Fuzzy Intersection (logic and)

AB ( x) min [ A ( x), B ( x)]

Meets crisp boundary conditions

Commutative
Associative

Idempotent
Monotonic
Robert Jackson Marks II

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A AND B = AB ={ x | (x is near an integer) AND (x is close to 2)}

= MIN [A(x), B(x)]

AB(x)

2
Robert Jackson Marks II

x
20

The complement of a fuzzy set has a membership function...

A ( x) 1 A ( x)
complement of A ={ x | x is not near an integer}

A (x)
1

Robert Jackson Marks II

x
21

Min-Max fuzzy logic has intersection distributive over union...

A( B C ) ( x) ( A B )( AC ) ( x)
since
min[ A,max(B,C) ]=min[ max(A,B), max(A,C) ]

Robert Jackson Marks II

22

Min-Max fuzzy logic has union distributive over intersection...

A ( BC ) ( x) ( A B ) ( AC ) ( x)
since
max[ A,min(B,C) ]= max[ min(A,B), min(A,C) ]

Robert Jackson Marks II

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Min-Max fuzzy logic obeys DeMorgans Law #1...

BC ( x) B C ( x)
since
1 - min(B,C)= max[ (1-A), (1-B)]

Robert Jackson Marks II

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Min-Max fuzzy logic obeys DeMorgans Law #2...

BC ( x) B C ( x)
since
1 - max(B,C)= min[(1-A), (1-B)]

Robert Jackson Marks II

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Min-Max fuzzy logic fails The Law of Excluded Middle.

A A
since
min( A,1- A) 0
Thus, (the set of numbers close to 2) AND (the set of
numbers not close to 2) null set
Robert Jackson Marks II

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Min-Max fuzzy logic fails the The Law of Contradiction.

A A U
since
max( A,1- A) 1
Thus, (the set of numbers close to 2) OR (the set of
numbers not close to 2) universal set
Robert Jackson Marks II

27

There are numerous other operations OTHER than Min and Max
for performing fuzzy logic intersection and union operations.
A common set operations is sum-product inferencing, where

A B ( x) A ( x) B ( x)

A B ( x) min [ A ( x) B ( x),1]
Robert Jackson Marks II

28

The intersection and union operations can also be used to assign

memberships on the Cartesian product of two sets.
Consider, as an example, the fuzzy membership of a set, G, of
liquids that taste good and the set, LA, of cities close to Los
Angeles
G 0.0 / Swamp Water
0.5 / Radish Juice
0.9 / Grape Juice

LA 0.0 / LA 0.5 / Chicago

0.8 / New York 0.9 / London
Robert Jackson Marks II

29

We form the set...

E = G LA
= liquids that taste good AND cities that
are close to LA
The following table results...
LosAngeles(0.0)
Swamp Water (0.0)
0.00
Radish Juice (0.5)
0.00
Grape Juice (0.9)
0.00

Chicago (0.5) New York (0.8) London(0.9)

0.00
0.00
0.00
0.25
0.40
0.45
0.45
0.72
0.81

Robert Jackson Marks II

30

antecedent

consequent

Robert Jackson Marks II

31

 Assume that we need to evaluate student applicants based on their GPA and
GRE scores.
For simplicity, let us have three categories for each score [High (H), Medium
(M), and Low(L)]
Let us assume that the decision should be Excellent (E), Very Good (VG), Good
(G), Fair (F) or Poor (P)
An expert will associate the decisions to the GPA and GRE score. They are then
Tabulated.

Robert Jackson Marks II

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Robert Jackson Marks II

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 Fuzzifier converts a crisp input into a vector of fuzzy membership values.

The membership functions
reflects the designer's knowledge
provides smooth transition between fuzzy sets
are simple to calculate
Typical shapes of the membership function are Gaussian, trapezoidal and
triangular.

Robert Jackson Marks II

34

GRE

GRE

= {L , M , H }
Robert Jackson Marks II

35

GPA

GPA

= {L , M , H }
Robert Jackson Marks II

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Robert Jackson Marks II

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 Transform the crisp antecedents into a vector of fuzzy

membership values.
Assume a student with GRE=900 and GPA=3.6.
Examining the membership function gives

GRE

= {L = 0.8 , M = 0.2 , H = 0}

GPA

= {L = 0 , M = 0.6 , H = 0.4}
Robert Jackson Marks II

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Robert Jackson Marks II

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Robert Jackson Marks II

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Robert Jackson Marks II

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 Converts the output fuzzy numbers into a unique (crisp) number

Method: Add all weighted curves and find the center of mass

Robert Jackson Marks II

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 Fuzzy set with the largest membership value is selected.

Fuzzy decision:
F = {B, F, G,VG, E}
F = {0.6, 0.4, 0.2, 0.2, 0}
Final Decision (FD) = Bad Student
If two decisions have same membership max, use the average
of the two.
Robert Jackson Marks II

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Robert Jackson Marks II

44

LN
MN
SN
E ZE
SP
MP
LP

LN
LN
LN
LN
LN
SN
ZE
SP

MN
LN
LN
LN
MN
ZE
ZE
SP

SN
LN
LN
MN
SN
ZE
SP
MP

CE
ZE
LN
MN
SN
ZE
SP
MP
LP

Robert Jackson Marks II

SP
MN
SN
ZE
SP
MP
LP
LP

MP
SN
ZE
ZE
MP
LP
LP
LP

LP
SN
ZE
SP
LP
LP
LP
LP
45

LN

MN

SN ZE

SP

-3

-1

MP

LP

1
E
CU
0
-6
m

LN

MN

SN

ZE

SP

MP

LP

-2

-1

1
CE
0
-3

Robert Jackson Marks II

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CE
LN MN SN ZE SP MP LP
LN
MN
SN
E ZE
SP
MP
LP

LN

LN

LN

LN

MN

LN

LN

LN

MN

ZE

LN

LN

MN

ZE

ZE

SP

LN

MN

[Link]
0.4

[Link]
0.3

d. SN ZE
0.5

ZE

SP

MP

LP

ZE

SP

MP

LP

LP

a. SN ZE
0.1

e. SN f. SN
0.2
0.0

ZE

SP

SP

MP

LP

LP

LP

SP

SP

MP

LP

LP

LP

LP

Consequent is or SN if a or b or c or d or f.
Robert Jackson Marks II

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Consequent is or SN if a or b or c or d or f.
Consequent Membership = max(a,b,c,d,e,f) = 0.5

More generally:

1
agg ( x )
N

xn

n 1

Robert Jackson Marks II

1/

48


1
agg ( x )
N

xn

n 1

Special Cases:

1/

agg ( x ) min n xn ; minimum

1

1
1
agg1 ( x ) ; harmonic mean
N n 1 xn
1/ N

agg0 ( x ) nN1 xn ; geometric mean

N

1
agg1 ( x )
N

x ; average
n 1

1/ 2

1 N 2
agg2 ( x ) xn ; rms
N n 1
Marks II
Robert (Jackson
agg
x
) maxn xn ; maximum

49

rpm

1800

trajectory
response

900
0
-900

-1800

12

15

18

21

24

27

Time [sec]

Robert Jackson Marks II

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Turn

trajectory
response

1
0

12

15

18

21

24

27

Time [sec]

Robert Jackson Marks II

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F
F
Robert Jackson Marks II

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Instead of min(x,y) for fuzzy AND...

Use x y
Instead of max(x,y) for fuzzy OR...
Use min(1, x + y)

Why?

Robert Jackson Marks II

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Robert Jackson Marks II

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Robert Jackson Marks II

In theory, theory and reality are the same.

In reality, they are not.

55

Robert Jackson Marks II

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