• 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 2

 Continued
“The image whichControversy
is portrayed is of the ability to
perform
magically well by the incorporation of `new age’
of fuzzy logic, neural networks,
technologies
... 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
Robert Jackson, Marks II 3
June 1993, p.7.
 The Wisdom of
Experience ... ???
• “(Fuzzy theory’s) 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

Robert Jackson Marks II
war with
4
• “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 5

•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 6

 • 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 10 9
the dive?

Robert Jackson Marks II 7

9 9.5
• The set, B, of numbers near to two is
1
 B ( x)  2
( x  2)
• or... B(x)

 | x  2|
 B ( x) e
0 1 2 3 x

Robert Jackson Marks II 8

• 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 9

• Crisp membership functions are either one or zero.
• e.g. Numbers greater than 10.

A ={x | x>10}
A(x)
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 11

 Example #2
– A bottle of liquid has a probability of
½ of being rat poison and ½ of being
pure water.
– A second bottle’s contents, in the fuzzy
#1 set of liquids containing lots of rat
poison, is ½.
– The meaning of ½ for the two bottles
clearly differs significantly and would #2
impact your choice should you be
dying of thirst.

(cite: Bezdek)
Robert Jackson Marks II 12
 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 15

Example Fuzzy Sets to Aggregate...
A = { x | x is near an integer}
B = { x | x is close to 2}
A(x) B(x)
1

0 1 2 3 x 0 1 2 3 x
Robert Jackson Marks II 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 17
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)

0 1 2 3 x

Robert Jackson Marks II 18

• Fuzzy Intersection (logic “and”)

 A B ( x) min [  A ( x),  B ( x)]

Meets crisp boundary conditions
Commutative
Associative
Idempotent
Monotonic
Robert Jackson Marks II 19
A AND B = A·B ={ x | (x is near an integer) AND (x is close to 2)}

= MIN [A(x), B(x)]

AB(x)

0 1 2 3 x

Robert Jackson Marks II 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

0 1 2 3 x
Robert Jackson Marks II 21
Min-Max fuzzy logic has intersection distributive over union...

 A ( B C ) ( x)  ( A B ) ( AC ) ( 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( B C ) ( x)  ( A B ) ( A C ) ( x)

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

Robert Jackson Marks II 23

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

 B  C ( x )  B  C ( x )
since
1 - min(B,C)= max[ (1-A), (1-B)]

Robert Jackson Marks II 24

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

 B  C ( x )  B  C ( x )
since
1 - max(B,C)= min[(1-A), (1-B)]

Robert Jackson Marks II 25

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 26

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) Chicago (0.5) New York (0.8)
London(0.9)
Swamp Water (0.0) 0.00 0.00 0.00 0.00
Radish Juice (0.5) 0.00 0.25 0.40 0.45
Grape Juice (0.9) 0.00 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 32

Robert Jackson Marks II 33
• 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 ,

} Robert Jackson Marks II 35


GPA


GPA = {L , M ,
Robert Jackson Marks II 36
F

Robert Jackson Marks II 37

• Transform the crisp
antecedents into a vector of
fuzzy membership values.
• Assume a student with
GRE=900 and GPA=3.6.
Examining the membership
 GRE = {
function gives
L= 0.8 , 
M = 0.2 , 
H = 0}

 GPA = { = 0 ,  = 0.6 ,  = 0.4}

L M H
Robert Jackson Marks II 38
Robert Jackson Marks II 39
Robert Jackson Marks II 40
F

Robert Jackson Marks II 41

• 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 42

• 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 43
F

Robert Jackson Marks II 44

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

Robert Jackson Marks II 45

 m
LN MN SN ZE SP MP LP
1
E
CU
0
-6 -3 -1 0 1 3 6

m
LN MN SN ZE SP MP LP
1
CE

0
-3 -2 -1 0 1 2 3

Robert Jackson Marks II 46

 CE
LN MN SN ZE SP MP LP
LN LN LN LN MN e. SN f. SN
LN 0.2 0.0
LN LN LN MN d. SN ZE ZE
MN 0.5
LN LN MN [Link] ZE ZE SP
SN 0.3
LN MN [Link] ZE SP MP LP
E ZE 0.4
a. SN ZE ZE SP MP LP LP
SP 0.1
ZE SP SP MP LP LP LP
MP
SP SP MP LP LP LP LP
LP

Consequent is or SN if a or b or c or d or f.

Robert Jackson Marks II 47

 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/ 
  1 N

agg ( x ) 
N

n 1
xn 



Robert Jackson Marks II 48

 1/ 
  1 N

agg ( x ) 
N

n 1

xn 


Special Cases: agg   ( x ) min n xn ; minimum
1
 1 N
1
agg  1 ( x )    ; harmonic mean
 N n 1 xn 

 1/ N

agg 0 ( x )   nN 1 xn ; geometric mean
 1 N
agg1 ( x ) 
N
 x ; average
n 1
n

1/ 2
  1 N 2
agg 2 ( x )   xn  ; rms
 N n 1 
 Marks II
agg  x ) max n xn ; maximum
Robert (Jackson 49
 1800

900 trajectory
response
rpm

-900

-1800
0 3 6 9 12 15 18 21 24 27
Time [sec]

Robert Jackson Marks II 50

 5

4
Turn

3
trajectory
2 response
1

0
0 3 6 9 12 15 18 21 24 27
Time [sec]

Robert Jackson Marks II 51

F

Robert Jackson Marks II 52

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 53

Robert Jackson Marks II 54
Robert Jackson Marks II 55
“In theory, theory and reality are the same.
In reality, they are not.”
Robert Jackson Marks II 56