Chapter 2 Fuzzy Control
1 Chapter 2 Fuzzy Control
Fuzzy Control: The Basics ■ Overview a Fuzzy Control: A Tutorial Introduction General Fuzzy System a Simple Design Example: The Inverted Pendulum Simulation of fuzzy control System 2
2 Fuzzy Control: The Basics ◼ Overview ◼ Fuzzy Control: A Tutorial Introduction ◼ General Fuzzy System ◼ Simple Design Example: The Inverted Pendulum ◼ Simulation of Fuzzy Control System
Qu uestions Why do we select fuzzy controllers in many real- world systems? How much of the success can be attributed to the use of the mathematical model and conventional control design approach? How much should be attributed to the clever heuristic tuning that the control engineer uses upon implementation? If we exploit the use of heuristic information throughout the entire design process, can we obtain higher performance control systems? How do we design a fuzzy controller 3
3 Questions ◼ Why do we select fuzzy controllers in many realworld systems? ◼ How much of the success can be attributed to the use of the mathematical model and conventional control design approach? ◼ How much should be attributed to the clever heuristic tuning that the control engineer uses upon implementation? ◼ If we exploit the use of heuristic information throughout the entire design process, can we obtain higher performance control systems? ◼ How do we design a fuzzy controller?
uestions Whether do we need a model in fuzzy control? a What are the performance evaluation of fuzzy control? What should we pay attention in fuzzy controller design 4
4 Questions ◼ Whether do we need a model in fuzzy control? ◼ What are the performance evaluation of fuzzy control? ◼ What should we pay attention in fuzzy controller design?
2.1 Overview What is the motivation for turning to fuzzy control? Basically, the difficult task of modeling and simulating complex real world systems for control systems development, especially when implementation issues are considered, is well documented. Even if a relatively accurate model of a dynamic system can be developed it is often too complex to use in controller development, especially for many conventional control design procedures that require restrictive assumptions for the plant (e.g, linearity)
5 2.1 Overview What is the motivation for turning to fuzzy control? Basically, the difficult task of modeling and simulating complex real world systems for control systems development, especially when implementation issues are considered, is well documented. Even if a relatively accurate model of a dynamic system can be developed, it is often too complex to use in controller development, especially for many conventional control design procedures that require restrictive assumptions for the plant (e.g., linearity)