FUZZY CONTROLLERS – RECENT ADVANCES IN THEORY AND APPLICATIONS Edited by Sohail Iqbal, Nora Bumella and Juan Carlos Fiueroa Garcia Fuzzy Controllers – Recent Advances in Theory and Applications http://dx.doi.org/10.5772/2622 Edited by Sohail Iqbal, Nora Bumella and Juan Carlos Fiueroa Garcia Contributors Teodor Lucian Grigorie, Ruxandra Mihaela Botez, Andrei Vladimir Popov, Stela Rusu-Anghel, Lucian Gherman, Omer Aydogdu, Ramazan Akkaya, M.H. Fazel Zarandi, Fereidoon Moghadas Nejad, H. Zakeri, Xin Wang, Edwin E. Yaz, James Long, Tim Miller, S. Bouallègue, J. Haggège, M. Benrejeb, Meriem Nachidi, Ahmed El Hajjaji, Ying-Shieh Kung, Chung-Chun Huang, Liang- Chiao Huang, Ping Zhang, Guodong Gao, Maguid H. M. Hassan, M. Chadli, A. El Hajjaji, Pedro Ponce, Arturo Molina, Rafael Mendoza, Kwanchai Sinthipsomboon, Issaree Hunsacharoonroj, Josept Khedari, Watcharin Po-ngaen, Pornjit Pratumsuwan, Yousif I. Al Mashhadany, Carlos André Guerra Fonseca, Fábio Meneghetti Ugulino de Araújo, Marconi Câmara Rodrigues, Nora Boumella, Juan Carlos Figueroa, Sohail Iqbal, Muhammad M.A.S. Mahmoud, Morteza Seidi, Marzieh Hajiaghamemar, Bruce Segee, Wudhichai Assawinchaichote, Yassine Manai, Mohamed Benrejeb, Mavungu Masiala, Mohsen Ghribi, Azeddine Kaddouri, Georgios A. Tsengenes, Georgios A. Adamidis, B. S. K. K. Ibrahim, M. O. Tokhi, M. S. Huq, S. C. Gharooni, José Luis Azcue, Alfeu J. Sguarezi Filho, Ernesto Ruppert Published by InTech Janeza Trdine 9, 51000 Rijeka, Croatia Copyright © 2012 InTech All chapters are Open Access distributed under the Creative Commons Attribution 3.0 license, which allows users to download, copy and build upon published articles even for commercial purposes, as long as the author and publisher are properly credited, which ensures maximum dissemination and a wider impact of our publications. 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Publishing Process Manager Iva Simcic Typesetting InTech Prepress, Novi Sad Cover InTech Design Team First published September, 2012 Printed in Croatia A free online edition of this book is available at www.intechopen.com Additional hard copies can be obtained from orders@intechopen.com Fuzzy Controllers – Recent Advances in Theory and Applications, Edited by Sohail Iqbal, Nora Bumella and Juan Carlos Fiueroa Garcia p. cm. ISBN 978-953-51-0759-0 Contents Preface IX Chapter 1 Fuzzy Logic Control of a Smart Actuation System in a Morphing Wing 1 Teodor Lucian Grigorie, Ruxandra Mihaela Botez and Andrei Vladimir Popov Chapter 2 Embedded Fuzzy Logic Controllers in Electric Railway Transportation Systems 23 Stela Rusu-Anghel and Lucian Gherman Chapter 3 Design of a Real Coded GA Based Fuzzy Controller for Speed Control of a Brushless DC Motor 63 Omer Aydogdu and Ramazan Akkaya Chapter 4 A Type-2 Fuzzy Model Based on Three Dimensional Membership Functions for Smart Thresholding in Control Systems 85 M.H. Fazel Zarandi, Fereidoon Moghadas Nejad and H. Zakeri Chapter 5 Fuzzy Control of Nonlinear Systems with General Performance Criteria 119 Xin Wang, Edwin E. Yaz, James Long and Tim Miller Chapter 6 A New Method for Tuning PID-Type Fuzzy Controllers Using Particle Swarm Optimization 139 S. Bouallègue, J. Haggège and M. Benrejeb Chapter 7 Output Tracking Control for Fuzzy Systems via Static-Output Feedback Design 163 Meriem Nachidi and Ahmed El Hajjaji Chapter 8 FPGA-Based Motion Control IC for Linear Motor Drive X-Y Table Using Adaptive Fuzzy Control 181 Ying-Shieh Kung, Chung-Chun Huang and Liang-Chiao Huang VI Contents Chapter 9 Novel Yinger Learning Variable Universe Fuzzy Controller 201 Ping Zhang and Guodong Gao Chapter 10 Fuzzy Controllers: A Reliable Component of Smart Sustainable Structural Systems 221 Maguid H. M. Hassan Chapter 11 Vehicle Fault Tolerant Control Using a Robust Output Fuzzy Controller Design 249 M. Chadli and A. El Hajjaji Chapter 12 Wheelchair and Virtual Environment Trainer by Intelligent Control 271 Pedro Ponce, Arturo Molina and Rafael Mendoza Chapter 13 A Hybrid of Fuzzy and Fuzzy Self-Tuning PID Controller for Servo Electro-Hydraulic System 299 Kwanchai Sinthipsomboon, Issaree Hunsacharoonroj, Josept Khedari, Watcharin Po-ngaen and Pornjit Pratumsuwan Chapter 14 Design and Simulation of Anfis Controller for Virtual-Reality-Built Manipulator 315 Yousif I. Al Mashhadany Chapter 15 Hierarchical Fuzzy Control 335 Carlos André Guerra Fonseca, Fábio Meneghetti Ugulino de Araújo and Marconi Câmara Rodrigues Chapter 16 Enhancing Fuzzy Controllers Using Generalized Orthogonality Principle 367 Nora Boumella, Juan Carlos Figueroa and Sohail Iqbal Chapter 17 New Areas in Fuzzy Application 385 Muhammad M.A.S. Mahmoud Chapter 18 Fuzzy Control Systems: LMI-Based Design 441 Morteza Seidi, Marzieh Hajiaghamemar and Bruce Segee Chapter 19 New Results on Robust  ∞ Filter for Uncertain Fuzzy Descriptor Systems 465 Wudhichai Assawinchaichote Chapter 20 Robust Stabilization for Uncertain Takagi-Sugeno Fuzzy Continuous Model with Time-Delay Based on Razumikhin Theorem 481 Yassine Manai and Mohamed Benrejeb Contents VII Chapter 21 A Two-Layered Load and Frequency Controller of a Power System 503 Mavungu Masiala, Mohsen Ghribi and Azeddine Kaddouri Chapter 22 Performance Evaluation of PI and Fuzzy Controlled Power Electronic Inverters for Power Quality Improvement 519 Georgios A. Tsengenes and Georgios A. Adamidis Chapter 23 Discrete-Time Cycle-to-Cycle Fuzzy Logic Control of FES-Induced Swinging Motion 541 B. S. K. K. Ibrahim, M. O. Tokhi, M. S. Huq and S. C. Gharooni Chapter 24 Three Types of Fuzzy Controllers Applied in High-Performance Electric Drives for Three-Phase Induction Motors 559 José Luis Azcue, Alfeu J. Sguarezi Filho and Ernesto Ruppert Preface At the core of many engineering problems is the problem of control of different systems. These systems range all the way from classical inverted pendulum to auto- focusing system of a digital camera. Fuzzy control systems have demonstrated their enhanced performance in all these areas. Although initially fuzzy systems were associated only to the artificial intelligence that has refrained to the development of theoretical fuzzy systems, in 1985 Japanese researchers Seiji Yasunobu and Soji Miyamoto demonstrated the superiority of fuzzy control systems for the Sendai railway. From that moment on, many applications have taken the advantage of the inherent potential offered by fuzzy controllers. Some notable works on the applications of fuzzy controllers are inverted pendulum balancing by Takeshi Yamakawa, improved vacuum cleaners by Panasonic corporation, stable CCD development by Canon Inc., energy efficient air conditioners by Mitsubishi Companies and fuel efficient automatic space docking by NASA. Since fuzzy controllers have proven their performance in many domains of science and technology, it has led to further development of the theory of fuzzy systems to solve even more intricate problems. In this book, our purpose is to present the recent developments both in theory and applications of fuzzy controllers. The book is a collection of chapters which are the result of the coordinated work of scholars worldwide. Each chapter presents a different application of fuzzy controllers along with the necessary development of the theory. Any reader can study every chapter of this book as a self-contained research work. Moreover, this book can be recommended to students who have done the basics of fuzzy set theory earlier on and now they want to apply it. Reading of the entire book will provide you with a variety of ideas to develop theory and apply it to fuzzy control problems. This book starts with theory development and its application to solve an aerospace engineering problem, then a fuzzy controller is used in electric railway transportation. In the subsequent chapters, further theory and its applications to solve a variety of problems are presented. These problems include the fault tolerant control of a vehicle, integral wheelchair control, and hierarchical fuzzy control among others. Book concludes with a chapter on describing the new areas in fuzzy controllers. Reviewing all the received chapters, proposing improvements, and all the tasks of book editing within few months were not possible without the dedicated efforts of my X Preface colleagues and co-editors of the book Nora Boumella and Juan Carlos Figueroa García. I am thankful to both for their commitment to excellence. During the review of the book chapters and book editing Iva Simcic, publishing process manager of INTECH, provided fast and efficient feedback and guidance. I would like to thank her for her professionalism. Special thanks to my teachers Sarmad Abbasi and Yacine Amirat for guiding me to understand the techniques of scientific research. I would also like to express my gratitude to Arshad Ali, principal NUST School of Electrical Engineering and Computer Science who always encourage faculty to take initiatives to promote a culture of scientific investigation. I am highly indebted to Higher Education Commission of Pakistan for revolutionizing the science and technology. Moreover, I am also thankful to National University of Sciences and Technology, Pakistan for providing an idea environment for research and development. Sohail Iqbal National University of Science and Technology, Pakistan Nora Boumella University of Batna, Batna, Algeria Juan Carlos Figueroa-García Universidad Distrital Francisco Jose de Caldas, Bogota, Colombia [...]... flexible skin The Fuzzy controller” block models the controller presented in Fig 9 Also, SMA actuators’ physical limitations in terms of temperature and supplying currents were considered in this block Its detailed Simulink scheme is shown in Fig 11 The block inputs are the control 10 Fuzzy Controllers – Recent Advances in Theory and Applications error (the difference between the desired and the obtained... system, avoiding in this way the loss of precision from linearization and uncertainties in the system’s parameters, which negatively influences the quality of the resulting control In the same time, we used the intuitive handling, simplicity and flexibility capabilities offered by the fuzzy logic techniques and due to their closeness to human perception and reasoning; fuzzy logic is an interface between... hysteresis modeling of a morphing wing, The Aeronautical Journal, Vol 114, No 1151, pp 1-13, January 2010, ISSN: 0001-9240 20 Fuzzy Controllers – Recent Advances in Theory and Applications Grigorie, T.L.; Popov, A.V.; Botez, R.M.; Mébarki, Y & Mamou, M (2010 a) Modeling and testing of a morphing wing in open-loop architecture, AIAA Journal of Aircraft, Vol 47, No 3, pp 917-923, May–June 2010, ISSN:... measurements appeared in this test due to the wind tunnel electrical power sources and its instrumentation equipment The transition monitoring revealed that this noise level did not influence significantly the transition point position; the positioning resolution was determined by the density of the chord-disposed pressure sensors 14 Fuzzy Controllers – Recent Advances in Theory and Applications 8 SMA1... airfoil in a flow case To achieve the control, a mixed optimization method was used, between „the gradient ascent” or „hill climbing” method 16 Fuzzy Controllers – Recent Advances in Theory and Applications and the „simulated annealing” method Two variants were tested for the starting point on the optimization map control: 1) dY1=4 mm, dY2=4 mm (Fig 16), and 2) dY1opt, dY2opt of the theoretically obtained... use, distribution, and reproduction in any medium, provided the original work is properly cited 2 Fuzzy Controllers – Recent Advances in Theory and Applications material actuators and pressure sensors The aim of these studies is to develop an automatic system that, based on the information related to the pressure distribution along the wing chord, moves the transition point from the laminar to the turbulent... Multidisciplinary Approach for the Optimization of a Laminar Airfoil Equipped with a Morphing Upper Surface, AVT-168 NATO Symposium on the Morphing Vehicles, 20-23 April, 2009, Published by NATO, Evora, Portugal 22 Fuzzy Controllers – Recent Advances in Theory and Applications Sanders, B (2003) Aerodynamic and Aeroelastic Characteristics of Wings with Conformal Control Surfaces for Morphing Aircraft,... obtain important fuel and energy savings A lot of these studies refer to the aircrafts' shape optimization, taking into account that the aircraft drag force influences directly the fuel consumption In this way, a very interesting and provocative concept was launched on the market, i.e "morphing aircraft" Considering the drag reduction, fuel consumption economy and flight envelope increasing promising... results and the followed optimization trajectory for α=0.5° and M=0.3 flow case are shown in Fig 17 In this case, as starting point in optimization was used the point with the coordinates dY1opt and dY2opt, characterizing the theoretically obtained optimized airfoil: dY1opt=4.81 mm, and dY2opt=7.45 mm The obtained rezults validated the theoretical optimized airfoil obtained by Ecole Polytechnique in Montreal... 2010 b; Popov et al., 2010 c; Sainmont et al., 2009), initiated and financially supported by the following government and industry associations: the Consortium for Research and Innovation in Aerospace in Quebec (CRIAQ), the National Sciences and Engineering Research Council of Canada (NSERC), Bombardier Aerospace, Thales Avionics, and the National Research Council Canada Institute for Aerospace Research . FUZZY CONTROLLERS – RECENT ADVANCES IN THEORY AND APPLICATIONS Edited by Sohail Iqbal, Nora Bumella and Juan Carlos Fiueroa Garcia Fuzzy Controllers – Recent Advances in Theory. studies using the wind tunnel for a morphing wing equipped with a flexible skin, smart Fuzzy Controllers – Recent Advances in Theory and Applications 2 material actuators and pressure sensors free online edition of this book is available at www.intechopen.com Additional hard copies can be obtained from orders@intechopen.com Fuzzy Controllers – Recent Advances in Theory and Applications,