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FUZZY LOGIC for Embedded Systems Applications FUZZY LOGIC for Embedded Systems Applications FUZZY LOGIC for Embedded Systems Applications FUZZY LOGIC for Embedded Systems Applications by Ahmad M. Ibrahim, Ph.D. Senior Member, IEEE AMSTERDAM • BOSTON • HEIDELBERG • LONDON NEW YORK • OXFORD • PARIS • SAN DIEGO SAN FRANCISCO • SINGAPORE • SYDNEY • TOKYO Newnes is an imprint of Elsevier Science. Copyright © 2004, Elsevier Science (USA). All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopy- ing, recording, or otherwise, without the prior written permission of the publisher. Recognizing the importance of preserving what has been written, Elsevier Science prints its books on acid-free paper whenever possible. Library of Congress Cataloging-in-Publication Data ISBN: 0-7506-7699-X British Library Cataloging-in-Publication Data A catalogue record for this book is available from the British Library. The publisher offers special discounts on bulk orders of this book. For information, please contact: Manager of Special Sales Elsevier Science 200 Wheeler Road Burlington, MA 01803 Tel: 781-313-4700 Fax: 781-313-4880 For information on all Newnes publications available, contact our World Wide Web home page at: http://www.newnespress.com 10 9 8 7 6 5 4 3 2 1 Printed in the United States of America Contents Preface ................................................................................................ xi About the Author ............................................................................. xv What’s on the CD-ROM? ................................................................. xvi 1. Embedded Systems: An Overview ............................................... 1 1.1 Definition and Examples ................................................................ 1 1.2 Further Features of Embedded Systems .......................................... 2 1.3 Design Metrics ............................................................................... 4 1.4 Implementation ............................................................................. 6 1.4.1 Processor Technologies....................................................... 6 1.4.2 Integrated Circuit Technologies .......................................... 7 1.4.3 Design Technologies......................................................... 11 1.5 Fuzzy Logic and Embedded Systems ............................................. 12 Concluding Remarks............................................................................. 13 Bibliography ......................................................................................... 14 Web Resources ..................................................................................... 16 2. Fuzzy Sets .................................................................................... 23 2.1 Introduction ................................................................................. 23 2.2 Classical Sets ................................................................................ 23 2.3 Set Operations ............................................................................. 25 2.4 Boolean Logic .............................................................................. 31 2.5 Basic Concepts of Fuzzy Sets ........................................................ 31 2.6 Other Representations of Fuzzy Sets............................................. 32 2.7 Determination of Membership Functions ..................................... 35 2.8 Fuzzy Sets Properties .................................................................... 35 2.9 Operations on Fuzzy Sets ............................................................. 37 v Contents 2.9.1 Logic Operations .............................................................. 37 2.9.2 Algebraic Operations on Fuzzy Sets .................................. 42 3. Fuzzy Relations............................................................................ 53 3.1 Introduction ................................................................................. 53 3.2 Classical Relations ........................................................................ 53 3.3 Classical Reasoning ...................................................................... 58 3.4 Fundamentals of Fuzzy Relations .................................................. 59 3.5 Operations on Binary Fuzzy Relations ........................................... 59 3.6 Types of Fuzzy Relations ............................................................... 62 3.7 Fuzzy Reasoning .......................................................................... 63 Concluding Remarks ............................................................................. 65 Bibliography ......................................................................................... 66 Web Resources ..................................................................................... 67 4. Embedded Fuzzy Applications ................................................... 69 4.1 Introduction ................................................................................. 69 4.2 Conventional Control Systems ..................................................... 69 4.2.1 Description....................................................................... 69 4.2.2 Analysis............................................................................ 71 4.2.3 Design ............................................................................. 72 4.2.4 PID Control ...................................................................... 72 4.3 Fuzzy Logic Controller (FLC) ......................................................... 73 4.3.1 Description....................................................................... 73 4.3.2 Design ............................................................................. 74 4.3.3 Defuzzification ................................................................. 75 4.3.4 Analysis............................................................................ 78 4.4 Simplified Examples of Applications ............................................. 83 4.4.1 Washing machine ............................................................ 83 4.4.2 Vacuum cleaner ............................................................... 89 Concluding Remarks ............................................................................. 89 Bibliography ......................................................................................... 90 Web Resources ..................................................................................... 93 vi Contents 5. Critique of Fuzzy Logic ............................................................... 99 5.1 Introduction ................................................................................. 99 5.2 Objectives of Fuzzy Logic.............................................................. 99 5.3 What’s in a Name?..................................................................... 100 5.4 Fuzziness vs. Probability ............................................................. 101 5.5 Fuzzy Logic vs. Multiple-Valued Logic ......................................... 102 5.6 Philosophical Issues .................................................................... 103 5.7 Engineering Applications Issues ................................................. 105 Concluding Remarks........................................................................... 107 Bibliography ....................................................................................... 108 6. Neural Networks ....................................................................... 111 6.1 Introduction ............................................................................... 111 6.2 Background ............................................................................... 111 6.3 Learning .................................................................................... 112 6.4 The Basic Neuron Model ............................................................ 112 6.5 The Perceptron........................................................................... 116 6.6 The Multilayer Perceptron .......................................................... 118 6.7 Recurrent Network ..................................................................... 122 6.7.1 Hopfield Networks ......................................................... 122 6.7.2 Boltzmann Machine Networks ....................................... 124 6.8 Kohonen Self-Organizing Networks ........................................... 125 6.8.1 Background ................................................................... 125 6.8.2 Description..................................................................... 126 6.8.3 Determining the winning neuron ................................... 127 6.8.4 Learning algorithm ......................................................... 127 6.9 Adaptive Resonance Theory, ART ............................................... 128 6.9.1 Background ................................................................... 128 6.9.2 ART................................................................................ 128 Concluding Remarks........................................................................... 131 Bibliography ....................................................................................... 132 Web Resources ................................................................................... 134 vii Contents 7. Hybrid Systems
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