‘Type-2 Fuzzy Granular Approach for Intelligent Control: The case of Three Tank water Control Leticia Cervantes Tijuana Institute of Technology Tijuana, Mexico lettyy2685@hotmail.com Abstract— In this paper we show simulation results of a new type? fuzzy granular approach for intelligent control of non- linear dynamical plants. First, we describe the proposed approach for intelligent control using a hierarchical modular architecture with type-2 fuzzy logic used for combining the ‘outputs of the modules. Then, the approuch is illustrated with the benchmark case of three tank water level control, inular Computing; Type-2 Fussy tem; Fussy 1. IntRopucrion This paper focuses on the fields of fuzzy logic, granular computing and also considering the control area. These arcas ccan work together to solve various control problems, the idea is that this combination of areas would enable even more complex problem solving and better results. We explain and illustrate the proposed approach with the problem of water level control fora three tank system. This control is carried out by controlling 5 valves whose outputs are the inputs to the 3, tanks, To control each valve we have 5 fuzzy systems, and each fuzzy system has to control one valve of the 3 tanks. ‘After that the simulation is earry out and results are presented, Finally, the proposed method is applied with the type-2 fuzzy system’ with the simulation results presented showing a significant improvement in accuracy. The main contribution of the paper is showing that the proposed type-2 fuzzy granular approach can work very well for a benchmark problem combining several individual controllers. The rest of the paper is organized as follows: In section 2 ‘we present some basie concepts to understand this work, in section 3 we define the proposed method and problem description, and finally conclusions are presented in section 4, I, BACKGROUND AND BAS! INCE ‘We provide in this section some basic concepts needed for this work, A, Granular Computing Information granulation has emerged as one of the fundamental concepts of information processing giving rise to the discipline of Granular Computing, The concept itself permeates through a large variety of information systems The ‘underlying idea is intuitive and appeals to our commonsense reasoning. We perceive the world by structuring our Knowledge, perceptions, and acquired evidence in terms of information granules-entities, which are abstractions of the Oscar Castillo ‘Tijuana Institute of Technology Tijuana, Mexico Ccastillo@tectijuana.mx complex word and phenomena. By being abstract constructs, information granules and their ensuing processing done under the umbrella of Granular Computing, provides @ conceptual and algorithmic framework to deal with an array of decision- making, control, and prediction problems, Granular Computing supports human-centrie processing, which becomes an inherent feature of intelligent systems. The required level of detail becomes conveniently controlled by making suitable adjustments to the size of information granules and their distribution in the space in which the problem at hand is being positioned and handled. In this sense, an inherent flexibility, which comes hand in hand with Granular Computing can be effectively exploited in various ways. Three general tendencies encountered in Granular Computing can be identified: (a) a design of information granules of higher order, (b) a development of information granules of higher Npe, and (c) a formation of hybrid information granules [1] TThe basic concepts of graduation and granulation form the core of fuzzy logic, and are the main distinguishing features of fuzzy logic. More specifically, in fuzzy logic everything is or is allowed to be graduated, Le., be a matter of degree or, ‘equivalently, fuzzy. Furthermore, in fuzzy logic everything is or is allowed to be granulated, with a granule being a clump of attribute values drawn together by in_distinguishability, similarity, proximity, or functionality. The concept of a generalized constraint serves to teat a granule as an object of computation, Graduated granulation, or equivalently fuzzy granulation, is @ unigue feature of fuzzy logic. Graduated ‘granulation is inspired by the way in which humans deal with complexity and imprecision, The concepts of graduation, granulation, and graduated granulation play key roles in granular computing, Graduated granulation underlies the concept of a linguistic variable, ic., a variable whose values are words rather than numbers. In retrospect, this concept, in combination with the associated concept of a fuzzy if-then rule, may be viewed as a first step toward granular computing(2)[3][4][5]. Granular Computing (GrC) is a general computation theory for effectively using granules such as subsets, neighborhoods, ordered subsets, relations (subsets of products), fuzzy sets (membership functions), variables (measurable functions), Turing machines (algorithms), and intervals to build an’ efficient computational model for complex with huge amounts of data, information and knowledge. Furzy and rough set theories, neutrosophic computing, quotient space, belief functions, machine learning, 978-1-4673-2598-9/12831,00 ©2012 IEEEdatabases, data mining, cluster analysis, interval computing, more recently social computing, all involve granular computing. The topics and areas’ include; Computations Intelligence, in this arca we have sub-arcas such as: Neural Networks, Fuzzy Systems, Evolutionary Computation, Rough Sets and Formal Concept Analysis, etc. In the area of data rmining and leaming theory we have sub-areas. such as: Stochastic learning, Machine learning, Kernel Machines, ete. In applications we can use it in bioinformatics, Medical Informatics and Chemical Informatics, e-Intlligence, Web Intelligence, Web Informatics, Web Mining and Semantic Web (617). B. Type-2 Fuzzy Logic A Type-I fuzzy system is a system that uses a collection of membership functions and rules, instead of Boolean logic, to reason about data, The rules in @ fuzzy system are usually of a form similar to the following: if x is low and y is high then 2 = ‘medium, where x and y are input variables (names for known data values), zis an output variable (a name for a data value to bbe computed), low is a membership function (fuzzy subset) defined on x, high is a membership function defined on y, and ‘medium is a membership function defined on z. The antecedent (the rule's premise) describes to what degree the rule applies, while the conclusion (the rule's consequent) assigns a membership function to each of one or more output variables. ‘A type-2 fuzzy system is similar to its type-I counterpart, the ‘major difference being that at least one of the fuzzy sets in the rule base is a Type-2 Fuzzy Set. Hence, the outputs of the inference engine are Type-2 Fuzzy Sets, and a type-reducer is needed to convert them into a Type-l Fuzzy Set before defuzzification can be carried out. An example of a Type-2 Fuzzy Set Xu is shown in Fig, |. dw z igus Type2 fy st Is upper membership function (UMF) is denoted N=» and its lower membership function (LME) is denoted Xn. A Type-2 fuazy logic system has A/inputs f2m9 re=1 2900-47 and fone output x Assume the sath input has ieMFs in its universe 0 Xnseourse Denote the nth ME in the zh input domain ass». A complete rulebase with all possible combinations of the input fuzzy system consists of Tle: Nogules in the form of: REE ay is Xip,, and ..and ayy is Xu, wy (1) (u, Te) mie Spray le te Ly where Us-Telig a constant interval, and generally, itis different for different rules, [xTel represents the centroid of the consequent Type-2 Fuzzy Set of the Ath rule. When 2s ~%, this rulebase represents the simplest TSK model, where cach rule consequent is represented by a crisp number. Again, this rulebase represents the most commonly used Type-2 Fuzzy Logic System in practice. KM is an algorithm make by Karnik-Mendel and it is used for type-reduetion. When KM type-reduction and center of sets defuzzification are used, the ouput of 0 Type2 Fuzzy Logie Sysem with the Aorementioned stuctre fran input = (ly x2." XM) computed as ix) + wee) Q Where wx) = min, xh Dh fa aera Skate © ShaTu + Shana fae Deahkt+ Cheah vets) = ma ea Sot BN ise El DE es a S he = a in which Us Talis the fing interval ofthe Ah le i 7h, (0M, My 6 T= Wy, (0 *ny,, (alent, Ou) Observe that both Lx & and Ts are continuous functions when all Type-2 Membership Functions are continuous. A ‘Type-2 Fuzzy System X is continuous if and only if both its UME and its LMF are continuous Type-1 Fuzzy Systems [8]{991109111]112)11310141 Ill, PROPOSED METHOD FOR CONTROL ‘There are_many complex control problems for which traditional methods do not provide good results. For this reason, we propose a modular control approach based on ‘granularity and type-2 fuzzy logie that is illustrated in Fig.2 Figure 2. Proposed mod appach for con‘The use of Type-2 fuzzy granular models is a contribution ‘of this paper to improve the solution of the control problem that is going to be considered, since it divides the problem in modules for the different types of control and this model wall roceive the signal for further processing and perform adequate control, We can use this architecture in many cases to develop each controller separately. We can see in Fig3 an example of hhow we can use this architecture in the area of control. In this example, the fuzzy logie controller has inputs I to n and ‘outputs are also 1 to n. When we have more than one controller to consider we can use type-I fuzzy logic in cach controller and then we can use the outputs and implement a type-2 fuzzy system to combine these outputs Figure 3, Proposed granule zy system A. Problem Description There are several methods available to solve control problem such as: PID control, fuzzy control and some other methods using neural networks (15](16](17I(18](19] (20)(21] [22][23][24). In this work the main goal is to develop type-2 fuzzy systems for automatic control of nonlinear dynamic plants using a fuzzy granular approach and also to implement the proposed granular architecture in a control problem, which is the conttol of the 3 water tank system, and also to use a simulation tool to test the fuzzy controler. The 3 tanks include valves that are open or closed, these valves must be well controlled to give the desired level of water in each of the three tanks. The end tanks have a valve that fills and in the middle of the 3 tanks there are two valves that control the water level between tanks 1 and 2, and tanks 2 and 3. The water tank 3 has a valve to ourput more water flow: The - can be teflected in Fig “ a3" bot van Figure 4, Water onto of tke B. Type-I Fuzzy System In this problem to control the water level we used fuzzy systems. Each fuzzy system has 3 inputs(water levels of tank 1, tank 2 and tank 3), the outputs ae the valves. In this case there are 5 type-1 fuzzy systems to control each valve. The Fuzzy systems are shown in Fig.59. —— Figure 5 Fuzzy system to conto vale ‘This problem has 2 valves between the tanks and it is necessary to use tWo inputs (water levels of ank1 and tank2 or tank 2 and tank3), eee "Figure 6 Fuzzy sytem fo contol valve 13. Figue 8 Furzy system to conuol valve2After obtaining these results, the simulation was also performed using Trapezoidal “and Gaussian membership functions. The results are shown in Tables I and Ill, respectively, ‘TABLE IL ReSULTS FOR Tn SIMULATION PLAN USING GAUSSIAN Figure Fuzzy system i ental valve 20 ‘After creating the fuzzy systems the simulation was performed jn Matlab, The simulation plant is shown in Fig, 10. "TABLE I, RESULTS OR THF SIMULATION PLANT USING TRAPEZOIDAL After achieving the previous mentioned results, the behavior of ‘each valve is shown in Fig. 1, Figure 10 Simulation Plant + ‘The simulation was carried out with different types of , v membership functions. One ofthese cases was using triangular membership fictions and the results are shown in Table I. The error between the reference and fuzzy controllers is z caleulated with the following equation: / G) = on oF Where Yr is the reference of the opened and closed y | control of valve, Yys isthe output of fuzzy controller and n is the number of points used in the comparison. ; Bshavir of cach valve in the simulation TABLEL RESULTS FoR THE SIMULATION PLANTUSING TRIANGULAR Figue veneimeenen ‘The blue color lines in the each box are the reference (desire ‘bchavior) and red line isthe behavior of each valve. The first box on the left is the behavior ofthe valve 1, the fist hox on the right is the behavior of valve 13, the second box on the left isthe behavior of valve 2, the second box on the right is the behavior of valve 20 and the last box is the behavior of| valve 32, ©. Type-2 Fuzzy System We implemented the proposed granular fuzzy system in this problem and, after using type-I fuzzy systems in theplant of simulation, we use the outputs of type-I as the new inputs for the type-2 fuzzy system(see Fig. 13) and this is to obtain new outputs and to have a better result. The results with this proposed type-2 granular fuzzy system are shown later. The simulation plant is shown in Fig. 12. Digue ce 7) 2.) +m fe asad. sane igure 12, Simulation plant ‘The gramular type-2 fuzzy system used in this work is shown in Fig. 13. Figure 13. Type fry system Using this proposed granular approach with the type-2 fuzzy system, the results were better than with type-I. The type-2 fuzzy system used different types of membership funetion. The first result is shown in Table LV. ‘TABLEIV. — RESULTSFoR THE SIMULATION PLANTUSING TRIANGLLAR ‘After these results were achieved, we used other types of membership functions and the results can be observed in Tables V and VI. TABLEV, _ RESULTSFOR IP: SIMULATION PLANT USING GAUSSIAN TTARLE VI. RESULTS POR HE SIILATION PLANT USING TRAPEZOXDAL, After having results with the type-2 fuzzy system the behavior of each valve is shown in Fig. 14, Figure 14, Behavior of ech vale inthe simulation ‘The blue color lines in the each box are the references and red lines represent the behavior of each valve, The first box fon the left is the behavior of the valve 1, the first box on the right is the behavior of valve 13, the second box on the left isthe behavior of valve 2, the second box on the right is the lbchavior of valve 20 and the last box isthe behavior of valve 32, where the x axis represents the filling of water and the y axis represents the proportion of open or closed valves. After hhaving the above results we use a genetic algorithm to ‘optimize the membership functions in the genetic algorithm we used 35 generations and 20 individuals and we used roulette wheel as a selection mechanism, discrete mutation, single-point crossover and results are shown in Table VI. [ae [espe T ee Tee [ee | ‘The genetic algorithm can obtained better result inthis ease we ‘work with genetic algorithm and the results were not expected bbut is necessary to use different parameters in the genetic algorithm and test until abtained better results. Is important to observe that the results are better when is using a granular fuzzy system because it provides a better control of each valve in case of the 3 tanks, IV. CONCLUSION ‘After applying the proposed method, in this case considerable improvement was observed in the opening and closing control of water valves in the 3 tank system. When working with simulation and type-I fuzzy systems the error ‘was greater than when we apply the type-2 granular method gotting a better result. It is noteworthy that the type-2 fuzzy granular approach can improve significantly the initial results achieved using only type-I fuzzy systems. In this paper we ‘worked with fuzzy control but it can be work using neural network how another contribution, REFERENCES (1) W. Pedr and S. Chon. Granular Computing_ond tntetigent Systems2011 Springer-Verlag Bein Heidelberg. ISBN 9763-502- 98199, 12] W.Pediyee. A. Skowson.V. Kreinovch, handbook granular compating ile-iersccace New York, NY, USA 22008 ISBNIG470033544 ‘Spantro03ssa2 2008 (3) A. Bargicla and W. Pedryee, Granular Computing: An Introduction [luwer Academic Publishes, Dorderch, 2003, [4] LA. Zadeh, Some reflections on suft computing, granular computing find their roles in. the ‘conception, design apd. lization of information!nligent systems. Sof Comput. 2(1988)pp. 2025. [5] LA. Zadeh. 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