**Meet the editors**

Sohail Iqbal received the M.Sc. and M.Phil degrees in mathematics from Quaid-i-Azam University, Pakistan in 2002 and 2004, respectively, and Ph.D. degree in surgical robotics from University of Paris-Est, France in 2010. He was a scientific advisor under French ministry of higher education from 2008 to 2010. He is currently an assistant professor at National University of Science and Technology, Pakistan. His main research interest is to apply mathematical techniques to different areas of computer science and engineering with special focus on surgical robotics. His research interest includes robot modeling and control, interval analysis, and fuzzy controllers.

Nora Boumella received a B.S. and M S. in electronics in 1997 and 2002 from Institute of Electronics, Batna University, Algeria. She is Ph.D. student at Batna University and at the University of Paris Est-UPEC, France. Actually, she is assistant professor at Batna University and research assistant at ETRHB, Algeria. She is with the research team of the LSSI laboratory, Algeria and also with SCTIC team of the LISSI laboratory, France. Her research interests include fuzzy logic and its application to control and networks. She is student member of IEEE society and the National Research task Group (GDR-MACS).

Juan Carlos Figueroa-García is Assistant professor at the Universidad Distrital Francisco José de Caldas in Bogotá - Colombia. He obtained a Bachelor degree on Industrial Engineering and a Master degree in Industrial Engineering at the same University. He is finishing his Doctoral studies on fuzzy optimization at the National University of Colombia, Campus Bogotá. He served as co-editor of multiple international Journals. He participated in various international conferences as the North American Fuzzy Information Processing Society (NAFIPS), the International Conference on Intelligent Computing (ICIC), IEEE Symposium Series on Computational Intelligence (SSCI), the IEEE World Congress on Computational Intelligence (WCCI), among others as chair and/or reviewer. He wrote more than 30 technical papers in different Journals and Conference proceedings, and participated in different books. He was awarded in NAFIPS'10 with the "Outstanding Paper Award", ICIC'11 with the "Best Paper Award" and FEDCSIS'12 with the IFSA's "Young Scientist Award" for his advances on Type-2 fuzzy markov chains and Type-2 fuzzy sets theory. His particular interests are Type-2 fuzzy sets theory, fuzzy optimization, fuzzy statistics, fuzzy markov chains, evolutionary algorithms applied to missing data problems, linear programming, and time series analysis.

Contents

**Preface IX** 

Chapter 1 **Fuzzy Logic Control of a Smart** 

and Andrei Vladimir Popov

Chapter 2 **Embedded Fuzzy Logic Controllers** 

Chapter 4 **A Type-2 Fuzzy Model Based** 

Chapter 5 **Fuzzy Control of Nonlinear Systems** 

**Actuation System in a Morphing Wing 1**  Teodor Lucian Grigorie, Ruxandra Mihaela Botez

**in Electric Railway Transportation Systems 23** 

**for Speed Control of a Brushless DC Motor 63** 

**on Three Dimensional Membership Functions for Smart Thresholding in Control Systems 85** 

Xin Wang, Edwin E. Yaz, James Long and Tim Miller

**with General Performance Criteria 119** 

Chapter 6 **A New Method for Tuning PID-Type Fuzzy Controllers Using Particle Swarm Optimization 139**  S. Bouallègue, J. Haggège and M. Benrejeb

> **via Static-Output Feedback Design 163**  Meriem Nachidi and Ahmed El Hajjaji

**Drive X-Y Table Using Adaptive Fuzzy Control 181**  Ying-Shieh Kung, Chung-Chun Huang and Liang-Chiao Huang

Chapter 8 **FPGA-Based Motion Control IC for Linear Motor** 

Chapter 7 **Output Tracking Control for Fuzzy Systems** 

M.H. Fazel Zarandi, Fereidoon Moghadas Nejad and H. Zakeri

Stela Rusu-Anghel and Lucian Gherman

Omer Aydogdu and Ramazan Akkaya

Chapter 3 **Design of a Real Coded GA Based Fuzzy Controller** 

## Contents

## **Preface** XIII


Ying-Shieh Kung, Chung-Chun Huang and Liang-Chiao Huang

X Contents


Contents VII

Chapter 21 **A Two-Layered Load and Frequency** 

Chapter 23 **Discrete-Time Cycle-to-Cycle Fuzzy Logic**

Chapter 24 **Three Types of Fuzzy Controllers Applied in High-Performance Electric Drives for Three-Phase Induction Motors 559** 

Chapter 22 **Performance Evaluation of PI** 

**Controller of a Power System 503**

**and Fuzzy Controlled Power Electronic** 

**Inverters for Power Quality Improvement 519** Georgios A. Tsengenes and Georgios A. Adamidis

**Control of FES-Induced Swinging Motion 541** 

B. S. K. K. Ibrahim, M. O. Tokhi, M. S. Huq and S. C. Gharooni

José Luis Azcue, Alfeu J. Sguarezi Filho and Ernesto Ruppert

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

VI Contents

Chapter 9 **Novel Yinger Learning Variable** 

Maguid H. M. Hassan

Chapter 11 **Vehicle Fault Tolerant Control Using** 

M. Chadli and A. El Hajjaji

Chapter 12 **Wheelchair and Virtual Environment** 

Chapter 14 **Design and Simulation of Anfis Controller**

and Marconi Câmara Rodrigues

Chapter 17 **New Areas in Fuzzy Application 385** Muhammad M.A.S. Mahmoud

Chapter 19 **New Results on Robust <sup>∞</sup> Filter** 

Chapter 20 **Robust Stabilization for Uncertain** 

Wudhichai Assawinchaichote

Chapter 16 **Enhancing Fuzzy Controllers Using Generalized Orthogonality Principle 367** 

Chapter 18 **Fuzzy Control Systems: LMI-Based Design 441** 

Yousif I. Al Mashhadany

Chapter 15 **Hierarchical Fuzzy Control 335**

**Trainer by Intelligent Control 271** 

**Universe Fuzzy Controller 201**  Ping Zhang and Guodong Gao

**of Smart Sustainable Structural Systems 221**

**a Robust Output Fuzzy Controller Design 249** 

Pedro Ponce, Arturo Molina and Rafael Mendoza

Kwanchai Sinthipsomboon, Issaree Hunsacharoonroj,

Nora Boumella, Juan Carlos Figueroa and Sohail Iqbal

Morteza Seidi, Marzieh Hajiaghamemar and Bruce Segee

**with Time-Delay Based on Razumikhin Theorem 481**

**for Uncertain Fuzzy Descriptor Systems 465**

**Takagi-Sugeno Fuzzy Continuous Model** 

Yassine Manai and Mohamed Benrejeb

Josept Khedari, Watcharin Po-ngaen and Pornjit Pratumsuwan

Carlos André Guerra Fonseca, Fábio Meneghetti Ugulino de Araújo

Chapter 13 **A Hybrid of Fuzzy and Fuzzy Self-Tuning PID Controller for Servo Electro-Hydraulic System 299**

**for Virtual-Reality-Built Manipulator 315** 

Chapter 10 **Fuzzy Controllers: A Reliable Component** 


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 autofocusing 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

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

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

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

concludes with a chapter on describing the new areas in fuzzy controllers.

and fuel efficient automatic space docking by NASA.

develop theory and apply it to fuzzy control problems.

## 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 autofocusing 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

#### XIV 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
