{ "cells": [ { "cell_type": "markdown", "id": "00acac82", "metadata": { "slideshow": { "slide_type": "slide" } }, "source": [ "# Control Difuso\n", "\n", "Es un sistema de control que esta basado en la lógica difusa. \n", "\n", "\n", "\n", "[Lofti A. Zadeh](https://es.wikipedia.org/wiki/Lotfi_A._Zadeh) desarrollo la lógica difusa. Aunque la lógica difusa se había estado estudiando desde aproximadamente\n", "Los años 1920, Lofti Zadeh fue quien oficialmente introdujo el tema en 1965.\n", "El observó que los computadores no les iba bien manejando datos subjetivos\n", "Tales que si podían ser manejados por humanos." ] }, { "cell_type": "code", "execution_count": 2, "id": "7743e289", "metadata": { "slideshow": { "slide_type": "skip" } }, "outputs": [], "source": [ "%%capture --no-display\n", "#!pip install scikit-fuzzy\n", "#!pip install matplotlib\n", "\n", "import numpy as np\n", "import matplotlib.pyplot as plt\n", "plt.rcParams['figure.figsize'] = [4, 3]\n", "\n", "try:\n", " import skfuzzy as fuzz\n", " from skfuzzy import control as ctrl\n", "except:\n", " !pip install scikit-fuzzy\n", " import skfuzzy as fuzz\n", " from skfuzzy import control as ctrl " ] }, { "cell_type": "markdown", "id": "691d7e41", "metadata": { "slideshow": { "slide_type": "slide" } }, "source": [ "# Ejemplo calor\n", "\n", "**¿Está el té caliente?**\n", "\n", "- En sistemas booleanos, tenemos valores absolutos:\n", "\n", "$$\\array{\\text{Si}&\\text{No}}$$\n", "\n", "- En sistemas difusos, tenemos valores que son parcialmente verdaderos y parcialmente falsos\n", "\n", "$$\\array{\\text{Muy Caliente}&\\text{Caliente}&\\text{Frío}&\\text{Muy Frío}}$$" ] }, { "cell_type": "markdown", "id": "b0236a5d", "metadata": { "slideshow": { "slide_type": "subslide" } }, "source": [ "# Ejemplo Humedad\n", "\n", "**¿Qué tan mojada esta la ropa?**\n", "\n", "- En sistemas booleanos, tenemos valores absolutos:\n", "\n", " - Mojada (_Verdadero_)\n", " - Seca (_Falso_)\n", "\n", "- En sistemas difusos, tenemos valores que son parcialmente verdaderos y parcialmente falsos\n", "\n", " - Parcialmente Mojada (0.7)\n", " - Parcialmente Seca (0.3)" ] }, { "cell_type": "markdown", "id": "cecdc571", "metadata": { "slideshow": { "slide_type": "subslide" } }, "source": [ "# Lógica difusa\n", "\n", "¿Que tan mojada esta la ropa? \n", "\n", "- Lógica clásica: Verdadero (mojado), Falso (seco)\n", "\n", "$$M \\in \\{0,1\\}$$\n", "\n", "- Lógica difusa: Parcialmente verdarero, parcialmente falso.\n", "\n", " $$M \\in [0,1]$$\n", " \n", " Muy seca, poco seca, poco mojada, muy mojada" ] }, { "cell_type": "code", "execution_count": 20, "id": "421c04c8", "metadata": { "slideshow": { "slide_type": "-" } }, "outputs": [ { "data": { "text/html": [ "\n", "
...
\n", "\n", "\n" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "from IPython import display\n", "myScript = \"\"\"\n", "
...
\n", "\n", "\n", "\"\"\" \n", "display.display_html(myScript, raw=True)" ] }, { "cell_type": "markdown", "id": "8de86823", "metadata": { "slideshow": { "slide_type": "slide" } }, "source": [ "# Ventajas del control difuso\n", "\n", "No requiere conocer el modelo dinámico del sistema a controlar. Por tanto,\n", "- El control difuso no requiere identificar el sistema\n", "- Ni necesita aproximar el modelo\n", "- Ni necesita linealizarlo\n", "Facilita el diseño del controlador\n", "\n", "Pero necesita conocer las reglas lingüísticas de control de un experto. Cuando no se conoce el modelo se usa:\n", "- Control PID (una entrada y una salida)\n", "- Control Difuso (múltiples entradas y salidas)\n" ] }, { "cell_type": "raw", "id": "7fab84e4", "metadata": { "slideshow": { "slide_type": "skip" } }, "source": [ "# https://www.irjet.net/archives/V2/i8/IRJET-V2I8104.pdf\n", "# https://www.upt.ro/img/files/alegeri_2020/csud/5_Cinci_lucrari_stiintifice_in_extenso_2020-2024.pdf" ] }, { "cell_type": "markdown", "id": "5848d0e9", "metadata": { "slideshow": { "slide_type": "slide" } }, "source": [ "# Aplicaciones del control difuso \n", "\n", "- ¿En qué aplicaciones se puede usar el control difuso? " ] }, { "cell_type": "markdown", "id": "a227ba30", "metadata": { "slideshow": { "slide_type": "slide" } }, "source": [ "# Estructura de un controlador difuso\n", "\n", "![](control-loop.png)\n", "\n", "Tomada de [_A survey on industrial applications of fuzzy control_](https://doi.org/10.1016/j.compind.2010.10.001)" ] }, { "cell_type": "markdown", "id": "207c3854", "metadata": { "slideshow": { "slide_type": "slide" } }, "source": [ "# Etapas dentro de un controlador difuso\n", "\n", "1. Valores de Entrada (_crisp inputs_)\n", "1. **Módulo de Fusificación**\n", "1. Entradas difusas\n", "1. **Módulo de Inferencia**\n", "1. Conclusiones difusas\n", "1. **Módulo de Defusificación**\n", "1. Valores de Salida (_crisp outputs_)" ] }, { "cell_type": "markdown", "id": "503a4528", "metadata": { "slideshow": { "slide_type": "slide" } }, "source": [ "# Otros conceptos \n", "\n", "## Variables lingüísticas \n", "\n", "## Funciones de membresia\n", "\n", "La función de membresia fue introducida por Lofti A. Zaden en 1965 en el artículo _\"fuzzy sets\"_. Las funciones de membresia caracterizan la caracteristica difusa. \n", "\n", "A cada valor difuso se le asigna un valor numérico entre 0 y 1." ] }, { "cell_type": "markdown", "id": "1c31b49c", "metadata": { "slideshow": { "slide_type": "slide" } }, "source": [ "# Reglas de Control \n", "\n", "Dado un sistema con dos entradas $X$ y $Y$ y una salida $Z$, podemos definir las reglas de control en el modulo de inferencia así:\n", "\n", "- Si $X$ es $A_1$ y $Y$ es $B_1$, entonces $Z$ es $C_1$\n", "- Si $X$ es $A_2$ y $Y$ es $B_2$, entonces $Z$ es $C_2$\n", "- Si $X$ es $A_3$ y $Y$ es $B_3$, entonces $Z$ es $C_3$" ] }, { "cell_type": "markdown", "id": "d355cc78", "metadata": { "slideshow": { "slide_type": "slide" } }, "source": [ "# Modulo de Defusificación\n", "\n", "Para la defusificación se pueden usar diferentes métodos:\n", "\n", "- Centroide: considera a la función como una función de distribución de masa y busca su centroide. \n", "- Bisectriz: divide el area bajo la función en dos regiones iguales.\n", "- Máximo central (MOM _mean of maximum_): toma el promedio de los máximos.\n", "- Máximo más grande (LOM _largest of maximum_): toma el máximo más grande. \n", "- Máximo más pequeño (SOM _smallest of maximum_): toma el máximo más pequeño.\n", "\n", "[![](defusificacion.png)](https://www.slideserve.com/erv/hedge)" ] }, { "cell_type": "markdown", "id": "63e6f395", "metadata": { "slideshow": { "slide_type": "slide" } }, "source": [ "# Modulo de inferencia \n", "\n", "Existen diferentes métodos de inferencia, entre ellos: \n", "\n", "- Mamdani \n", "- Sugeno\n", "\n", "[Más información](https://www.mathworks.com/help/fuzzy/types-of-fuzzy-inference-systems.html) sobre estos sistemas de inferencia." ] }, { "cell_type": "markdown", "id": "211cb146", "metadata": { "slideshow": { "slide_type": "slide" } }, "source": [ "# Ejemplo de la propina con _Mamdani_\n", "\n", "" ] }, { "cell_type": "code", "execution_count": 3, "id": "ce024c90", "metadata": { "slideshow": { "slide_type": "skip" } }, "outputs": [], "source": [ "from skfuzzy import control as ctrl" ] }, { "cell_type": "markdown", "id": "33964528", "metadata": { "slideshow": { "slide_type": "subslide" } }, "source": [ "## Funciones de membresia\n", "\n", "Empecemos con el servicio" ] }, { "cell_type": "code", "execution_count": 5, "id": "fa2cde45", "metadata": { "slideshow": { "slide_type": "-" } }, "outputs": [ { "data": { "image/png": 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", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "service = ctrl.Antecedent(np.arange(0, 11, 1), 'service')\n", "service.automf(3,names=['poor','good','excellent'])\n", "\n", "service.view()" ] }, { "cell_type": "markdown", "id": "1259d266", "metadata": { "slideshow": { "slide_type": "subslide" } }, "source": [ "Funciones de membresia para la comida" ] }, { "cell_type": "code", "execution_count": 6, "id": "46ce55ab", "metadata": { "slideshow": { "slide_type": "-" } }, "outputs": [ { "data": { "image/png": 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", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "food = ctrl.Antecedent(np.arange(0, 11, 1), 'food')\n", "food['rancid'] = fuzz.trapmf(food.universe, [0,0,1,3])\n", "food['delicious'] = fuzz.trapmf(food.universe, [7,9,10,10])\n", "\n", "food.view()" ] }, { "cell_type": "markdown", "id": "3cbcfebc", "metadata": { "slideshow": { "slide_type": "subslide" } }, "source": [ "Funciones de membresia para la propina" ] }, { "cell_type": "code", "execution_count": 7, "id": "8f736962", "metadata": { "slideshow": { "slide_type": "-" } }, "outputs": [ { "data": { "image/png": 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", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "tip = ctrl.Consequent(np.arange(0, 25.1, 0.5), 'tip')\n", "tip['cheap'] = fuzz.trimf(tip.universe, [0, 5, 10])\n", "tip['average'] = fuzz.trimf(tip.universe, [8, 12.5, 18])\n", "tip['generous'] = fuzz.trimf(tip.universe, [15, 20, 25])\n", "\n", "tip.view()" ] }, { "cell_type": "markdown", "id": "95a23291", "metadata": { "slideshow": { "slide_type": "subslide" } }, "source": [ "Definimos las reglas del sistema" ] }, { "cell_type": "code", "execution_count": 8, "id": "99266418", "metadata": { "slideshow": { "slide_type": "-" } }, "outputs": [], "source": [ "rule1 = ctrl.Rule(service['poor'] | food['rancid'], tip['cheap'])\n", "rule2 = ctrl.Rule(service['good'], tip['average'])\n", "rule3 = ctrl.Rule(service['excellent'] | food['delicious'], tip['generous'])\n", "\n", "tipping_ctrl = ctrl.ControlSystem([rule1, rule2, rule3])\n", "tipping = ctrl.ControlSystemSimulation(tipping_ctrl)" ] }, { "cell_type": "markdown", "id": "b68590db", "metadata": { "slideshow": { "slide_type": "subslide" } }, "source": [ "De la imagen tenemos que: \n", " \n", "\n", "\n", "Para un servicio de 3 y una comida de 8 tendremos una propina del ~ 17%" ] }, { "cell_type": "markdown", "id": "daf95178", "metadata": { "slideshow": { "slide_type": "subslide" } }, "source": [ "Con el sistema de control difuso tendremos, aquí tenemos diferencias con la imagen por que las funciones de membresia no son iguales." ] }, { "cell_type": "code", "execution_count": 9, "id": "5aa85fa3", "metadata": { "slideshow": { "slide_type": "-" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Propina de 12.9%\n" ] }, { "data": { "image/png": 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", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "tipping.input['service'] = 3\n", "tipping.input['food'] = 8\n", "tipping.compute()\n", "\n", "print(\"Propina de %.1f%%\"%tipping.output['tip'])\n", "tip.view(sim=tipping)" ] }, { "cell_type": "markdown", "id": "0a34e41b", "metadata": { "slideshow": { "slide_type": "subslide" } }, "source": [ "**Analisis del espacio de exploración**" ] }, { "cell_type": "code", "execution_count": 10, "id": "56751690", "metadata": { "slideshow": { "slide_type": "-" } }, "outputs": [ { "data": { "image/png": "iVBORw0KGgoAAAANSUhEUgAAAYEAAAErCAYAAAA43j+sAAAAOXRFWHRTb2Z0d2FyZQBNYXRwbG90bGliIHZlcnNpb24zLjcuMSwgaHR0cHM6Ly9tYXRwbG90bGliLm9yZy/bCgiHAAAACXBIWXMAAA9hAAAPYQGoP6dpAAAd2klEQVR4nO3de3BU9f3/8VdIyCakyXJRApGLKaMGuQlGGIyADhFs8Up1xMaWQcSOhoGYKhIdsIgYwJI6goKgFb5TIjgVvE2xpaAgKki4eEMBuUj0Z4AWSCDIYrLn94eTbWISyCa7e86ez/MxszPsye7mvSp5+jnn7EmMZVmWAABGamX3AAAA+xABADAYEQAAgxEBADAYEQAAgxEBADAYEQAAgxEBADAYEQAAgxEBADCYrRHYuHGjbrrpJqWlpSkmJkavv/56na9blqXp06erc+fOSkxMVHZ2tvbu3WvPsADgQrZGoLKyUv369dNzzz3X4Nfnzp2rZ599VosWLdKWLVuUlJSkkSNH6syZMxGeFADcKcYpF5CLiYnR6tWrdeutt0r6aRWQlpamP/7xj3rooYckSeXl5UpNTdXSpUs1ZswYG6cFAHeIs3uAxhw4cEBlZWXKzs4ObPN6vRo0aJA++uijRiPg8/nk8/kC9/1+v44dO6YOHTooJiYm7HMDQLhZlqWTJ08qLS1NrVq1bIeOYyNQVlYmSUpNTa2zPTU1NfC1hhQWFmrGjBlhnQ0AnKC0tFRdunRp0Ws4NgLNVVBQoPz8/MD98vJydevWTRcVTVWrxAQbJ0NDuqX9x+4RgnJd6h67R0CE3Zr8id0j1HPqlF/XDjqq5OTkFr+WYyPQqVMnSdLhw4fVuXPnwPbDhw/riiuuaPR5Ho9HHo+n3vZWiQlEwIHikur/u3KyhF+0tnsERNgvkp17Jn0odnE79t2lp6erU6dOWrduXWBbRUWFtmzZosGDB9s4GQC4h60rgVOnTunrr78O3D9w4IB27typ9u3bq1u3bsrLy9OTTz6pSy65ROnp6Zo2bZrS0tICZxABAFrG1giUlJTouuuuC9yv2Zc/duxYLV26VFOmTFFlZaXuu+8+nThxQtdcc43eeecdJSSwWwcAQsHWCFx77bU618cUYmJi9MQTT+iJJ56I4FQAYA7HHhMAAIQfEQAAgxEBADAYEQAAgxEBADAYEQAAgxEBADAYEQAAgxEBADAYEQAAgxEBADAYEQAAgxEBADAYEQAAgxEBADAYEQAAgxEBIAhryzLsHgEIKSIAAAYjArDVwW8vtHsEwGhEAAAMRgRgO1YDcLK/Vwywe4SwIgIAYDAiAEeIptUAZwjBTYgAABiMCACAwYgAHCOadgkBbkEEAOA83HyGEBGAo0TLaoCDw3ALIgDHiZYQAG5ABOBI0RACVgNwAyIAx4qGEADRjgjA0ZweAlYDiHZxdg8QKfGl8YpNiG/Wc33dzoZ4GgSjJgQXdzlq8ySA+xgTgZbwHGo8HgQicg5+e6EjQ7C2LEPXd/rK7jGAZiECLUQgIosQAKHl6GMC1dXVmjZtmtLT05WYmKgePXpo5syZsizL7tGaxHMovt4NLef04wRANHH0SmDOnDlauHChli1bpl69eqmkpETjxo2T1+vVpEmT7B6vWX4eAlYLzePEFUFLDhKzioBdHB2BDz/8ULfccotGjRolSbr44ov1yiuv6OOPP7Z5stAhCs3nxBA0V1MDQiwQao6OwNVXX63Fixdrz549uvTSS/XJJ59o06ZNKioqavQ5Pp9PPp8vcL+ioiISo4YMUQiOaWcOnS8WRALBcnQEpk6dqoqKCmVkZCg2NlbV1dWaNWuWcnJyGn1OYWGhZsyYEcEpw4soNI2bVgUt0VgkiAMa4+gIvPrqq1q+fLmKi4vVq1cv7dy5U3l5eUpLS9PYsWMbfE5BQYHy8/MD9ysqKtS1a9dIjRx2jR1cJg7mrQqCwQoCjXF0BB5++GFNnTpVY8aMkST16dNH33zzjQoLCxuNgMfjkcfjieSYjkAc/ocYBK8mEsTAPI6OwOnTp9WqVd2zWGNjY+X3+22aKPo0FAdTwkAMgkcMzOPoCNx0002aNWuWunXrpl69emnHjh0qKirSPffcY/doUc20MHC8IHjEwByOjsD8+fM1bdo0PfDAAzpy5IjS0tL0hz/8QdOnT7d7NNdxexhYFTQPMXC/GCtaPn7bTBUVFfJ6verx6FOKTUiwe5yo5qYoEIPmMTkGt6dst3uEgFMn/crsdVjl5eVKSUlp0Ws5eiUAZ6m9Woj2ILAyaJ7aZxmZHAQ3IQJoFrd8foEYNB+7itzB0ReQC6XkUlfv9bJdtF8oj4vSNR+/WCe6GbUSSP6m6SE42T0mjJO4XzTuOmJV0HxcSjt6GRWBYDQlGISiaaItCJxSCpMQgRZo6sqCWPxPtBxLYFUQPFYD0YkIRACrisY5/XIXtY8VEAS4ERFwCEJRlxNXDKwO4EZEIIqcLxRujoSTosDqAG5iTARSDvgUF/fTD8nyHu68yui5IuG2QDjlMhesDhDtjIlAbd59vvM+xm2hMCEQdp6FxOoA0crICDTFuUJBIJzPzt1HBAHRhAg0A4GIvjjYtUogCHA6IhBijQWCODgHQQD+x5gIxO/5f/Jf/kvbvr/JcXByGOzabUQQ4BTGRECS4r/6tt62sxldbJjkf0yIQzSFoSYKdqwQiAHsYFQEGuLEMEjuj4PTw2DHLiNiADsYcylpAEB9RAAADEYEAMBgRAAADEYEAMBgRAAADEYEAMBgRAAADEYEAMBgRAAADEYEAMBgRAAADEYEAMBgRAAADEYEAMBgRAAADEYEAMBgRAAADOb4CHz33Xe6++671aFDByUmJqpPnz4qKSmxeywAcAVH/47h48ePKysrS9ddd53WrFmjCy+8UHv37lW7du3sHg0AXMHREZgzZ466du2ql19+ObAtPT3dxokAwF0cvTvozTffVGZmpu644w517NhR/fv315IlS875HJ/Pp4qKijo3AEDDHB2B/fv3a+HChbrkkkv0z3/+U/fff78mTZqkZcuWNfqcwsJCeb3ewK1r164RnBgAooujI+D3+zVgwAA99dRT6t+/v+677z5NmDBBixYtavQ5BQUFKi8vD9xKS0sjODEARBdHR6Bz5866/PLL62zr2bOnDh061OhzPB6PUlJS6twAAA1zdASysrK0e/fuOtv27Nmj7t272zQRALiLoyPw4IMPavPmzXrqqaf09ddfq7i4WIsXL1Zubq7dowGAKzg6AldddZVWr16tV155Rb1799bMmTP1zDPPKCcnx+7RAMAVHP05AUm68cYbdeONN9o9BgC4kqNXAgCA8CICAGAwIgAABiMCAGCwJh0Yzs/Pb/ILFhUVNXsYAEBkNSkCO3bsqHN/+/btqqqq0mWXXSbppw9wxcbG6sorrwz9hACAsGlSBN59993An4uKipScnKxly5YFrut//PhxjRs3TkOGDAnPlACAsAj6mMC8efNUWFhY5xe7tGvXTk8++aTmzZsX0uEAAOEVdAQqKip09OjRetuPHj2qkydPhmQoAEBkBB2B2267TePGjdOqVav07bff6ttvv9Vrr72m8ePHa/To0eGYEQAQJkFfNmLRokV66KGH9Nvf/lY//vjjTy8SF6fx48fr6aefDvmAAIDwCToCbdq00fPPP6+nn35a+/btkyT16NFDSUlJIR8OABBezb6AXFJSktq3bx/4MwAg+gR9TMDv9+uJJ56Q1+tV9+7d1b17d7Vt21YzZ86U3+8Px4wAgDAJeiXw2GOP6aWXXtLs2bOVlZUlSdq0aZP+9Kc/6cyZM5o1a1bIhwQAhEfQEVi2bJlefPFF3XzzzYFtffv21UUXXaQHHniACABAFAl6d9CxY8eUkZFRb3tGRoaOHTsWkqEAAJERdAT69eunBQsW1Nu+YMEC9evXLyRDAQAiI+jdQXPnztWoUaP073//W4MHD5YkffTRRyotLdU//vGPkA8IAAifoFcCw4YN0549e3TbbbfpxIkTOnHihEaPHq3du3dzATkAiDLN+pxAWloaB4ABwAWaFYETJ07opZde0pdffilJ6tWrl+655x55vd6QDgcACK+gdweVlJSoR48e+stf/qJjx47p2LFjKioqUo8ePbR9+/ZwzAgACJOgVwIPPvigbr75Zi1ZskRxcT89vaqqSvfee6/y8vK0cePGkA8JAAiPoCNQUlJSJwDST1cRnTJlijIzM0M6HAAgvILeHZSSkqJDhw7V215aWqrk5OSQDAUAiIygI3DnnXdq/PjxWrlypUpLS1VaWqoVK1bo3nvv1V133RWOGQEAYdKk3UGffvqpevfurVatWunPf/6zYmJi9Pvf/15VVVWSpNatW+v+++/X7NmzwzosACC0mhSB/v376/vvv1fHjh2VkZGhrVu3qrCwsM4vlWnTpk1YBwUAhF6TItC2bVsdOHBAHTt21MGDB+X3+9WmTRv16dMn3PMBAMKoSRH4zW9+o2HDhqlz586KiYlRZmamYmNjG3zs/v37QzogACB8mhSBxYsXa/To0fr66681adIkTZgwgTOBAMAFmvw5gRtuuEGStG3bNk2ePJkIAIALBP1hsZdffjkccwAAbBD05wQAAO5BBADAYFEVgdmzZysmJkZ5eXl2jwIArhA1Edi6dateeOEF9e3b1+5RAMA1oiICp06dUk5OjpYsWaJ27dqd87E+n08VFRV1bgCAhkVFBHJzczVq1ChlZ2ef97GFhYXyer2BW9euXSMwIQBEJ8dHYMWKFdq+fbsKCwub9PiCggKVl5cHbqWlpWGeEACiV7N+x3CklJaWavLkyVq7dq0SEhKa9ByPxyOPxxPmyQDAHRwdgW3btunIkSMaMGBAYFt1dbU2btyoBQsWyOfzNXoNIwDA+Tk6AsOHD9dnn31WZ9u4ceOUkZGhRx55hAAAQAs5OgLJycnq3bt3nW1JSUnq0KFDve0AgOA5/sAwACB8HL0SaMh7771n9wgA4BqsBADAYEQAAAxGBADAYEQAAAxGBADAYEQAAAxGBADAYEQAAAxGBADAYEQAAAxGBADAYEQAAAxGBADAYEQAAAxGBADAYEQAAAwWdb9UBog0z6F4+bqdjdj3O/jthYE/X9zlaMS+byisLcuoc//6Tl/ZNEno/b1iQJ37t6dst2mS0CICQBN4DsUH/mxXEKToj0Jt0R6In0ehtmgKBBEAglQThEjGoEa0R6E2AuEMRABoJrtWB7W5KQq1EYjIIQJACDghCFL9KEjuCUONcwVCiu5I2BEIIgCEmFOCUMOEMNTm1kjUDsSZUz9K+ldIXpcIAGHktCDUMC0MtZ0vElL0hqI5iAAQIbWDIDkrClLDYahhSiBqmBQKIgDYxKmrhIY0FgjT4lBbU0JRw8nBIAKAA0RTEGpj9dA0wQSjRqTCQQQAh/n5biMpusJQ41yBkIjE+ZwrHFWVPnFgGDCI048nNAeRcAYiAMdI/saSJJ3sHmPzJM5n56eWI8XkM5giiQjAcWpiUIMoNM6EGNRGGEKPCMDxiML5mRaD2jg43TJEAFGHKDQuWs8yChdObT0/IoCo9/Mo1GZyIExeHZwPq4f/IQJwtXMFIhycGB1WB8ExLRBEAAghp5/hxOqgZc53WqsUfaFwdAQKCwu1atUqffXVV0pMTNTVV1+tOXPm6LLLLrN7NOCckr+xHBsCidVBODUlFDWcEAxHR2DDhg3Kzc3VVVddpaqqKj366KMaMWKEdu3apaSkJLvHA87J6auCGgTBPsEEozb/D2dCNoOjI/DOO+/Uub906VJ17NhR27Zt09ChQ22aCgiO01cFtREE8zg6Aj9XXl4uSWrfvn2jj/H5fPL5fIH7FRUVYZ8LOJ9oWRXURhDM0MruAZrK7/crLy9PWVlZ6t27d6OPKywslNfrDdy6du0awSmBc4v02Uqh4jkUH7jBXaImArm5ufr888+1YsWKcz6uoKBA5eXlgVtpaWmEJgSaJlpDUIMYuEtU7A6aOHGi3n77bW3cuFFdunQ552M9Ho88Hk+EJos87z6fynu49/0hengOxbObyAUcvRKwLEsTJ07U6tWrtX79eqWnp9s9EhAS0b4aqMGqIPo5eiWQm5ur4uJivfHGG0pOTlZZWZkkyev1KjEx0ebpgJaJprOGzocPoUUvR68EFi5cqPLycl177bXq3Llz4LZy5Uq7R7OVd5/v/A9CVHDLiqAGK4Po4+iVgGW56y8IYApOL40ejl4JACZw22rg51gdOBsRiFLsEnIXt4dAIgZORQQAhzAhBBIxcBoiADiIKSGQ+BSyUxCBKMYuIXcyKQQ1iIF9iAAAxyAGkUcEAMBgRCDKsUvInUzcJVQbq4HIIQIAHIkQRAYRcAFWA3ArQhB+RABwKNN3CdUgBOFFBAA4HiEIHyLgEuwSgtsRgvAgAgCiBiEIPSLgIqwG3IfjAvURgtAiAgCiDiEIHSIAAAYjAgBgMCIAAAYjAgBgMCIAAAYjAgBgMCIAAAYjAgBgMCIAAAYjAgBgMCIAAAYjAgBgMCIAAAYjAgBgMCIAAAYjAgBgMCIAAAYjAgBgMCIAAAaLigg899xzuvjii5WQkKBBgwbp448/tnskAHAFx0dg5cqVys/P1+OPP67t27erX79+GjlypI4cOWL3aAAQ9RwfgaKiIk2YMEHjxo3T5ZdfrkWLFqlNmzb661//avdoABD14uwe4FzOnj2rbdu2qaCgILCtVatWys7O1kcffdTgc3w+n3w+X+B+eXm5JKnKf7bJ37eq6kwzJ7Zf9VnL7hEQYtVnYuwewZH8PzT977Tb+H/46WeUZbX877ujI/Cf//xH1dXVSk1NrbM9NTVVX331VYPPKSws1IwZM+ptf+8//9f0bxzNe5o22T0AgEj573//K6/X26LXcHQEmqOgoED5+fmB+ydOnFD37t116NChFv/DiiYVFRXq2rWrSktLlZKSYvc4EcP75n2boLy8XN26dVP79u1b/FqOjsAFF1yg2NhYHT58uM72w4cPq1OnTg0+x+PxyOPx1Nvu9XqN+o+kRkpKCu/bILxvs7Rq1fLDuo4+MBwfH68rr7xS69atC2zz+/1at26dBg8ebONkAOAOjl4JSFJ+fr7Gjh2rzMxMDRw4UM8884wqKys1btw4u0cDgKjn+AjceeedOnr0qKZPn66ysjJdccUVeuedd+odLG6Mx+PR448/3uAuIjfjffO+TcD7bvn7jrFCcY4RACAqOfqYAAAgvIgAABiMCACAwYgAABjM1REw8RLUhYWFuuqqq5ScnKyOHTvq1ltv1e7du+0eK6Jmz56tmJgY5eXl2T1K2H333Xe6++671aFDByUmJqpPnz4qKSmxe6ywqq6u1rRp05Senq7ExET16NFDM2fODMl1dJxm48aNuummm5SWlqaYmBi9/vrrdb5uWZamT5+uzp07KzExUdnZ2dq7d29Q38O1ETD1EtQbNmxQbm6uNm/erLVr1+rHH3/UiBEjVFlZafdoEbF161a98MIL6tu3r92jhN3x48eVlZWl1q1ba82aNdq1a5fmzZundu3a2T1aWM2ZM0cLFy7UggUL9OWXX2rOnDmaO3eu5s+fb/doIVdZWal+/frpueeea/Drc+fO1bPPPqtFixZpy5YtSkpK0siRI3XmTBAXwbRcauDAgVZubm7gfnV1tZWWlmYVFhbaOFXkHTlyxJJkbdiwwe5Rwu7kyZPWJZdcYq1du9YaNmyYNXnyZLtHCqtHHnnEuuaaa+weI+JGjRpl3XPPPXW2jR492srJybFposiQZK1evTpw3+/3W506dbKefvrpwLYTJ05YHo/HeuWVV5r8uq5cCdRcgjo7Ozuw7XyXoHarmktph+JCU06Xm5urUaNG1fn37mZvvvmmMjMzdccdd6hjx47q37+/lixZYvdYYXf11Vdr3bp12rNnjyTpk08+0aZNm/SrX/3K5ski68CBAyorK6vz37vX69WgQYOC+jnn+E8MN0dzLkHtRn6/X3l5ecrKylLv3r3tHiesVqxYoe3bt2vr1q12jxIx+/fv18KFC5Wfn69HH31UW7du1aRJkxQfH6+xY8faPV7YTJ06VRUVFcrIyFBsbKyqq6s1a9Ys5eTk2D1aRJWVlUlSgz/nar7WFK6MAH6Sm5urzz//XJs2ufuXDJSWlmry5Mlau3atEhIS7B4nYvx+vzIzM/XUU09Jkvr376/PP/9cixYtcnUEXn31VS1fvlzFxcXq1auXdu7cqby8PKWlpbn6fYeLK3cHNecS1G4zceJEvf3223r33XfVpUsXu8cJq23btunIkSMaMGCA4uLiFBcXpw0bNujZZ59VXFycqqur7R4xLDp37qzLL7+8zraePXvq0KFDNk0UGQ8//LCmTp2qMWPGqE+fPvrd736nBx98UIWFhXaPFlE1P8ta+nPOlREw+RLUlmVp4sSJWr16tdavX6/09HS7Rwq74cOH67PPPtPOnTsDt8zMTOXk5Gjnzp2KjY21e8SwyMrKqnf67549e9S9e3ebJoqM06dP17uOfmxsrPx+v00T2SM9PV2dOnWq83OuoqJCW7ZsCe7nXAgPXjvKihUrLI/HYy1dutTatWuXdd9991lt27a1ysrK7B4trO6//37L6/Va7733nvX9998HbqdPn7Z7tIgy4eygjz/+2IqLi7NmzZpl7d2711q+fLnVpk0b629/+5vdo4XV2LFjrYsuush6++23rQMHDlirVq2yLrjgAmvKlCl2jxZyJ0+etHbs2GHt2LHDkmQVFRVZO3bssL755hvLsixr9uzZVtu2ba033njD+vTTT61bbrnFSk9Pt3744Ycmfw/XRsCyLGv+/PlWt27drPj4eGvgwIHW5s2b7R4p7CQ1eHv55ZftHi2iTIiAZVnWW2+9ZfXu3dvyeDxWRkaGtXjxYrtHCruKigpr8uTJVrdu3ayEhATrl7/8pfXYY49ZPp/P7tFC7t13323w7/PYsWMty/rpNNFp06ZZqamplsfjsYYPH27t3r07qO/BpaQBwGCuPCYAAGgaIgAABiMCAGAwIgAABiMCAGAwIgAABiMCAGAwIgAABiMCQJgdPHhQMTEx2rlzp92jAPXwiWEgzKqrq3X06FFdcMEFiovj6u1wFiIAtMCPP/6o1q1b2z0G0GzsDoJx/v73v6tPnz5KTExUhw4dlJ2drcrKSknSiy++qJ49eyohIUEZGRl6/vnnA8+r2a2zcuVKDRs2TAkJCVq4cKESExO1Zs2aOt9j9erVSk5O1unTpxvcHfTFF1/oxhtvVEpKipKTkzVkyBDt27cv8PVzzQGEEmtTGOX777/XXXfdpblz5+q2227TyZMn9f7778uyLC1fvlzTp0/XggUL1L9/f+3YsUMTJkxQUlJSnd9YNXXqVM2bN0/9+/dXQkKC3n//fRUXF9f5HbfLly/XrbfeqjZt2tSb4bvvvtPQoUN17bXXav369UpJSdEHH3ygqqqqwHObMgcQEqG87CngdNu2bbMkWQcPHqz3tR49eljFxcV1ts2cOdMaPHiwZVmWdeDAAUuS9cwzz9R5zOrVq61f/OIXVmVlpWVZllVeXm4lJCRYa9asqfO8HTt2WJZlWQUFBVZ6erp19uzZBmc83xxAKLESgFH69eun4cOHq0+fPho5cqRGjBih22+/XfHx8dq3b5/Gjx+vCRMmBB5fVVUlr9db5zUyMzPr3P/1r3+t1q1b680339SYMWP02muvKSUlRdnZ2Q3OsHPnTg0ZMqTBYwmVlZVNngMIBSIAo8TGxmrt2rX68MMP9a9//Uvz58/XY489prfeekuStGTJEg0aNKjec2pLSkqqcz8+Pl633367iouLNWbMGBUXF+vOO+9s9EygxMTERuc7depUk+cAQoEIwDgxMTHKyspSVlaWpk+fru7du+uDDz5QWlqa9u/fr5ycnKBfMycnR9dff72++OILrV+/Xk8++WSjj+3bt6+WLVvW4JlFqampLZoDCBYRgFG2bNmidevWacSIEerYsaO2bNmio0ePqmfPnpoxY4YmTZokr9erG264QT6fTyUlJTp+/Ljy8/PP+bpDhw5Vp06dlJOTo/T09Hr/F1/bxIkTNX/+fI0ZM0YFBQXyer3avHmzBg4cqMsuu6xFcwBBs/ugBBBJu3btskaOHGldeOGFlsfjsS699FJr/vz5ga8vX77cuuKKK6z4+HirXbt21tChQ61Vq1ZZllX/AO/PTZkyxZJkTZ8+vc72hp73ySefWCNGjLDatGljJScnW0OGDLH27dvXpDmAUOLDYgBgMD4sBgAGIwIAYDAiAAAGIwIAYDAiAAAGIwIAYDAiAAAGIwIAYDAiAAAGIwIAYDAiAAAG+/+iyL3Cs2eOHQAAAABJRU5ErkJggg==", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "# We can simulate at higher resolution with full accuracy\n", "upsampled = np.linspace(0, 10, 21)\n", "x, y = np.meshgrid(upsampled, upsampled)\n", "z = np.zeros_like(x)\n", "\n", "# Loop through the system 21*21 times to collect the control surface\n", "for i in range(21):\n", " for j in range(21):\n", " tipping.input['service'] = x[i, j]\n", " tipping.input['food'] = y[i, j]\n", " tipping.compute()\n", " z[i, j] = tipping.output['tip']\n", "\n", "cset = plt.contourf(x, y, z, cmap='viridis')\n", "plt.xlabel(\"service\");\n", "plt.ylabel(\"food\");" ] }, { "cell_type": "markdown", "id": "f419182e", "metadata": { "slideshow": { "slide_type": "slide" } }, "source": [ "# Ejemplo : Impresora\n", "\n", "Realicemos el control de posición de la impresora via el voltaje del motor con un controlador difuso.\n", "\n", "![](printer.png)\n", "\n", "- Variable de entrada : Error de posición\n", "- Variable de salida : Voltaje del motor" ] }, { "cell_type": "markdown", "id": "a3a17df5", "metadata": { "slideshow": { "slide_type": "subslide" } }, "source": [ "# Sistema de control\n", "\n", "![](control-loop.png)" ] }, { "cell_type": "markdown", "id": "208b3f91", "metadata": { "slideshow": { "slide_type": "subslide" } }, "source": [ "# Reglas de control\n", "\n", "- Si el error es NG, entonces el voltaje es NG (negativo grande)\n", "- Si el error es NP, entonces el voltaje es NP (negativo pequeño)\n", "- Si el error es C, entonces el voltaje es C (cero)\n", "- Si el error es PP, entonces el voltaje es PP (positivo pequeño)\n", "- Si el error es PG, entonces el voltaje es PG (positivo grande)\n" ] }, { "cell_type": "markdown", "id": "244a1016", "metadata": { "slideshow": { "slide_type": "slide" } }, "source": [ "# En MATLAB \n", "\n", "Usaremos la aplicación _fuzzy logic designer_, debemos tener instalado el _Fuzzy Logic Toolbox_\n", "\n", "![](fuzzy-logic-toolbox.png)" ] }, { "cell_type": "markdown", "id": "9c30a1fb", "metadata": { "slideshow": { "slide_type": "subslide" } }, "source": [ "# Fuzzy logic designer\n", "\n", "Esta es la ventana inicial, donde definiremos la variable de entrada como el error y la variable de salida como el voltaje. \n", "\n", "![](fuzzy-logic-designer.png)" ] }, { "cell_type": "markdown", "id": "11d57d70", "metadata": { "slideshow": { "slide_type": "subslide" } }, "source": [ "# Funciones de membresia\n", "\n", "Cambiar los valores de error en posición\n", "\n", "- ENG = (Range -20, 20, Type: Trapmf, Params: -20 -20 -10 – 5)\n", "- ENP = (Range -20, 20, Type: Trimf, Params: -10 -5 -0 )\n", "- EC = (Range -20, 20, Type: Trimf, Params: -5 -0 5 )\n", "- EPP = (Range -20, 20, Type: Trimf, Params: 0 5 10 )\n", "- EPG = (Range -20, 20, Type: Trápmf, Params: 5 10 20 20 )\n" ] }, { "cell_type": "markdown", "id": "9d81d2bd", "metadata": { "slideshow": { "slide_type": "subslide" } }, "source": [ "# Funciones de membresia\n", "\n", "Cambiar los valores de voltaje\n", "\n", "- VNG = (Range -12, 12, Type: Trapmf, Params: -12 -12 -6 – 3)\n", "- VNP = (Range -12, 12, Type: Trimf, Params: -6 -3 -0 )\n", "- VC = (Range -12, 12, Type: Trimf, Params: -3 -0 3 )\n", "- VPP = (Range -12, 12, Type: Trimf, Params: 0 3 6 )\n", "- VPG = (Range -12, 12, Type: Trapmf, Params: 3 6 12 12 )\n" ] }, { "cell_type": "markdown", "id": "385f9bde", "metadata": { "slideshow": { "slide_type": "subslide" } }, "source": [ "# Añadir reglas de control \n", "\n", "- Vamos a edit y buscamos el término _Rules_.\n", "- Emparejamos las entradas y salidas correspondientes con el bóton \"Add rule\"\n", "- Cuando hayamos terminado cerramos la ventana.\n", "- Seleccionamos el metodo de fusificación. \n", "- Exportamos las reglas. " ] }, { "cell_type": "markdown", "id": "016b7c46", "metadata": { "slideshow": { "slide_type": "subslide" } }, "source": [ "# Visualización de las reglas\n", "\n", "![](fuzzy-logic-designer-rules.png)" ] }, { "cell_type": "markdown", "id": "19fedf9d", "metadata": { "slideshow": { "slide_type": "subslide" } }, "source": [ "# Visualización de la superficie de control\n", "\n", "![](fuzzy-logic-designer-surface.png)" ] }, { "cell_type": "markdown", "id": "234deb4c", "metadata": { "slideshow": { "slide_type": "subslide" } }, "source": [ "# Archivos para Matlab\n", "\n", "- [Controlador difuso](impresora.fis)\n", "- [Simulink](impresora.slx)" ] }, { "cell_type": "markdown", "id": "a23371b7", "metadata": { "slideshow": { "slide_type": "slide" } }, "source": [ "# En Python\n", "\n", "Empecemos con la función de membresía de la entrada, _el error_" ] }, { "cell_type": "code", "execution_count": 11, "id": "1cf4b5d5", "metadata": { "slideshow": { "slide_type": "-" } }, "outputs": [ { "data": { 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", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "from skfuzzy import control as ctrl \n", "\n", "error = ctrl.Antecedent(np.arange(-20,20,1), 'error')\n", "\n", "error['ENG'] = fuzz.trapmf(error.universe, [-20,-20,-10,-5])\n", "error['EN'] = fuzz.trimf(error.universe, [-10,-5,0])\n", "error['EC'] = fuzz.trimf(error.universe, [-5,0,5])\n", "error['EP'] = fuzz.trimf(error.universe, [0,5,10])\n", "error['EPG'] = fuzz.trapmf(error.universe, [5,10,20,20])\n", "\n", "error.view()" ] }, { "cell_type": "markdown", "id": "47816853", "metadata": { "slideshow": { "slide_type": "subslide" } }, "source": [ "Función de membresía para la salida, _el voltaje_" ] }, { "cell_type": "code", "execution_count": 12, "id": "185c4cc0", "metadata": { "slideshow": { "slide_type": "-" } }, "outputs": [ { "data": { "image/png": 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", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "voltaje = ctrl.Consequent(np.arange(-12,12,0.1), 'voltaje')\n", "\n", "voltaje['VNG'] = fuzz.trapmf(voltaje.universe, [-12,-12,-6,-3])\n", "voltaje['VN'] = fuzz.trimf(voltaje.universe, [-6,-3,0])\n", "voltaje['VC'] = fuzz.trimf(voltaje.universe, [-3,0,3])\n", "voltaje['VP'] = fuzz.trimf(voltaje.universe, [0,3,6])\n", "voltaje['VPG'] = fuzz.trapmf(voltaje.universe, [3,6,12,12])\n", "\n", "voltaje.view()" ] }, { "cell_type": "markdown", "id": "bd018b46", "metadata": { "slideshow": { "slide_type": "subslide" } }, "source": [ "Definimos las reglas del controlador:\n", "\n", "- Si el error es NG, entonces el voltaje es NG (negativo grande)\n", "- Si el error es NP, entonces el voltaje es NP (negativo pequeño)\n", "- Si el error es C, entonces el voltaje es C (cero)\n", "- Si el error es PP, entonces el voltaje es PP (positivo pequeño)\n", "- Si el error es PG, entonces el voltaje es PG (positivo grande)" ] }, { "cell_type": "code", "execution_count": 13, "id": "c125310c", "metadata": { "slideshow": { "slide_type": "-" } }, "outputs": [], "source": [ "rule1 = ctrl.Rule(error['ENG'], voltaje['VNG'])\n", "rule2 = ctrl.Rule(error['EN'], voltaje['VN'])\n", "rule3 = ctrl.Rule(error['EC'], voltaje['VC'])\n", "rule4 = ctrl.Rule(error['EP'], voltaje['VP'])\n", "rule5 = ctrl.Rule(error['EPG'], voltaje['VPG'])" ] }, { "cell_type": "markdown", "id": "333ea809", "metadata": { "slideshow": { "slide_type": "subslide" } }, "source": [ "Creamos el controlador" ] }, { "cell_type": "code", "execution_count": 14, "id": "5dab8d0b", "metadata": { "slideshow": { "slide_type": "-" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "6.726499999999961\n" ] }, { "data": { "image/png": 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", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "controlador_ctrl = ctrl.ControlSystem([rule1, rule2, rule3, rule4, rule5])\n", "controlador = ctrl.ControlSystemSimulation(controlador_ctrl)\n", "\n", "controlador.input['error'] = 8\n", "controlador.compute()\n", "print(controlador.output['voltaje'])\n", "voltaje.view(sim=controlador)" ] }, { "cell_type": "markdown", "id": "4143c400", "metadata": { "slideshow": { "slide_type": "subslide" } }, "source": [ "Visualizamos la superficie de control" ] }, { "cell_type": "code", "execution_count": 15, "id": "6f3a0457", "metadata": {}, "outputs": [ { "data": { "image/png": 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", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "errorRange = np.linspace(-20,20,15)\n", "voltageRange = []\n", "\n", "for e in errorRange:\n", " controlador.input['error'] = e\n", " controlador.compute()\n", " voltageRange.append(controlador.output['voltaje'])\n", "\n", "plt.plot(errorRange,voltageRange);" ] }, { "cell_type": "markdown", "id": "ddc977c4", "metadata": { "slideshow": { "slide_type": "slide" } }, "source": [ "# Demostración con el balancín\n", "\n", "Construyamos un controlador difuso para el sistema mostrado a continuación:\n", "\n", "\n", "\n", "\n", "Para esto usaremos una ecuación diferencial sencilla como modelo:\n", "\n", "$$\\ddot{x}(t) = g \\sin(\\alpha(t))$$" ] }, { "cell_type": "code", "execution_count": 16, "id": "1ca2bfdb", "metadata": {}, "outputs": [], "source": [ "try:\n", " import control.matlab as ml\n", "except:\n", " !pip install control\n", " import control.matlab as ml" ] }, { "cell_type": "markdown", "id": "0ed27bf0", "metadata": { "slideshow": { "slide_type": "subslide" } }, "source": [ "# Control clásico P\n", "\n", "Usando un control proporcional clasico podemos ver que el sistema no se controla (sistema criticamente estable):" ] }, { "cell_type": "code", "execution_count": 17, "id": "1167e4b5", "metadata": { "slideshow": { "slide_type": "-" } }, "outputs": [ { "data": { "image/png": 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", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "Kp = 1\n", "\n", "g = 9.81; dt = 0.001; r = 0\n", "\n", "t = [0]; e = [0]; u = [0];\n", "xpp= [0]; xp = [0]; x = [2];\n", "\n", "for i,ti in enumerate(np.arange(0,10,dt)):\n", " t.append(t[-1]+dt)\n", " e.append(r-x[-1])\n", " u.append(min(15*np.pi/180,max(-15*np.pi/180,Kp*e[-1])))\n", " xpp.append(g*np.sin(u[-1]))\n", " xp.append(xp[-1] + xpp[-1]*dt)\n", " x.append(x[-1] + xp[-1]*dt)\n", " \n", "plt.plot(t,x);" ] }, { "cell_type": "markdown", "id": "034facb4", "metadata": { "slideshow": { "slide_type": "subslide" } }, "source": [ "# Control clásico PD\n", "\n", "Usando un control proporcional-derivativo clásico podemos ver que el sistema se comporta de la siguiente forma:" ] }, { "cell_type": "code", "execution_count": 18, "id": "b6b06442", "metadata": {}, "outputs": [ { "data": { "image/png": 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WtNi6JK6GiEIBQ9qH4mMiYdA5nyd9jK1pIvIBhrSPubo8DnOGBxH5AEPaxyZ2h/TBs7zzkIi8x5D2sYzhcQCAg2cY0kTkPYa0j00argcAnGhsRmsHBw+JyDsMaR9L0mmRGKuBQ/CxpUTkPYa0H7ha01+xy4OIvMSQ9oOMYXEAOHhIRN5jSPvBlZb0ZWkLIaKgx5D2g4nDnCFd02TlnYdE5BWGtB8MjdUgRa+FEMBhdnkQkRcY0n6S0d3lwX5pIvIGQ9pPJnXf1MIZHkTkDYa0n2QMY0uaiLzHkPYTV0jXNllxubVD4mqIKFgxpP1kcEwk0hJiAAD76y5LWwwRBS2GtB9NHjEYAFBZd0niSogoWDGk/WjyyDgAwL7TDGkiGhiGtB+5WtIH6i/D7hASV0NEwYgh7UfjkmIxSKOGtcOOamOz1OUQURBiSPuRSqlAZqpzlgf7pYloIBjSfsbBQyLyBkPazyaP7A5pDh4S0QAwpP1scqozpL++0IoLLTaJqyGiYMOQ9jN9dARuGuq8qaWSN7UQkYcY0gEwdWQ8AGDP1xclroSIgg1DOgByRjtD+suaCxJXQkTBhiEdADmjhwAADp2zoLm9U+JqiCiYMKQDYFhcFFLjo2B3COzlLA8i8gBDOkBmpDlb01/WsF+aiPqPIR0gri6PL2vZL01E/ceQDpCcNOfg4VdnzLDyDeJE1E8M6QBJjY/GsDhnvzQfXUpE/cWQDiDXVLxdnIpHRP00oJBeuXIlRo0aBa1Wi5ycHOzevbvPbVevXg2FQtFj0Wq1Ay44mOV290t/cYohTUT943FIr1+/HoWFhXjqqadQWVmJzMxM5Ofno7Gxsc99dDodGhoa3Mvp06e9KjpYfWvsUADAV2cu45KVL6clohvzOKRffPFFPPzww3jwwQcxYcIElJSUIDo6Gm+//Xaf+ygUChgMBveSlJTkVdHByqDXYlzSIAgBfHGqSepyiCgIeBTSHR0d2LdvH/Ly8q4cQKlEXl4eKioq+tyvpaUFI0eORGpqKu655x4cPnz4uuex2WywWCw9llAxu7s1vf34eYkrIaJg4FFINzU1wW63X9MSTkpKgtFo7HWf8ePH4+2338aHH36INWvWwOFwYObMmThz5kyf5ykuLoZer3cvqampnpQpa7PHuUK6CULwvYdEdH1+n92Rm5uLRYsWISsrC7fddhvef/99DB06FG+88Uaf+xQVFcFsNruX+vp6f5cZMNPT4qFRK2G0tONEY4vU5RCRzHkU0gkJCVCpVDCZTD3Wm0wmGAyGfh0jIiIC2dnZOHnyZJ/baDQa6HS6Hkuo0EaoML37xhZ2eRDRjXgU0pGRkZgyZQrKy8vd6xwOB8rLy5Gbm9uvY9jtdhw8eBDJycmeVRpCbnN1eZzg4CERXZ/H3R2FhYV488038Ze//AVHjx7FI488AqvVigcffBAAsGjRIhQVFbm3//3vf4/NmzejpqYGlZWVeOCBB3D69Gk89NBDvruKIOMK6V01F3iLOBFdl9rTHRYuXIjz589j+fLlMBqNyMrKwqZNm9yDiXV1dVAqr2T/pUuX8PDDD8NoNGLw4MGYMmUKdu7ciQkTJvjuKoLMmMRBGDkkGqcvtGL78fOYmxG+/6sgoutTiCCYYmCxWKDX62E2m0Omf/rpfx7Bm/+uxf/KHoaXFmZJXQ4RBVh/c43P7pDInROcA61bjjWi0+6QuBoikiuGtESmjByM+JhImNs6+YJaIuoTQ1oiKqUC305PBACUHTHdYGsiClcMaQndOcE52Lr5sIl3HxJRrxjSEpo9diiiI1U4e7kNB86YpS6HiGSIIS2hqEgV8m52tqY/qjoncTVEJEcMaYl9JzMFALDxq3OwO9jlQUQ9MaQlNnvcUOi0ajQ22/gmcSK6BkNaYpFqJeZOdN5x+PGBBomrISK5YUjLwHeynF0enx5qgK3LLnE1RCQnDGkZmDF6CAw6LS63duKzI32/K5KIwg9DWgZUSgXumzocALBuT53E1RCRnDCkZeK7U52vCPv3iSbUX2yVuBoikguGtEykxkfj1jEJAIANe0PndWFE5B2GtIwsnOZsTb+79wy6+GQ8IgJDWlbuuiUJ8TGRMFraselw729fJ6LwwpCWEY1ahQdyRgAA/rSjVuJqiEgOGNIy80DuSESqlNhfdxmVdZekLoeIJMaQlpnEWK375ha2pomIIS1DP5qVBgD49GADvm6ySlwNEUmJIS1DE1J0mDN+KBwCeHXLSanLISIJMaRlalneOABAadVZtqaJwhhDWqayUuPw7fRE2B0Cr2w5IXU5RCQRhrSMLcsbCwAo3X8WRxssEldDRFJgSMvYpOFxmJeRDIcA/rDxCF9WSxSGGNIy9/jcdESqldh56gI2HzFJXQ4RBRhDWuZS46Pxk2+NBgD8n38eQVsHXwpAFE4Y0kHgkTk3IVmvRf3FNqzYXC11OUQUQAzpIBCjUeOZezMAAH/6ohb7TvN2caJwwZAOErePT8R/Th4OIYBfbjgAq61L6pKIKAAY0kFk+d0TYNBpUdNkxRMfHORsD6IwwJAOIvroCLz639lQKRX4sOoc1u7m+xCJQh1DOshMGxWPx/LHAwB++9Fh7DzZJHFFRORPDOkg9JPZo3H3pGR02gX+52/7cMzIuxGJQhVDOggpFAr83/syMT0tHs22Liz6026cbGyWuiwi8gOGdJDSRqjw5g+mIt0Qi8ZmG763ahdb1EQhiCEdxPTREfj7wzMwcZgOTS0d+G5JBbYfPy91WUTkQwzpIDc4JhLvPDQDU0cOhqW9Cz/88268ub2G0/OIQgRDOgTooyLwzsM5+K8pw+EQwNOfHMWit3fDaG6XujQi8hJDOkRo1Cq88F+T8Pt7boFGrcS/TzThzpe24a1/16CjyyF1eUQ0QAoRBP8vtlgs0Ov1MJvN0Ol0UpcjeycbW/CLDQdwoP4yAGDUkGgs+fZYfCczBZFq/rtMJAf9zTWGdIiyOwTe23cGL2yuxvlmGwDAoNPi/pwRWJA9DKnx0RJXSBTe+ptrA2pWrVy5EqNGjYJWq0VOTg5279593e03bNiA9PR0aLVaZGRk4JNPPhnIackDKqUC352Wis//9xwUzU1HYqwGRks7VpQdx7ee/xz3lezE61tP4cg5CwcZiWTM45b0+vXrsWjRIpSUlCAnJwcvv/wyNmzYgOrqaiQmJl6z/c6dOzF79mwUFxfj7rvvxtq1a/Hcc8+hsrISEydO7Nc52ZL2nq3Ljo0HGvBe5RlU1FzA1b/r8TGRmDRcj0nD9JiQoseohGiMiI9GdKRauoKJQpzfujtycnIwbdo0vPbaawAAh8OB1NRU/OxnP8Pjjz9+zfYLFy6E1WrFxo0b3etmzJiBrKwslJSU9HoOm80Gm83W42JSU1MZ0j5y7nIbNh82YvuJJlScuoC2zt7f9pIYq0GSTov4mEgMiYlEfEwkdFER0EYoERWhgiZChagIFSLVSigVCigAKBTdCxTdPyvgcAjYHQJ20f2rQ8DR/XOXQzi/v+o71/fu7xyAQwgIIeAQzp/tQkAIwOG4su7K4lp/5Tsh4D6ucB3DIeD6w9/zb8GVD1evv3qTq//a9Fx/7fZ9/RXruS3/NxPMpo2Kx7K8cR7t09+Q9qip1NHRgX379qGoqMi9TqlUIi8vDxUVFb3uU1FRgcLCwh7r8vPzUVpa2ud5iouL8bvf/c6T0sgDKXFR+OGsNPxwVhpsXXYcOWfBwbNmHDxjRrWpGacvtMLc1onGZhsam203PiBRmNNpI/x2bI9CuqmpCXa7HUlJST3WJyUl4dixY73uYzQae93eaDT2eZ6ioqIewe5qSZPvadQqZI8YjOwRg3usv9zagbqLrTjfbMMFawcudi/N7V1o77SjvdOOtk472jrs6LA7IISzxSjgbCEKuFqsgEoJqBQKqJTORalQQK1y/qpSKqBWXvm5x9K9Ttn9s7K7Za7s/lmlVHR/hnOd8qqfu7dVXbVOoVBApQCU39jPRXHV9V+1Ggr0+NDH9tc/Tl/Hu3o9Ba+UuCi/HVuWnY4ajQYajUbqMsJaXHQk4qIjpS6DKOx5NLsjISEBKpUKJpOpx3qTyQSDwdDrPgaDwaPtiYjoCo9COjIyElOmTEF5ebl7ncPhQHl5OXJzc3vdJzc3t8f2AFBWVtbn9kREdIXH3R2FhYVYvHgxpk6diunTp+Pll1+G1WrFgw8+CABYtGgRhg0bhuLiYgDA0qVLcdttt2HFihWYN28e1q1bh71792LVqlW+vRIiohDkcUgvXLgQ58+fx/Lly2E0GpGVlYVNmza5Bwfr6uqgVF5poM+cORNr167Fb37zGzzxxBMYO3YsSktL+z1HmogonPG2cCIiCfj1tnAiIgoMhjQRkYzJcp70N7l6ZCwWvsOPiEKDK89u1OMcFCHd3Ox8EzbvOiSiUNPc3Ay9Xt/n90ExcOhwOHDu3DnExsb2uP32Rly3k9fX14fkgGOoXx8Q+tfI6wt+A71GIQSam5uRkpLSY0bcNwVFS1qpVGL48OED3l+n04XsHxAg9K8PCP1r5PUFv4Fc4/Va0C4cOCQikjGGNBGRjIV0SGs0Gjz11FMh+0S9UL8+IPSvkdcX/Px9jUExcEhEFK5CuiVNRBTsGNJERDLGkCYikjGGNBGRjDGkiYhkLGRDeuXKlRg1ahS0Wi1ycnKwe/duqUvymeLiYkybNg2xsbFITEzEggULUF1dLXVZfvPss89CoVBg2bJlUpfiM2fPnsUDDzyAIUOGICoqChkZGdi7d6/UZfmM3W7Hk08+ibS0NERFReGmm27CH/7whxs+TEiutm/fjvnz5yMlJQUKhQKlpaU9vhdCYPny5UhOTkZUVBTy8vJw4sQJn5w7JEN6/fr1KCwsxFNPPYXKykpkZmYiPz8fjY2NUpfmE9u2bUNBQQF27dqFsrIydHZ24q677oLVapW6NJ/bs2cP3njjDUyaNEnqUnzm0qVLmDVrFiIiIvDpp5/iyJEjWLFiBQYPHix1aT7z3HPP4fXXX8drr72Go0eP4rnnnsPzzz+PV199VerSBsRqtSIzMxMrV67s9fvnn38er7zyCkpKSvDll18iJiYG+fn5aG9v9/7kIgRNnz5dFBQUuD/b7XaRkpIiiouLJazKfxobGwUAsW3bNqlL8anm5mYxduxYUVZWJm677TaxdOlSqUvyiV/96lfi1ltvlboMv5o3b5740Y9+1GPdvffeK+6//36JKvIdAOKDDz5wf3Y4HMJgMIgXXnjBve7y5ctCo9GIv//9716fL+Ra0h0dHdi3bx/y8vLc65RKJfLy8lBRUSFhZf5jNpsBAPHx8RJX4lsFBQWYN29ej9/LUPDRRx9h6tSpuO+++5CYmIjs7Gy8+eabUpflUzNnzkR5eTmOHz8OADhw4AB27NiBuXPnSlyZ79XW1sJoNPb4c6rX65GTk+OTzAmKp+B5oqmpCXa73f1iXJekpCQcO3ZMoqr8x+FwYNmyZZg1a1ZIvdx33bp1qKysxJ49e6Quxedqamrw+uuvo7CwEE888QT27NmDn//854iMjMTixYulLs8nHn/8cVgsFqSnp0OlUsFut+Ppp5/G/fffL3VpPmc0GgGg18xxfeeNkAvpcFNQUIBDhw5hx44dUpfiM/X19Vi6dCnKysqg1WqlLsfnHA4Hpk6dimeeeQYAkJ2djUOHDqGkpCRkQvrdd9/FO++8g7Vr1+KWW25BVVUVli1bhpSUlJC5xkAJue6OhIQEqFQqmEymHutNJhMMBoNEVfnHkiVLsHHjRnz++edePW9bbvbt24fGxkZMnjwZarUaarUa27ZtwyuvvAK1Wg273S51iV5JTk7GhAkTeqy7+eabUVdXJ1FFvvfLX/4Sjz/+OL73ve8hIyMDP/jBD/Doo4+iuLhY6tJ8zpUr/sqckAvpyMhITJkyBeXl5e51DocD5eXlyM3NlbAy3xFCYMmSJfjggw+wZcsWpKWlSV2ST91xxx04ePAgqqqq3MvUqVNx//33o6qqCiqVSuoSvTJr1qxrpkweP34cI0eOlKgi32ttbb3mbSMqlQoOh0OiivwnLS0NBoOhR+ZYLBZ8+eWXvskcr4ceZWjdunVCo9GI1atXiyNHjoif/OQnIi4uThiNRqlL84lHHnlE6PV6sXXrVtHQ0OBeWltbpS7Nb0Jpdsfu3buFWq0WTz/9tDhx4oR45513RHR0tFizZo3UpfnM4sWLxbBhw8TGjRtFbW2teP/990VCQoJ47LHHpC5tQJqbm8X+/fvF/v37BQDx4osviv3794vTp08LIYR49tlnRVxcnPjwww/FV199Je655x6RlpYm2travD53SIa0EEK8+uqrYsSIESIyMlJMnz5d7Nq1S+qSfAZAr8uf//xnqUvzm1AKaSGE+Pjjj8XEiROFRqMR6enpYtWqVVKX5FMWi0UsXbpUjBgxQmi1WjF69Gjx61//WthsNqlLG5DPP/+8179zixcvFkI4p+E9+eSTIikpSWg0GnHHHXeI6upqn5ybz5MmIpKxkOuTJiIKJQxpIiIZY0gTEckYQ5qISMYY0kREMsaQJiKSMYY0EZGMMaSJiGSMIU1EJGMMaSIiGWNIExHJ2P8HesKeTVoZmHUAAAAASUVORK5CYII=", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "Kp = 0.5; Kd = 0.4\n", "\n", "g = 9.81; dt = 0.001; r = 0\n", "t = [0]; e = [0]; ea = [0]; u = [0]\n", "xpp= [0]; xp = [0]; x = [2]; \n", "\n", "for i,ti in enumerate(np.arange(0,10,dt)):\n", " t.append(t[-1]+dt)\n", " e.append(r-x[-1])\n", " de = (e[-1]-ea[-1])/dt\n", " ea.append(e[-1])\n", " us = Kp*e[-1] + Kd*de\n", " u.append(min(15*np.pi/180,max(-15*np.pi/180,us)))\n", " xpp.append(g*np.sin(u[-1]))\n", " xp.append(xp[-1] + xpp[-1]*dt)\n", " x.append(x[-1] + xp[-1]*dt)\n", " \n", "plt.plot(t,x);" ] }, { "cell_type": "markdown", "id": "92a2126a", "metadata": { "slideshow": { "slide_type": "slide" } }, "source": [ "# Controlador difuso\n", "\n", "Para el controlador difuso, tenemos dos entradas el error y la derivada del error. Y una salida que es el ángulo del balancín. \n" ] }, { "cell_type": "code", "execution_count": 65, "id": "6ccd04a9", "metadata": { "slideshow": { "slide_type": "subslide" } }, "outputs": [ { "data": { "image/png": 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", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "from skfuzzy import control as ctrl \n", "error = ctrl.Antecedent(np.arange(-5,5,0.05), 'error')\n", "error.automf(5,names=['ENG','EN','EC','EP','EPG'])\n", "error.view()" ] }, { "cell_type": "code", "execution_count": 66, "id": "9de430d3", "metadata": { "slideshow": { "slide_type": "subslide" } }, "outputs": [ { "data": { "image/png": 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", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "de = ctrl.Antecedent(np.arange(-1,1,0.01), 'de')\n", "de.automf(5,names=['DENG','DEN','DEC','DEP','DEPG'])\n", "de.view()" ] }, { "cell_type": "code", "execution_count": 67, "id": "98076d07", "metadata": { "slideshow": { "slide_type": "subslide" } }, "outputs": [ { "data": { "image/png": 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", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "angle = ctrl.Consequent(np.arange(-12,12,0.1), 'angle')\n", "angle.automf(5,names=['ANG','AN','AC','AP','APG'])\n", "angle.view()" ] }, { "cell_type": "code", "execution_count": 68, "id": "9276ccab", "metadata": { "slideshow": { "slide_type": "subslide" } }, "outputs": [], "source": [ "rule1 = ctrl.Rule(error['ENG'], angle['ANG'])\n", "rule2 = ctrl.Rule(error['EN'], angle['AN'])\n", "rule3 = ctrl.Rule(error['EC'], angle['AC'])\n", "rule4 = ctrl.Rule(error['EP'], angle['AP'])\n", "rule5 = ctrl.Rule(error['EPG'], angle['APG'])" ] }, { "cell_type": "code", "execution_count": 69, "id": "384d189f", "metadata": { "slideshow": { "slide_type": "subslide" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "9.90812501458807\n" ] }, { "data": { "image/png": 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", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "controlador_ctrl = ctrl.ControlSystem([rule1, rule2, rule3, rule4, rule5])\n", "controlador = ctrl.ControlSystemSimulation(controlador_ctrl)\n", "\n", "controlador.input['error'] = 8\n", "# controlador.input['de'] = 0\n", "controlador.compute()\n", "print(controlador.output['angle'])\n", "angle.view(sim=controlador)" ] }, { "cell_type": "code", "execution_count": 70, "id": "55e51a76", "metadata": { "slideshow": { "slide_type": "subslide" } }, "outputs": [ { "data": { "image/png": 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", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "errorRange = np.linspace(-20,20,15)\n", "angleRange = []\n", "\n", "for e in errorRange:\n", " controlador.input['error'] = e\n", " controlador.compute()\n", " angleRange.append(controlador.output['angle'])\n", "\n", "plt.plot(errorRange,angleRange);" ] }, { "cell_type": "code", "execution_count": 71, "id": "e3295eb2", "metadata": { "slideshow": { "slide_type": "subslide" } }, "outputs": [ { "data": { "image/png": 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", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "g = 9.81; dt = 0.01; r = 0\n", "t = [0]; e = [0]; ea = [0]; u = [0]\n", "xpp= [0]; xp = [0]; x = [2]; \n", "\n", "for i,ti in enumerate(np.arange(0,50,dt)):\n", " t.append(t[-1]+dt)\n", " e.append(r-x[-1])\n", " de = (e[-1]-ea[-1])/dt\n", " ea.append(e[-1])\n", " \n", " controlador.input['error'] = e[-1]\n", " controlador.compute()\n", " us = controlador.output['angle'] \n", " \n", " u.append(us*np.pi/180)\n", " xpp.append(g*np.sin(u[-1]))\n", " xp.append(xp[-1] + xpp[-1]*dt)\n", " x.append(x[-1] + xp[-1]*dt)\n", " \n", "plt.plot(t,x,t,xp);" ] }, { "cell_type": "markdown", "id": "a7c090ad", "metadata": { "slideshow": { "slide_type": "skip" } }, "source": [ "# Adicionalmente" ] }, { "cell_type": "markdown", "id": "192806b9", "metadata": { "slideshow": { "slide_type": "skip" } }, "source": [ "# Conjuntos\n", "\n", "En conjuntos clásicos los elementos pueden ser o no-ser parte de un conjunto. \n", "\n", "Sea $A$ un conjunto, y $\\chi$ la función de membresia a dicho conjunto:\n", "\n", "$$\\chi_A(x) = \\left\\{\\array{0&x\\in A\\\\1&x\\notin A}\\right\\}$$\n", "\n", "Para un ejemplo de alturas $A= \\{165,166,167,\\ldots\\}$\n", "\n", "## Cardinalidad\n", "\n", "La cardinalidad de un conjunto $S$ es denotado por $|S|$, y es el numero de elementos del conjunto. Este número también se conoce como el número cardinal. " ] }, { "cell_type": "markdown", "id": "3def755c", "metadata": { "slideshow": { "slide_type": "skip" } }, "source": [ "# Conjunto difuso\n", "\n", "Los conjuntos difusos pueden ser considerados una extensión de los conjuntos clásicos. \n", "\n", "**En lógica difusa un elemento puede ser parcialmente miembro de un conjunto.**\n", "\n", "La función de membresia para un conjunto difuso se representa por $\\mu_A(x)$" ] }, { "cell_type": "markdown", "id": "0c546eba", "metadata": { "slideshow": { "slide_type": "skip" } }, "source": [ "# Operaciones de conjuntos clásicos \n", "\n", "$$A=\\{1,2,3,4,5\\} \\quad B=\\{4,5,6,7,8\\}$$\n", "\n", "\n", "- Union $A \\cup B = \\{x | x \\in A \\;\\text{o}\\; x \\in B \\}$\n", "\n", "$$A\\cup B = \\{1,2,3,4,5,6,7,8\\}$$\n", "\n", "- Intersección $A \\cap B = \\{x | x \\in A \\;\\text{y}\\; x \\in B \\}$\n", "\n", "$$A\\cap B = \\{4,5\\}$$\n", "\n", "- Complemento $A'= \\{x|x\\notin A, x\\in X\\}$\n", "\n", "- Diferencia $A|B = \\{x|x\\in A \\;\\text{y}\\; x\\notin B\\}$" ] }, { "cell_type": "markdown", "id": "433b97be", "metadata": { "slideshow": { "slide_type": "skip" } }, "source": [ "# Operaciones de conjuntos difusos\n", "\n", "- Union (máximo)\n", "\n", "$$\\mu_{\\tilde{A}\\cup\\tilde{B}} = \\mu_{\\tilde{A}}\\cup\\mu_{\\tilde{B}} \\quad y \\in u$$" ] }, { "cell_type": "code", "execution_count": 19, "id": "4b4dc3d3", "metadata": { "slideshow": { "slide_type": "skip" } }, "outputs": [], "source": [ "%matplotlib inline" ] }, { "cell_type": "code", "execution_count": 20, "id": "1db35e6a", "metadata": { "slideshow": { "slide_type": "skip" } }, "outputs": [], "source": [ "import tkinter\n", "import matplotlib\n", "import matplotlib.pyplot as plt\n", "# matplotlib.use('TkAgg')" ] }, { "cell_type": "code", "execution_count": 21, "id": "4de645be", "metadata": { "slideshow": { "slide_type": "skip" } }, "outputs": [], "source": [ "union = ctrl.Antecedent(np.arange(0, 10.05, 0.05), 'Universe')\n", "MFA = fuzz.trapmf(union.universe, [0, 4, 6, 10])\n", "MFB = fuzz.trimf(union.universe, [6, 8, 10])\n", "union['A'] = MFA\n", "union['B'] = MFB\n", "_,union['A∪B'] = fuzz.fuzzymath.fuzzy_or(union.universe,MFA,union.universe,MFB)\n", "union.view()\n", "\n", "# La función .view() necesita instalar un backend que permita graficar\n", "# \n", "# pip install pyqt5\n", "#\n", "# https://stackoverflow.com/questions/56656777/userwarning-matplotlib-is-currently-using-agg-which-is-a-non-gui-backend-so" ] }, { "cell_type": "markdown", "id": "42bd28e3", "metadata": { "slideshow": { "slide_type": "skip" } }, "source": [ "# Operaciones de conjuntos difusos\n", "\n", "- Intersección (mínimo)\n", "\n", "$$\\mu_{\\tilde{A}\\cap\\tilde{B}} = \\mu_{\\tilde{A}}\\cap\\mu_{\\tilde{B}} \\quad y \\in u$$" ] }, { "cell_type": "code", "execution_count": 22, "id": "fc19950c", "metadata": { "slideshow": { "slide_type": "skip" } }, "outputs": [], "source": [ "interseccion = ctrl.Antecedent(np.arange(0, 10.05, 0.05), 'Universe')\n", "interseccion['A'] = MFA\n", "interseccion['B'] = MFB\n", "_,interseccion['A∩B'] = fuzz.fuzzymath.fuzzy_and(interseccion.universe,MFA,interseccion.universe,MFB)\n", "interseccion.view()" ] }, { "cell_type": "markdown", "id": "a0bf07aa", "metadata": { "slideshow": { "slide_type": "skip" } }, "source": [ "# Operaciones de conjuntos difusos\n", "\n", "- Complemento \n", "\n", "$$\\bar{\\mu_{\\tilde{A}}} = 1-\\mu_{\\tilde{A}} \\quad y \\in u$$" ] }, { "cell_type": "code", "execution_count": 23, "id": "25973e6d", "metadata": { "slideshow": { "slide_type": "skip" } }, "outputs": [], "source": [ "complemento = ctrl.Antecedent(np.arange(0, 10.05, 0.05), 'Universe')\n", "complemento['A'] = MFA\n", "complemento[\"A'\"] = fuzz.fuzzymath.fuzzy_not(MFA)\n", "complemento.view()" ] }, { "cell_type": "markdown", "id": "ca2effab", "metadata": { "slideshow": { "slide_type": "skip" } }, "source": [ "# Operaciones de conjuntos difusos\n", "\n", "- Diferencia \n", "\n", "$$\\mu_{\\tilde{A}|\\tilde{B}} = \\mu_{\\tilde{A}}\\cap\\bar{\\mu_{\\tilde{B}}} \\quad y \\in u$$" ] }, { "cell_type": "code", "execution_count": 24, "id": "8c0f489d", "metadata": { "slideshow": { "slide_type": "skip" } }, "outputs": [], "source": [ "diferencia = ctrl.Antecedent(np.arange(0, 10.05, 0.05), 'Universe')\n", "diferencia['A'] = MFA\n", "diferencia['B'] = MFB\n", "_,diferencia['A | B'] = fuzz.fuzzymath.fuzzy_and(diferencia.universe,MFA,diferencia.universe,fuzz.fuzzymath.fuzzy_not(MFB))\n", "diferencia.view()" ] }, { "cell_type": "markdown", "id": "dea953e8", "metadata": { "slideshow": { "slide_type": "skip" } }, "source": [ "# Propiedades de los conjuntos\n", "\n", "- Commutatividad\n", "\n", "$$A\\cup B = B\\cup A \\qquad A\\cap B = B\\cap A$$\n", "\n", "- Asociatividad\n", "\n", "$$A\\cup (B\\cup C) = (A\\cup B)\\cup C \\qquad A\\cap (B\\cap C) = (A\\cap B)\\cap C$$\n", "\n", "- Distributividad\n", "\n", "$$A\\cup (B\\cap C) = (A\\cup B)\\cap (A \\cup C) \\qquad A\\cap (B\\cup C) = (A\\cap B)\\cup (A \\cap C)$$\n", "\n", "- Idempotencia\n", "\n", "$$A\\cup A = A \\qquad A\\cap A = A$$\n", "\n", "- Identidad\n", "\n", "$$A\\cup 0 = A \\qquad A\\cap 0 = 0 \\qquad A\\cap X =A \\qquad A\\cup X = X$$\n", "\n", "- Transitividad\n", "\n", "$$\\text{si } A \\subseteq B \\;\\text{y}\\; B\\subseteq C \\;\\text{, entonces}\\; A \\subseteq C$$\n", "\n", "- Involución\n", "- Teorema de Morgan" ] }, { "cell_type": "markdown", "id": "1da1729f", "metadata": { "slideshow": { "slide_type": "skip" } }, "source": [ "# Composición de relaciones difusas\n", "\n", "$$T = R \\textbf{ o } S $$\n", "\n", "Donde $R$ es la relación de universos $X$ y $Y$ y $S$ es la relación de universos $Y$ y $Z$, luego $T$ es la relación de universos $X$ y $Z$.\n", "\n", "Dos tipo de composiciones existen:\n", "\n", "- Composición MAX-MIN :\n", "\n", "$$\\mu_{R \\textbf{ o } S}= \\max_{y\\in Y}\\left[\\min\\left(\\mu_R(x,y),\\mu_S(y,z)\\right)\\right]$$\n", "\n", "- Composición MAX-Producto : \n", "\n", "$$\\mu_{R \\textbf{ o } S}= \\max_{y\\in Y}\\left[\\mu_R(x,y)\\cdot\\mu_S(y,z)\\right]$$" ] }, { "cell_type": "code", "execution_count": 25, "id": "3274ece6", "metadata": { "slideshow": { "slide_type": "skip" } }, "outputs": [], "source": [ "def MaxMinCompo(R,S):\n", " T = np.zeros([R.shape[0],S.shape[1]])\n", " for xi in range(R.shape[0]):\n", " for zi in range(S.shape[1]):\n", " T[xi,zi] = np.max(np.minimum(R[xi,:],S[:,zi].T))\n", " return T\n", "\n", "def MaxProdCompo(R,S):\n", " T = np.zeros([R.shape[0],S.shape[1]])\n", " for xi in range(R.shape[0]):\n", " for zi in range(S.shape[1]):\n", " T[xi,zi] = np.max(np.multiply(R[xi,:],S[:,zi].T))\n", " return T" ] }, { "cell_type": "code", "execution_count": 26, "id": "2382676a", "metadata": { "slideshow": { "slide_type": "skip" } }, "outputs": [], "source": [ "print(\"Ejemplo de Composición\\n\")\n", "\n", "R = np.matrix([[0.5,0.1],[0.2,0.9],[0.8,0.6]])\n", "S = np.matrix([[0.6,0.4,0.7],[0.5,0.8,0.9]])\n", "print(\"R =\\n\",R)\n", "print(\"S =\\n\",S)\n", "T = MaxMinCompo(R,S)\n", "print(\"T = {max-min}\\n\",T)\n", "T = MaxProdCompo(R,S)\n", "print(\"T = {max-prod}\\n\",T)" ] }, { "cell_type": "code", "execution_count": 27, "id": "9241b49e", "metadata": { "slideshow": { "slide_type": "skip" } }, "outputs": [], "source": [ "print(\"Ejemplo de Composición\\n\")\n", "\n", "R = np.matrix([[0.3,0.9,0.2],[0.6,0.5,0]])\n", "S = np.matrix([[1,0.6],[0.4,0.1],[0.7,0]])\n", "print(\"R =\\n\",R)\n", "print(\"S =\\n\",S)\n", "T = MaxMinCompo(R,S)\n", "print(\"T = {max-min}\\n\",T)\n", "T = MaxProdCompo(R,S)\n", "print(\"T = {max-prod}\\n\",T)" ] }, { "cell_type": "markdown", "id": "d8bbb257", "metadata": { "slideshow": { "slide_type": "skip" } }, "source": [ "# Propiedades de las relaciones \n", "\n", "- **Reflexividad**: Cuando una relación es reflexiva, cada nodo en el grafo genera una conexión con sigo mismo.\n", "\n", "$$R = \\left\\{(x,x)\\right\\} \\qquad\\text{ , } x\\in R$$\n", "\n", "- **Simetria**: Una relación es simétrica cuando en le grafo, para cada conexión del nodo $i$ hacia el nodo $j$, hay una conexión apuntando en la direción opuesta, es decir, del nodo $j$ al nodo $i$. \n", "\n", "$$(x,y)\\in R \\qquad\\to\\qquad (y,x)\\in R$$\n", "\n", "- **Transitividad**: Una relación es transitiva cuando para cada par de conexiones en el grafo, una apuntando del nodo $i$ al nodo $j$ y otra del nodo $j$ al nodo $k$, existe tambien una conexión del nodo $i$ al nodo $k$." ] } ], "metadata": { "celltoolbar": "Slideshow", "kernelspec": { "display_name": "Python 3 (ipykernel)", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.11.3" }, "title": "Control difuso", "week": 11 }, "nbformat": 4, "nbformat_minor": 5 }