Abstract
A fuzzy logic controller defines a control law in the form of a static nonlinear transfer element (TE) due to the nonlinear nature of the computations performed by an FLC. However, the control law of an FLC is not represented in an analytic form, but by a set of fuzzy rules. The antecedent of a fuzzy rule (if-part) describes a fuzzy region in the state space. Thus one effectively partitions an otherwise continuous state space by covering it with a finite number of fuzzy regions and, consequently, fuzzy rules. The consequent of a fuzzy rule (then-part) specifies a control law applicable within the fuzzy region from the if-part of the same fuzzy rule. During control with an FLC a point in the state space is affected to a different extent by the control laws associated with all the fuzzy regions to which this particular point in the state space belongs. By using the operations of aggregation and defuzzification, a specific control law for this particular point is determined. As the point moves in the state space, the control law changes smoothly. This implies that despite the quantization of the state space into a finite number of fuzzy regions, an FLC yields a smooth nonlinear control law.
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