1. Fuzzy Control Design of Embedded Systems
Using 68HC12/11 Microcontrollers
Chapter 14
Richard E. Haskell, Prentice Hall, 2000

2. Fuzzy Control Fuzzy Sets Design of a Fuzzy Controller
Fuzzification of inputs: get_inputs()
Fuzzy Inference
Processing the Rules: find_rules()
Centroid Defuzzification
Output Defuzzification: find_output()
A Fuzzy Control Example --
Floating Ping-Pong Ball

3. Fuzzy Logic

4. Fuzzy Sets
Is this sentence true or false?

5. The Barber Paradox Sign on a Barber Shop:
“I shave all who do not shave themselves.”
Who shaves the barber?

11. Fuzzy Control Fuzzy Sets Design of a Fuzzy Controller
Fuzzification of inputs: get_inputs()
Fuzzy Inference
Processing the Rules: find_rules()
Centroid Defuzzification
Output Defuzzification: find_output()
A Fuzzy Control Example --
Floating Ping-Pong Ball

13. A Fuzzy Controller

15. Fuzzy Control Fuzzy Sets Design of a Fuzzy Controller
Fuzzification of inputs: get_inputs()
Fuzzy Inference
Processing the Rules: find_rules()
Centroid Defuzzification
Output Defuzzification: find_output()
A Fuzzy Control Example --
Floating Ping-Pong Ball

17. The 68HC12 MEM Instruction

19. The 68HC12 MEM Instruction

26. Fuzzy Control Fuzzy Sets Design of a Fuzzy Controller
Fuzzification of inputs: get_inputs()
Fuzzy Inference
Processing the Rules: find_rules()
Centroid Defuzzification
Output Defuzzification: find_output()
A Fuzzy Control Example --
Floating Ping-Pong Ball

27. Fuzzy Inference

30. Fuzzy Control Fuzzy Sets Design of a Fuzzy Controller
Fuzzification of inputs: get_inputs()
Fuzzy Inference
Processing the Rules: find_rules()
Centroid Defuzzification
Output Defuzzification: find_output()
A Fuzzy Control Example --
Floating Ping-Pong Ball

33. The 68HC12 REV Instruction

34. Figure 14.19 68HC12 code for WHYP word
* Fire all rules *
firerules (
in.out.array rules -- )
FIRERULES
LDD 2,X D -> rules
LDY 2,X Y ->
in.out.array
PSHX
TFR D,X X -> rules
INX
INX X -> Out0
addr
PSHY
save Y
LDY 2,X Y -> Out0, X -> 1st rule
LDAB 0,Y B = #out.memb.fncs
FR0
CLR 1,+Y clear Out array
DBNE B, FR0
PULY Y -> in.out.array
LDAA #$FF
REV
rule evaluation
PULX
RTS
Figure HC12 code for WHYP word
firerules ( in.out.array rules-- )

36. Listing 14.2 Fuzzy Control in WHYP -- Making rules
\ Fuzzy Logic Control Using WHYP12
File: FUZZY12.WHP
\ ********** Defining word for making rules ********** :
make.rules ( +++ )
CREATE
HERE 0 , \ leave room for #rules
0 , \ leave room for ^Out0
DOES> ( pfa -- ) ;
HEX
: C: ( pfa ix -- pfa )
C, FE C, ;
: C; ( pfa ix -- pfa )
C, FE C,
1 OVER +! ; \ inc #rules
: C ( pfa ix -- pfa )
C, FF C ,
1 OVER +! ; \ inc #rules
DECIMAL
: end.rules ( pfa -- )
DROP ; \ drop addr of #rules

37. Fuzzy Control Fuzzy Sets Design of a Fuzzy Controller
Fuzzification of inputs: get_inputs()
Fuzzy Inference
Processing the Rules: find_rules()
Centroid Defuzzification
Output Defuzzification: find_output()
A Fuzzy Control Example --
Floating Ping-Pong Ball

45. Fuzzy Control Fuzzy Sets Design of a Fuzzy Controller
Fuzzification of inputs: get_inputs()
Fuzzy Inference
Processing the Rules: find_rules()
Centroid Defuzzification
Output Defuzzification: find_output()
A Fuzzy Control Example --
Floating Ping-Pong Ball

48. The 68HC12 REV Instruction

50. Fuzzy Control Fuzzy Sets Design of a Fuzzy Controller
Fuzzification of inputs: get_inputs()
Fuzzy Inference
Processing the Rules: find_rules()
Centroid Defuzzification
Output Defuzzification: find_output()
A Fuzzy Control Example --
Floating Ping-Pong Ball

55. This is WRONG : in.out.array ( -- addr ) ball_position 2+ @ ;
\ ******************************************************
\ Define output
\ ******************************************************
5 CONSTANT #out.member.fncs \ No. of output membership functions
CREATE cent \ output centroid array
5 C, 65 C, 128 C, 175 C, 200 C,
\ |neg_high|neg_low|zero_m|pos_low|pos_high|
10 CONSTANT Out0
\ Power percent change to motor
11 CONSTANT neg_high
12 CONSTANT neg_low
13 CONSTANT zero_m
14 CONSTANT pos_low
15 CONSTANT pos_high
\ 2- VALLOT \ input 1 weight array
\ VALLOT \ input 1 weight array
\ #out.member.fncs 1+ VALLOT \ controller output weights
: in.out.array ( -- addr )
ball_position ;

56. The 68HC12 REV Instruction