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1992 {\fs18 Universidad}{\fs18 de}{\fs18 Murcia}{\up006 \f20 \fs12 1}{\fs18
y}{\fs18 Universidad}{\fs18 de}{\fs18 Almera}{\up006 \f20 \fs12 2 }
\par}{\phpg\posx2577\pvpg\posy3241\absw6622\absh2821 \sl-374 \par\f10 \fs25 \cf0
Introduccin \par
}
{\phpg\posx1701\pvpg\posy6119\absw706\absh231 \f10 \fs25 \cf0 \f10 \fs25 \cf0 14

.1 \par
}
{\phpg\posx1701\pvpg\posy6640\absw7562\absh5541 \f10 \fs18 \cf0 \fi297 \f10 \fs1
8 \cf0 En este captulo se estudia el control de procesos como una tare
a intensiva en
\par}{\phpg\posx1701\pvpg\posy6640\absw7562\absh5541 \sl-239 \f10 \fs18 \cf0 con
ocimiento. El captulo se inicia con una introduccin al problema y una revisin
\par}{\phpg\posx1701\pvpg\posy6640\absw7562\absh5541 \sl-239 \f10 \fs18 \cf0 de
conceptos bsicos en control. Le sigue un planteamiento en tres niveles: a) Nivel
\par}{\phpg\posx1701\pvpg\posy6640\absw7562\absh5541 \sl-237 \f10 \fs18 \cf0 Met
odolgico; b) Nivel de Tcnicas y c) Nivel de Diseo.
\par}{\phpg\posx1701\pvpg\posy6640\absw7562\absh5541 \sl-239 \f10 \fs18 \cf0 \fi
297 En el primer nivel, el control se considera como una tarea genrica, en el sen
tido
\par}{\phpg\posx1701\pvpg\posy6640\absw7562\absh5541 \sl-237 \f10 \fs18 \cf0 de
la Ingeniera del Conocimiento, y se describen algunas propuestas de mtodos de
\par}{\phpg\posx1701\pvpg\posy6640\absw7562\absh5541 \sl-239 \f10 \fs18 \cf0 res
olucin de problemas para tareas de control, formuladas en el marco de la metodo\par}{\phpg\posx1701\pvpg\posy6640\absw7562\absh5541 \sl-239 \f10 \fs18 \cf0 loga
CommonKADS. Se trata de mtodos generales, ciertamente muy simples, que
\par}{\phpg\posx1701\pvpg\posy6640\absw7562\absh5541 \sl-237 \f10 \fs18 \cf0 no
permiten abordar con suficiente profundidad el desarrollo de sistemas inteligent
es
\par}{\phpg\posx1701\pvpg\posy6640\absw7562\absh5541 \sl-239 \f10 \fs18 \cf0 par
a aplicaciones prcticas en control.
\par}{\phpg\posx1701\pvpg\posy6640\absw7562\absh5541 \sl-239 \f10 \fs18 \cf0 \fi
297 Por ello, el segundo nivel se dedica a tcnicas concretas, que en u
n marco me\par}{\phpg\posx1701\pvpg\posy6640\absw7562\absh5541 \sl-237 \f10 \fs18 \cf0 tod
olgico corresponderan al nivel de inferencias. Entre las tcnicas inteligentes que
\par}{\phpg\posx1701\pvpg\posy6640\absw7562\absh5541 \sl-239 \f10 \fs18 \cf0 se
han aplicado con xito a problemas de control, tanto procedentes del paradigma
\par}{\phpg\posx1701\pvpg\posy6640\absw7562\absh5541 \sl-237 \f10 \fs18 \cf0 sim
blico como del paradigma conexionista, se encuentran: las redes neuronales, los
\par}{\phpg\posx1701\pvpg\posy6640\absw7562\absh5541 \sl-239 \f10 \fs18 \cf0 mod
elos de razonamiento cualitativo, las redes de Petri y las tcnicas borrosas.
\par}{\phpg\posx1701\pvpg\posy6640\absw7562\absh5541 \sl-239 \f10 \fs18 \cf0 \fi
297 De ellas, las tcnicas de control borroso han tenido un altsimo impacto en apli
ca\par}{\phpg\posx1701\pvpg\posy6640\absw7562\absh5541 \sl-237 \f10 \fs18 \cf0 cio
nes prcticas, y hoy en da se pueden encontrar implantadas, tanto en soluciones
\par}{\phpg\posx1701\pvpg\posy6640\absw7562\absh5541 \sl-239 \f10 \fs18 \cf0 par
a el mundo industrial como en dispositivos de electrnica domstica. Por este mo\par}{\phpg\posx1701\pvpg\posy6640\absw7562\absh5541 \sl-239 \f10 \fs18 \cf0 tiv
o, en este captulo se aborda en profundidad slo esta tcnica. Cabe adelantar que
\par}{\phpg\posx1701\pvpg\posy6640\absw7562\absh5541 \sl-237 \f10 \fs18 \cf0 las
funciones de control borroso se comportan como aproximadores universal
es, al
\par}{\phpg\posx1701\pvpg\posy6640\absw7562\absh5541 \sl-239 \f10 \fs18 \cf0 igu
al que las redes neuronales, por lo que, en teora al menos, es posible aproximar
\par}{\phpg\posx1701\pvpg\posy6640\absw7562\absh5541 \sl-237 \f10 \fs18 \cf0 med
iante ellas cualquier funcin de control convencional. La gran diferencia respecto
\par}{\phpg\posx1701\pvpg\posy6640\absw7562\absh5541 \sl-239 \f10 \fs18 \cf0 al
control convencional es la posibilidad de definir estas funciones de control med
iante
\par}{\phpg\posx1701\pvpg\posy6640\absw7562\absh5541 \sl-239 \f10 \fs18 \cf0 con
juntos de reglas de produccin, lo que permite modelar de forma relativame
nte
\par}{\phpg\posx1701\pvpg\posy6640\absw7562\absh5541 \sl-237 \f10 \fs18 \cf0 sim

ple el conocimiento de los expertos en supervisin y control de procesos, algo par

\par}{\phpg\posx1701\pvpg\posy6640\absw7562\absh5541 \sl-239 \f10 \fs18 \cf0 tic
ularmente til en aplicaciones complejas. Se obviarn los aspectos relacionados con
\par
}
\sect\sectd\pard\plain
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145007ffd9
}}\par}{\phpg\posx1701\pvpg\posy1429\absw596\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Control \par
}
{\phpg\posx1701\pvpg\posy2047\absw7678\absh4340 \f10 \fs18 \cf0 \f10 \fs18 \cf0
el aprendizaje de reglas de control fuzzy, que en gran medida se corresp
onden con
\par}{\phpg\posx1701\pvpg\posy2047\absw7678\absh4340 \sl-237 \f10 \fs18 \cf0 las
tcnicas de aprendizaje en redes neuronales. Llegados a este punto, se tendr una
\par}{\phpg\posx1701\pvpg\posy2047\absw7678\absh4340 \sl-239 \f10 \fs18 \cf0 vis
in bastante clara de los recursos conceptuales y formales de los que se dispone h
oy
\par}{\phpg\posx1701\pvpg\posy2047\absw7678\absh4340 \sl-239 \f10 \fs18 \cf0 en
da para resolver de forma inteligente problemas de control complejos.
\par}{\phpg\posx1701\pvpg\posy2047\absw7678\absh4340 \sl-287 \f10 \fs18 \cf0 \fi
297 Pero, para llegar a la implementacin de una aplicacin prctica, falta abordar un
\par}{\phpg\posx1701\pvpg\posy2047\absw7678\absh4340 \sl-239 \f10 \fs18 \cf0 ter
cer nivel: el diseo de sistemas de control inteligente. En este tercer nivel se e
stu-

\par}{\phpg\posx1701\pvpg\posy2047\absw7678\absh4340 \sl-239 \f10 \fs18 \cf0 dia

rn arquitecturas y herramientas que soportan y facilitan esta ltima fase del desa\par}{\phpg\posx1701\pvpg\posy2047\absw7678\absh4340 \sl-237 \f10 \fs18 \cf0 rro
llo. Existen abundantes herramientas para el diseo e implementacin de sistemas
\par}{\phpg\posx1701\pvpg\posy2047\absw7678\absh4340 \sl-239 \f10 \fs18 \cf0 de
control borroso, incluyendo algunas que facilitan las implementaciones hardware.
\par}{\phpg\posx1701\pvpg\posy2047\absw7678\absh4340 \sl-237 \f10 \fs18 \cf0 Por
su generalidad, facilidad de uso y disponibilidad, se elegir como soporte bsico
\par}{\phpg\posx1701\pvpg\posy2047\absw7678\absh4340 \sl-239 \f10 \fs18 \cf0 MAT
LAB y sus libreras Simulink y Fuzzy Toolbox.
\par}{\phpg\posx1701\pvpg\posy2047\absw7678\absh4340 \sl-290 \f10 \fs18 \cf0 \fi
297 Sin embargo, la mayora de las herramientas para control borroso no tien
en en
\par}{\phpg\posx1701\pvpg\posy2047\absw7678\absh4340 \sl-237 \f10 \fs18 \cf0 cue
nta dos aspectos que son esenciales en muchas aplicaciones del control inteligen
te,
\par}{\phpg\posx1701\pvpg\posy2047\absw7678\absh4340 \sl-239 \f10 \fs18 \cf0 esp
ecialmente en aquellas dirigidas al mundo industrial: el razonamiento oportunist
a
\par}{\phpg\posx1701\pvpg\posy2047\absw7678\absh4340 \sl-239 \f10 \fs18 \cf0 y e
l razonamiento en tiempo real. La solucin consiste en el uso de arquitecturas sof
t\par}{\phpg\posx1701\pvpg\posy2047\absw7678\absh4340 \sl-237 \f10 \fs18 \cf0 war
e que soporten estas caractersticas. En particular, se har una introduccin a las
\par}{\phpg\posx1701\pvpg\posy2047\absw7678\absh4340 \sl-239 \f10 \fs18 \cf0 arq
uitecturas de pizarra, como una solucin histrica al problema del razonamiento
\par}{\phpg\posx1701\pvpg\posy2047\absw7678\absh4340 \sl-239 \f10 \fs18 \cf0 rea
ctivo y oportunista, y una introduccin a las herramientas para desarrollo de sist
e\par}{\phpg\posx1701\pvpg\posy2047\absw7678\absh4340 \sl-237 \f10 \fs18 \cf0 mas
en tiempo real basados en conocimiento. Otras soluciones al problema del contro
l
\par}{\phpg\posx1701\pvpg\posy2047\absw7678\absh4340 \sl-239 \f10 \fs18 \cf0 int
eligente, como los sistemas multiagentes, quedan fuera del alcance del captulo. \
par
}
{\phpg\posx1701\pvpg\posy7557\absw706\absh231 \f10 \fs25 \cf0 \f10 \fs25 \cf0 14
.2 \par
}
{\phpg\posx2576\pvpg\posy7557\absw3643\absh231 \f10 \fs25 \cf0 \f10 \fs25 \cf0 C
onceptos fundamentales \par
}
{\phpg\posx1701\pvpg\posy8171\absw7555\absh806 \f10 \fs18 \cf0 \fi297 \f10 \fs18
\cf0 La ingeniera de los sistemas de control tiene como objeto el estudio, la el
eccin y el
\par}{\phpg\posx1701\pvpg\posy8171\absw7555\absh806 \sl-239 \f10 \fs18 \cf0 orde
namiento de los elementos que conforman un sistema de control. En esta seccin
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\par}{\phpg\posx1701\pvpg\posy8171\absw7555\absh806 \sl-237 \f10 \fs18 \cf0 cont
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{\phpg\posx1701\pvpg\posy9687\absw754\absh192 \f10 \fs21 \cf0 \f10 \fs21 \cf0 14
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{\phpg\posx2656\pvpg\posy9687\absw2400\absh192 \f10 \fs21 \cf0 \f10 \fs21 \cf0 P
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}
{\phpg\posx1701\pvpg\posy10178\absw7687\absh2811 \f10 \fs18 \cf0 \fi297 \f10 \fs
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\par}{\phpg\posx1701\pvpg\posy10178\absw7687\absh2811 \sl-239 \f10 \fs18 \cf0 pa
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\par}{\phpg\posx1701\pvpg\posy10178\absw7687\absh2811 \sl-290 \f10 \fs18 \cf0 \f
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n
\par}{\phpg\posx1701\pvpg\posy10178\absw7687\absh2811 \sl-239 \f10 \fs18 \cf0 si
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\par}{\phpg\posx1701\pvpg\posy10178\absw7687\absh2811 \sl-237 \f10 \fs18 \cf0 un
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\par}{\phpg\posx1701\pvpg\posy10178\absw7687\absh2811 \sl-239 \f10 \fs18 \cf0 de
entrada.
\par}{\phpg\posx1701\pvpg\posy10178\absw7687\absh2811 \sl-251 \par\f10 \fs18 \cf
0 \fi3535 590 \par
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}}\par}{\phpg\posx7044\pvpg\posy1429\absw2025\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Conceptos fundamentales \par
}
{\phpg\posx1701\pvpg\posy2019\absw754\absh192 \f10 \fs21 \cf0 \f10 \fs21 \cf0 14
.2.2 \par
}
{\phpg\posx2654\pvpg\posy2019\absw6351\absh192 \f10 \fs21 \cf0 \f10 \fs21 \cf0 C
omponentes fundamentales de un sistema de control \par
}
{\phpg\posx1701\pvpg\posy2414\absw7621\absh6668 \f10 \fs17 \cf0 \fi297 \f10 \fs1
7 \cf0 En cualquier tipo de sistema de control se pueden encontrar los siguiente
s elemen\par}{\phpg\posx1701\pvpg\posy2414\absw7621\absh6668 \sl-239 \f10 \fs17 \cf0 tos
fundamentales:
\par}{\phpg\posx1701\pvpg\posy2414\absw7621\absh6668 \sl-199 \par\f10 \fs17 \cf0
\fi297 {\f0\fs23 \bullet }{\f40 } La planta es el proceso o sistema sobre el q
ue se pretende actuar para establecer
\par}{\phpg\posx1701\pvpg\posy2414\absw7621\absh6668 \sl-237 \f10 \fs17 \cf0 \fi
496 el control.
\par}{\phpg\posx1701\pvpg\posy2414\absw7621\absh6668 \sl-199 \par\f10 \fs17 \cf0
\fi297 {\f0\fs23 \bullet }{\f40 } El controlador gestiona el valor de la salid
a de control a partir de la entrada
\par}{\phpg\posx1701\pvpg\posy2414\absw7621\absh6668 \sl-239 \f10 \fs17 \cf0 \fi
496 de referencia.
\par}{\phpg\posx1701\pvpg\posy2414\absw7621\absh6668 \sl-199 \par\f10 \fs17 \cf0

\fi297 {\f0\fs23 \bullet }{\f40 } La entrada de referencia (o entrada de mand

o) es la seal externa aplicada
\par}{\phpg\posx1701\pvpg\posy2414\absw7621\absh6668 \sl-239 \f10 \fs17 \cf0 \fi
496 a un controlador como un parmetro de ajuste.
\par}{\phpg\posx1701\pvpg\posy2414\absw7621\absh6668 \sl-199 \par\f10 \fs17 \cf0
\fi297 {\f0\fs23 \bullet }{\f40 } La seal de control es la variable, man
ipulada por el sistema de control,
\par}{\phpg\posx1701\pvpg\posy2414\absw7621\absh6668 \sl-237 \f10 \fs17 \cf0 \fi
496 aplicada a la planta.
\par}{\phpg\posx1701\pvpg\posy2414\absw7621\absh6668 \sl-199 \par\f10 \fs17 \cf0
\fi297 {\f0\fs23 \bullet }{\f40 } La salida controlada es la variable de
salida de la planta que est siendo
\par}{\phpg\posx1701\pvpg\posy2414\absw7621\absh6668 \sl-239 \f10 \fs17 \cf0 \fi
496 controlada.
\par}{\phpg\posx1701\pvpg\posy2414\absw7621\absh6668 \sl-278 \par\f10 \fs17 \cf0
{\fs21 14.2.3}{\fs21
Tipos}{\fs21 de}{\fs21 sistemas}{\fs21 de}{\fs21 c
ontrol }
\par}{\phpg\posx1701\pvpg\posy2414\absw7621\absh6668 \sl-184 \par\f10 \fs17 \cf0
\fi297 Los sistemas de control se clasifican habitualmente segn su estructu
ra. As, se
\par}{\phpg\posx1701\pvpg\posy2414\absw7621\absh6668 \sl-237 \f10 \fs17 \cf0 est
ablecen dos grandes categoras:
\par}{\phpg\posx1701\pvpg\posy2414\absw7621\absh6668 \sl-199 \par\f10 \fs17 \cf0
\fi297 {\f0\fs23 \bullet }{\f40 } Sistemas de control de lazo abierto.
\par}{\phpg\posx1701\pvpg\posy2414\absw7621\absh6668 \sl-199 \par\f10 \fs17 \cf0
\fi297 {\f0\fs23 \bullet }{\f40 } Sistemas de control de lazo cerrado.
\par}{\phpg\posx1701\pvpg\posy2414\absw7621\absh6668 \sl-259 \par\f10 \fs17 \cf0
14.2.3.1
Sistemas de control de lazo abierto
\par}{\phpg\posx1701\pvpg\posy2414\absw7621\absh6668 \sl-183 \par\f10 \fs17 \cf0
\fi297 Los sistemas de control ms sencillos que existen son los denominados cont
rola\par}{\phpg\posx1701\pvpg\posy2414\absw7621\absh6668 \sl-239 \f10 \fs17 \cf0 dor
es de lazo abierto. En ellos, la accin del controlador es independiente de la sal
ida
\par}{\phpg\posx1701\pvpg\posy2414\absw7621\absh6668 \sl-239 \f10 \fs17 \cf0 con
trolada de la planta. As, los sistemas de control de lazo abierto estn compuestos
\par}{\phpg\posx1701\pvpg\posy2414\absw7621\absh6668 \sl-237 \f10 \fs17 \cf0 nica
mente por el controlador, la planta, la entrada de referencia al controlador, la
\par}{\phpg\posx1701\pvpg\posy2414\absw7621\absh6668 \sl-239 \f10 \fs17 \cf0 seal
de control de la planta y la salida controlada (vase la Figura 14.1). \par
}
{\phpg\posx3602\pvpg\posy11234\absw3572\absh160 \f10 \fs17 \cf0 \f10 \fs17 \cf0
Figura 14.1: Controlador de lazo abierto. \par
}
{\phpg\posx1701\pvpg\posy12141\absw7576\absh1044 \f10 \fs17 \cf0 \fi297 \f10 \fs
17 \cf0 En estos sistemas, para que el controlador no acte a ciegas, s
e requiere una
\par}{\phpg\posx1701\pvpg\posy12141\absw7576\absh1044 \sl-237 \f10 \fs17 \cf0 ca
libracin muy precisa de la entrada de referencia, ya que no es posibl
e (de for\par}{\phpg\posx1701\pvpg\posy12141\absw7576\absh1044 \sl-239 \f10 \fs17 \cf0 ma
automtica) la correccin dinmica de la seal controlada. Sin esta calibracin,
\par}{\phpg\posx1701\pvpg\posy12141\absw7576\absh1044 \sl-252 \par\f10 \fs17 \cf
0 \fi3535 591 \par
}
\sect\sectd\pard\plain
\pgwsxn10771\pghsxn14740
{\phpg\posx0\pvpg\posy0\absw10780\absh14740 \overlay
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}}\par}{\phpg\posx1701\pvpg\posy1429\absw596\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Control \par
}
{\phpg\posx1701\pvpg\posy2047\absw7482\absh1020 \f10 \fs18 \cf0 \f10 \fs18 \cf0
la salida controlada podra distanciarse considerablemente del valor esperado. Est
os
\par}{\phpg\posx1701\pvpg\posy2047\absw7482\absh1020 \sl-237 \f10 \fs18 \cf0 con
troladores estn presentes en la vida cotidiana. Por ejemplo, las tostadoras tiene
n
\par}{\phpg\posx1701\pvpg\posy2047\absw7482\absh1020 \sl-239 \f10 \fs18 \cf0 un
sistema de control donde la calibracin se establece definiendo la temperatura y e
l
\par}{\phpg\posx1701\pvpg\posy2047\absw7482\absh1020 \sl-239 \f10 \fs18 \cf0 tie
mpo que debe permanecer la tostada. El controlador acta sobre una resistencia,
\par}{\phpg\posx1701\pvpg\posy2047\absw7482\absh1020 \sl-237 \f10 \fs18 \cf0 cal
entando el pan durante el tiempo fijado y la temperatura establecida. \par
}
{\phpg\posx1701\pvpg\posy3602\absw767\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 14
.2.3.2 \par
}
{\phpg\posx2690\pvpg\posy3602\absw3553\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 S
istemas de control de lazo cerrado \par
}
{\phpg\posx1701\pvpg\posy3995\absw7534\absh7472 \f10 \fs18 \cf0 \fi297 \f10 \fs1
8 \cf0 Los sistemas de control de lazo abierto se comportan de forma adecuada en
entor\par}{\phpg\posx1701\pvpg\posy3995\absw7534\absh7472 \sl-239 \f10 \fs18 \cf0 nos
relativamente estables. Sin embargo, cuando existen perturbaciones inesperadas,

\par}{\phpg\posx1701\pvpg\posy3995\absw7534\absh7472 \sl-239 \f10 \fs18 \cf0 un

sistema de control de lazo abierto es, a menudo, bastante ineficaz. Por lo tanto
\par}{\phpg\posx1701\pvpg\posy3995\absw7534\absh7472 \sl-237 \f10 \fs18 \cf0 res
ulta necesario establecer sistemas ms sofisticados.
\par}{\phpg\posx1701\pvpg\posy3995\absw7534\absh7472 \sl-254 \f10 \fs18 \cf0 \fi
297 As, se aplica la idea de la retroalimentacin para ofrecer mayor cap
acidad de
\par}{\phpg\posx1701\pvpg\posy3995\absw7534\absh7472 \sl-239 \f10 \fs18 \cf0 act
uacin a los controladores. Los controladores que utilizan las propiedades
de la
\par}{\phpg\posx1701\pvpg\posy3995\absw7534\absh7472 \sl-239 \f10 \fs18 \cf0 ret
roalimentacin de sistemas se denominan controladores de lazo cerrado. La retro\par}{\phpg\posx1701\pvpg\posy3995\absw7534\absh7472 \sl-237 \f10 \fs18 \cf0 ali
mentacin en estos sistemas es la caracterstica que permite que la salida controlad
a
\par}{\phpg\posx1701\pvpg\posy3995\absw7534\absh7472 \sl-239 \f10 \fs18 \cf0 se
compare con la entrada de referencia, de forma que el controlador acte de forma
\par}{\phpg\posx1701\pvpg\posy3995\absw7534\absh7472 \sl-237 \f10 \fs18 \cf0 apr
opiada considerando la diferencia producida entre ambos (error). Es decir, el co
n\par}{\phpg\posx1701\pvpg\posy3995\absw7534\absh7472 \sl-239 \f10 \fs18 \cf0 tro
l en los sistemas de lazo cerrado depende tanto de la entrada como del valor de
\par}{\phpg\posx1701\pvpg\posy3995\absw7534\absh7472 \sl-239 \f10 \fs18 \cf0 sal
ida, siendo su objetivo la minimizacin del error.
\par}{\phpg\posx1701\pvpg\posy3995\absw7534\absh7472 \sl-254 \f10 \fs18 \cf0 \fi
297 Los elementos fundamentales de un controlador de lazo cerrado son
(vase la
\par}{\phpg\posx1701\pvpg\posy3995\absw7534\absh7472 \sl-237 \f10 \fs18 \cf0 Fig
ura 14.2): la entrada de referencia, la seal de error, el comparador, el controla
dor,
\par}{\phpg\posx1701\pvpg\posy3995\absw7534\absh7472 \sl-239 \f10 \fs18 \cf0 la
seal de control, la planta, la salida controlada, el retroalimentador y la seal de
\par}{\phpg\posx1701\pvpg\posy3995\absw7534\absh7472 \sl-239 \f10 \fs18 \cf0 ret
roalimentacin.
\par}{\phpg\posx1701\pvpg\posy3995\absw7534\absh7472 \sl-248 \par\f10 \fs18 \cf0
\fi297 {\f0\fs23 \bullet }{\f40 } El comparador (o unidad comparadora) es uno
de los componentes fundamen\par}{\phpg\posx1701\pvpg\posy3995\absw7534\absh7472 \sl-239 \f10 \fs18 \cf0 \fi
496 tales que diferencia a un controlador de lazo cerrado de uno de lazo abierto
. El
\par}{\phpg\posx1701\pvpg\posy3995\absw7534\absh7472 \sl-239 \f10 \fs18 \cf0 \fi
496 comparador proporciona una seal de salida (seal de error), que es la desviacin
\par}{\phpg\posx1701\pvpg\posy3995\absw7534\absh7472 \sl-237 \f10 \fs18 \cf0 \fi
496 existente entre la entrada de referencia y la seal retroalimentada. Normalmen
te
\par}{\phpg\posx1701\pvpg\posy3995\absw7534\absh7472 \sl-239 \f10 \fs18 \cf0 \fi
496 por desviacin se entiende la diferencia entre los valores de ambas seales por
\par}{\phpg\posx1701\pvpg\posy3995\absw7534\absh7472 \sl-239 \f10 \fs18 \cf0 \fi
496 cada instante de tiempo.
\par}{\phpg\posx1701\pvpg\posy3995\absw7534\absh7472 \sl-229 \par\f10 \fs18 \cf0
\fi297 {\f0\fs23 \bullet }{\f40 } La entrada de referencia, al igual que en lo
s sistemas de lazo abierto, es una
\par}{\phpg\posx1701\pvpg\posy3995\absw7534\absh7472 \sl-237 \f10 \fs18 \cf0 \fi
496 entrada externa que sirve para establecer el valor esperado de la seal contro
lada,
\par}{\phpg\posx1701\pvpg\posy3995\absw7534\absh7472 \sl-239 \f10 \fs18 \cf0 \fi
496 por lo que tambin se denomina punto de consigna.
\par}{\phpg\posx1701\pvpg\posy3995\absw7534\absh7472 \sl-229 \par\f10 \fs18 \cf0

\fi297 {\f0\fs23 \bullet }{\f40 } La salida controlada es una seal de salida qu

e, a diferencia de los controla\par}{\phpg\posx1701\pvpg\posy3995\absw7534\absh7472 \sl-239 \f10 \fs18 \cf0 \fi
496 dores de lazo abierto, tambin sirve para calibrar el controlador.
\par}{\phpg\posx1701\pvpg\posy3995\absw7534\absh7472 \sl-229 \par\f10 \fs18 \cf0
\fi297 {\f0\fs23 \bullet }{\f40 } El retroalimentador (o unidad de retroa
limentacin) es el conjunto de ele\par}{\phpg\posx1701\pvpg\posy3995\absw7534\absh7472 \sl-239 \f10 \fs18 \cf0 \fi
496 mentos que adquieren la salida controlada y la tratan de forma apropiada par
a
\par}{\phpg\posx1701\pvpg\posy3995\absw7534\absh7472 \sl-237 \f10 \fs18 \cf0 \fi
496 que sea comparada con la entrada de referencia. Se entiende por seal de re\par}{\phpg\posx1701\pvpg\posy3995\absw7534\absh7472 \sl-239 \f10 \fs18 \cf0 \fi
496 troalimentacin la obtenida a la salida del retroalimentador. \par
}
{\phpg\posx5236\pvpg\posy13123\absw359\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 5
92 \par
}
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}}\par}{\phpg\posx7044\pvpg\posy1429\absw2025\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Conceptos fundamentales \par
}
{\phpg\posx3585\pvpg\posy3638\absw3608\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 F
igura 14.2: Controlador de lazo cerrado. \par
}
{\phpg\posx1701\pvpg\posy4315\absw7637\absh1022 \f10 \fs18 \cf0 \fi297 \f10 \fs1
8 \cf0 Los sistemas de lazo cerrado, en comparacin con los de lazo abierto son, a
menudo,
\par}{\phpg\posx1701\pvpg\posy4315\absw7637\absh1022 \sl-239 \f10 \fs18 \cf0 ms e
xactos y menos sensibles a las perturbaciones del exterior. Sin embargo, hay que
\par}{\phpg\posx1701\pvpg\posy4315\absw7637\absh1022 \sl-239 \f10 \fs18 \cf0 ten
er en cuenta que estos sistemas pueden producir cierta inestabilidad en la plant
a
\par}{\phpg\posx1701\pvpg\posy4315\absw7637\absh1022 \sl-237 \f10 \fs18 \cf0 deb
ido a su continuo reajuste. Adems, son sistemas ms complejos que los de lazo
\par}{\phpg\posx1701\pvpg\posy4315\absw7637\absh1022 \sl-239 \f10 \fs18 \cf0 abi
erto, por lo que los costes de mantenimiento son mayores. \par
}
{\phpg\posx1701\pvpg\posy5912\absw767\absh580 \f10 \fs21 \cf0 \f10 \fs21 \cf0 14
.2.4
\par}{\phpg\posx1701\pvpg\posy5912\absw767\absh580 \sl-219 \par\f10 \fs21 \cf0 {
\fs18 14.2.4.1 }\par
}
{\phpg\posx2655\pvpg\posy5912\absw5386\absh580 \f10 \fs21 \cf0 \f10 \fs21 \cf0 S
oluciones convencionales
\par}{\phpg\posx2655\pvpg\posy5912\absw5386\absh580 \sl-219 \par\f10 \fs21 \cf0
\fi34 {\fs18 Estructuras}{\fs18 de}{\fs18 los}{\fs18 sistemas}{\fs18 de}{\fs
18 control}{\fs18 convencionales }\par
}
{\phpg\posx1701\pvpg\posy6787\absw7734\absh5863 \f10 \fs18 \cf0 \fi297 \f10 \fs1
8 \cf0 Dentro de los sistemas de control convencionales, existen numerosos tipos
de con-

\par}{\phpg\posx1701\pvpg\posy6787\absw7734\absh5863 \sl-237 \f10 \fs18 \cf0 tro

ladores segn el funcionamiento y estructura. Entre los esquemas de control con\par}{\phpg\posx1701\pvpg\posy6787\absw7734\absh5863 \sl-239 \f10 \fs18 \cf0 ven
cionales de lazo cerrado ms comunes encontramos:
\par}{\phpg\posx1701\pvpg\posy6787\absw7734\absh5863 \sl-260 \par\f10 \fs18 \cf0
\fi297 {\f0\fs23 \bullet }{\f40 } Los servosistemas reguladores son aquellos q
ue permiten que la salida con\par}{\phpg\posx1701\pvpg\posy6787\absw7734\absh5863 \sl-239 \f10 \fs18 \cf0 \fi
496 trolada se mantenga constante frente a cambios exteriores. Por ejemplo, el s
is\par}{\phpg\posx1701\pvpg\posy6787\absw7734\absh5863 \sl-239 \f10 \fs18 \cf0 \fi
496 tema de climatizacin de un automvil, que mantiene la temperatura interior
\par}{\phpg\posx1701\pvpg\posy6787\absw7734\absh5863 \sl-237 \f10 \fs18 \cf0 \fi
496 del vehculo a una temperatura especificada.
\par}{\phpg\posx1701\pvpg\posy6787\absw7734\absh5863 \sl-241 \par\f10 \fs18 \cf0
\fi297 {\f0\fs23 \bullet }{\f40 } Los servosistemas de posicin permiten qu
e la salida controlada siga de
\par}{\phpg\posx1701\pvpg\posy6787\absw7734\absh5863 \sl-239 \f10 \fs18 \cf0 \fi
496 forma continua los valores establecidos por la entrada de referencia. Por ej
emplo,
\par}{\phpg\posx1701\pvpg\posy6787\absw7734\absh5863 \sl-237 \f10 \fs18 \cf0 \fi
496 los sistemas para el control de trayectorias.
\par}{\phpg\posx1701\pvpg\posy6787\absw7734\absh5863 \sl-241 \par\f10 \fs18 \cf0
\fi297 {\f0\fs23 \bullet }{\f40 } Los sistemas de control modelo-referencia so
n esquemas de control no lineal,
\par}{\phpg\posx1701\pvpg\posy6787\absw7734\absh5863 \sl-239 \f10 \fs18 \cf0 \fi
496 donde a partir de la entrada se utiliza un modelo matemtico para simular el
\par}{\phpg\posx1701\pvpg\posy6787\absw7734\absh5863 \sl-239 \f10 \fs18 \cf0 \fi
496 comportamiento de la planta. As, el resultado de la simulacin a partir de la
\par}{\phpg\posx1701\pvpg\posy6787\absw7734\absh5863 \sl-237 \f10 \fs18 \cf0 \fi
496 entrada se compara con la salida de la planta. La diferencia entre ambas sal
idas
\par}{\phpg\posx1701\pvpg\posy6787\absw7734\absh5863 \sl-239 \f10 \fs18 \cf0 \fi
496 es utilizada para generar la seal de control.
\par}{\phpg\posx1701\pvpg\posy6787\absw7734\absh5863 \sl-241 \par\f10 \fs18 \cf0
\fi297 {\f0\fs23 \bullet }{\f40 } Los sistemas de control adaptativo no slo c
onsideran la salida controlada,
\par}{\phpg\posx1701\pvpg\posy6787\absw7734\absh5863 \sl-237 \f10 \fs18 \cf0 \fi
496 sino un conjunto de caractersticas dinmicas de la planta que afectan a unos
\par}{\phpg\posx1701\pvpg\posy6787\absw7734\absh5863 \sl-239 \f10 \fs18 \cf0 \fi
496 parmetros configurables del controlador. Las variables de la planta son anali
\par}{\phpg\posx1701\pvpg\posy6787\absw7734\absh5863 \sl-239 \f10 \fs18 \cf0 \fi
496 zadas y, mediante un proceso de decisin, se establecen las modificaciones d
e
\par}{\phpg\posx1701\pvpg\posy6787\absw7734\absh5863 \sl-237 \f10 \fs18 \cf0 \fi
496 los parmetros del mdulo controlador con el fin de obtener un funcionamiento
\par}{\phpg\posx1701\pvpg\posy6787\absw7734\absh5863 \sl-239 \f10 \fs18 \cf0 \fi
496 ptimo.
\par}{\phpg\posx1701\pvpg\posy6787\absw7734\absh5863 \sl-271 \par\f10 \fs18 \cf0
\fi3535 593 \par
}
\sect\sectd\pard\plain
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}}\par}{\phpg\posx1701\pvpg\posy1429\absw596\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Control \par
}
{\phpg\posx1701\pvpg\posy2047\absw767\absh160 \f10 \fs17 \cf0 \f10 \fs17 \cf0 14
.2.4.2 \par
}
{\phpg\posx2690\pvpg\posy2047\absw2465\absh160 \f10 \fs17 \cf0 \f10 \fs17 \cf0 F
uncin de transferencia \par
}
{\phpg\posx1701\pvpg\posy2426\absw7599\absh4413 \f10 \fs17 \cf0 \fi297 \f10 \fs1
7 \cf0 A grandes rasgos, se entiende por transformacin a la sustitucin de una fun
cin
\par}{\phpg\posx1701\pvpg\posy2426\absw7599\absh4413 \sl-239 \f10 \fs17 \cf0 por
otra en una ecuacin. Por ejemplo, la derivacin es la sustitucin de la funcin{\i \f5
0 f}{\f20 (}{\i \f50 x}{\f20 ) }
\par}{\phpg\posx1701\pvpg\posy2426\absw7599\absh4413 \sl-239 \f10 \fs17 \cf0 por
su funcin derivada{\i \f50 f}{\up006 \f40 \fs12 }{\f20 (}{\i \f50 x}{\f20 )} qu
e se describe como{\i \f50 D}{\f20 [}{\i \f50 f}{\f20 (}{\i \f50 x}{\f20 )]}{
\f20 =}{\i \f50 f}{\up006 \f40 \fs12 }{\f20 (}{\i \f50 x}{\f20 )}. Si adems ver
ifica
\par}{\phpg\posx1701\pvpg\posy2426\absw7599\absh4413 \sl-237 \f10 \fs17 \cf0 que
la transformada de la combinacin lineal de dos funciones es igual a la combinacin
\par}{\phpg\posx1701\pvpg\posy2426\absw7599\absh4413 \sl-239 \f10 \fs17 \cf0 lin
eal de sus transformadas, es decir,{\i \f50 T}{\f20 [}{\i \f50 {\field{\*\fl
dinst SYMBOL 97 \\f Symbol }}f}{\f20 (}{\i \f50 x}{\f20 )}{\f20 +}{\i \f50 {\
field{\*\fldinst SYMBOL 98 \\f Symbol }}g}{\f20 (}{\i \f50 x}{\f20 )]}{\f20 =}
{\i \f50 {\field{\*\fldinst SYMBOL 97 \\f Symbol }}T}{\f20 [}{\i \f50 f}{\f20
(}{\i \f50 x}{\f20 )]}{\f20 +}{\i \f50 {\field{\*\fldinst SYMBOL 98 \\f Symb
ol }}T}{\f20 [}{\i \f50 g}{\f20 (}{\i \f50 x}{\f20 )]}, se
\par}{\phpg\posx1701\pvpg\posy2426\absw7599\absh4413 \sl-239 \f10 \fs17 \cf0 dic
e que la transformacin es lineal.
\par}{\phpg\posx1701\pvpg\posy2426\absw7599\absh4413 \sl-244 \f10 \fs17 \cf0 \fi
297 Una clase de transformacin lineal de especial relevancia es la de las transfo
rma\par}{\phpg\posx1701\pvpg\posy2426\absw7599\absh4413 \sl-239 \f10 \fs17 \cf0 cio
nes integrales. En particular, la ms aplicada en el campo de los sistemas dinmicos
\par}{\phpg\posx1701\pvpg\posy2426\absw7599\absh4413 \sl-237 \f10 \fs17 \cf0 es
la que propuso Pierre Simon Laplace, conocida como transformacin de Laplace
\par}{\phpg\posx1701\pvpg\posy2426\absw7599\absh4413 \sl-239 \f10 \fs17 \cf0 ({\
f40 L}), que se define as:

\par}{\phpg\posx1701\pvpg\posy2426\absw7599\absh4413 \sl-171 \par\f10 \fs17 \cf0

\fi3827 <{\dn006 \f40 \fs12
{\field{\*\fldinst SYMBOL 165 \\f Symbol }} }
\par}{\phpg\posx1701\pvpg\posy2426\absw7599\absh4413 \sl-220 \f10 \fs17 \cf0 \fi
2253 {\i \f50 F}{\f20 (}{\i \f50 s}{\f20 )}{\f20 =}{\f40 L}{\f20 (}{\i \f50 f
}{\f20 (}{\i \f50 t}{\f20 ))}{\f20 =}{\i \f50
e}{\f40 \fs12 {\field
{\*\fldinst SYMBOL 45 \\f Symbol }}}{\i \f50 \fs12 st}{\i \f50 f}{\f20 (}{\i \
f50 t}{\f20 )}{\i \f50 dt}
(14.1)
\par}{\phpg\posx1701\pvpg\posy2426\absw7599\absh4413 \sl-182 \f10 \fs17 \cf0 \fi
3938 {\f20 \fs12 0 }
\par}{\phpg\posx1701\pvpg\posy2426\absw7599\absh4413 \sl-188 \par\f10 \fs17 \cf0
\fi297 Esta integral transformada tiene la capacidad de transformar la
integracin y
\par}{\phpg\posx1701\pvpg\posy2426\absw7599\absh4413 \sl-239 \f10 \fs17 \cf0 der
ivacin en multiplicacin y divisin. As, este operador transforma las ecuaciones
\par}{\phpg\posx1701\pvpg\posy2426\absw7599\absh4413 \sl-239 \f10 \fs17 \cf0 dif
erenciales e integrales en ecuaciones polinmicas, mucho ms fciles de reso
lver
\par}{\phpg\posx1701\pvpg\posy2426\absw7599\absh4413 \sl-237 \f10 \fs17 \cf0 (pa
ra ms detalles vase [Puig~Adam, 1964; Simmons, 1993]).
\par}{\phpg\posx1701\pvpg\posy2426\absw7599\absh4413 \sl-247 \f10 \fs17 \cf0 \fi
297 Una Funcin de Transferencia es una expresin matemtica que describe el com\par}{\phpg\posx1701\pvpg\posy2426\absw7599\absh4413 \sl-237 \f10 \fs17 \cf0 por
tamiento de un sistema (o proceso) en funcin de la entrada{\i \f50 e} y la sali
da{\i \f50 s}. La
\par}{\phpg\posx1701\pvpg\posy2426\absw7599\absh4413 \sl-239 \f10 \fs17 \cf0 exp
resin general de una funcin de transferencia (F) se expresa as: \par
}
{\phpg\posx5032\pvpg\posy7599\absw707\absh160 \i \f50 \fs17 \cf0 \i \f50 \fs17 \
cf0 F{\i0 \f20 =} s/e \par
}
{\phpg\posx8560\pvpg\posy7605\absw541\absh160 \f10 \fs17 \cf0 \f10 \fs17 \cf0 (1
4.2) \par
}
{\phpg\posx1701\pvpg\posy8063\absw7373\absh376 \f10 \fs17 \cf0 \fi297 \f10 \fs17
\cf0 En sistemas dinmicos, resulta habitual representar de forma explcita la rela
cin
\par}{\phpg\posx1701\pvpg\posy8063\absw7373\absh376 \sl-239 \f10 \fs17 \cf0 entr
e entrada y salida en funcin del tiempo ({\i \f50 t}). \par
}
{\phpg\posx4691\pvpg\posy8749\absw1387\absh160 \i \f50 \fs17 \cf0 \i \f50 \fs17
\cf0 F{\i0 \f20 (}t{\i0 \f20 )}{\i0 \f20 =} s{\i0 \f20 (}t{\i0 \f20 )}/e{\i0 \
f20 (}t{\i0 \f20 ) }\par
}
{\phpg\posx8560\pvpg\posy8755\absw541\absh160 \f10 \fs17 \cf0 \f10 \fs17 \cf0 (1
4.3) \par
}
{\phpg\posx1701\pvpg\posy9207\absw7507\absh597 \f10 \fs17 \cf0 \fi297 \f10 \fs17
\cf0 Supngase un sistema simple, con una sola entrada{\i \f50 u}{\f20 (}{
\i \f50 t}{\f20 )} y una sola salida{\i \f50 y}{\f20 (}{\i \f50 t}{\f20 )}
.
\par}{\phpg\posx1701\pvpg\posy9207\absw7507\absh597 \sl-239 \f10 \fs17 \cf0 En l
a ingeniera, muchos procesos de comportamiento dinmico pueden ser descritos
\par}{\phpg\posx1701\pvpg\posy9207\absw7507\absh597 \sl-239 \f10 \fs17 \cf0 medi
ante ecuaciones diferenciales lineales como la que sigue: \par
}
{\phpg\posx2186\pvpg\posy10256\absw146\absh160 \i \f50 \fs17 \cf0 \i \f50 \fs17
\cf0 a \par
}
{\phpg\posx2291\pvpg\posy10332\absw98\absh108 \i \f50 \fs12 \cf0 \i \f50 \fs12 \
cf0 n \par

}
{\phpg\posx2423\pvpg\posy10088\absw346\absh434 \i \f50 \fs17 \cf0 \i \f50 \fs17
\cf0 d {\up006 \fs12 n}y
\par}{\phpg\posx2423\pvpg\posy10088\absw346\absh434 \sl-271 \i \f50 \fs17 \cf0 d
t{\fs12 n }\par
}
{\phpg\posx2808\pvpg\posy10256\absw307\absh160 \f20 \fs17 \cf0 \f20 \fs17 \cf0 +
{\i \f50 a }\par
}
{\phpg\posx3112\pvpg\posy10295\absw302\absh163 \i \f50 \fs12 \cf0 \i \f50 \fs12
\cf0 n{\i0 \f40 {\field{\*\fldinst SYMBOL 45 \\f Symbol }}}{\i0 \f20 1 }\par
}
{\phpg\posx3448\pvpg\posy10058\absw515\absh462 \i \f50 \fs17 \cf0 \i \f50 \fs17
\cf0 d{\fs12 n}{\i0 \f40 \fs12 {\field{\*\fldinst SYMBOL 45 \\f Symbol }}}{\i0 \
f20 \fs12 1}y
\par}{\phpg\posx3448\pvpg\posy10058\absw515\absh462 \sl-271 \i \f50 \fs17 \cf0 d
t{\fs12 n}{\i0 \f40 \fs12 {\field{\*\fldinst SYMBOL 45 \\f Symbol }}}{\i0 \f20 \
fs12 1 }\par
}
{\phpg\posx4039\pvpg\posy10256\absw792\absh221 \f20 \fs17 \cf0 \f20 \fs17 \cf0 +
{\i \f50 ...} +{\i \f50 a}{\dn006 \fs12 1 }\par
}
{\phpg\posx4867\pvpg\posy10122\absw263\absh404 \i \f50 \fs17 \cf0 \i \f50 \fs17
\cf0 dy
\par}{\phpg\posx4867\pvpg\posy10122\absw263\absh404 \sl-271 \i \f50 \fs17 \cf0 d
t \par
}
{\phpg\posx5143\pvpg\posy10256\absw991\absh210 \f20 \fs17 \cf0 \f20 \fs17 \cf0 +
{\i \f50 a}{\dn006 \fs12 0}{\i \f50 y} ={\i \f50 b}{\i\dn006 \f50 \fs12 m }\
par
}
{\phpg\posx6168\pvpg\posy10094\absw395\absh428 \i \f50 \fs17 \cf0 \i \f50 \fs17
\cf0 du{\fs12 m }
\par}{\phpg\posx6168\pvpg\posy10094\absw395\absh428 \sl-271 \i \f50 \fs17 \cf0 \
fi21 dt{\fs12 m }\par
}
{\phpg\posx6604\pvpg\posy10256\absw775\absh221 \f20 \fs17 \cf0 \f20 \fs17 \cf0 +
{\i \f50 ...} +{\i \f50 b}{\dn006 \fs12 1 }\par
}
{\phpg\posx7413\pvpg\posy10122\absw263\absh404 \i \f50 \fs17 \cf0 \i \f50 \fs17
\cf0 du
\par}{\phpg\posx7413\pvpg\posy10122\absw263\absh404 \sl-271 \i \f50 \fs17 \cf0 \
fi21 dt \par
}
{\phpg\posx7699\pvpg\posy10256\absw502\absh209 \f20 \fs17 \cf0 \f20 \fs17 \cf0 +
{\i \f50 b}{\dn006 \fs12 0}{\i \f50 u }\par
}
{\phpg\posx8560\pvpg\posy10262\absw541\absh160 \f10 \fs17 \cf0 \f10 \fs17 \cf0 (
14.4) \par
}
{\phpg\posx1701\pvpg\posy10775\absw7500\absh590 \f10 \fs17 \cf0 \fi297 \f10 \fs1
7 \cf0 La utilizacin de la transformada de Laplace hace factible una re
presentacin
\par}{\phpg\posx1701\pvpg\posy10775\absw7500\absh590 \sl-239 \f10 \fs17 \cf0 ms s
encilla de la dinmica del proceso. As, aplicando esta transformada a ambos
\par}{\phpg\posx1701\pvpg\posy10775\absw7500\absh590 \sl-237 \f10 \fs17 \cf0 mie
mbros, se obtendra: \par
}
{\phpg\posx4824\pvpg\posy11644\absw526\absh216 \i \f50 \fs17 \cf0 \i \f50 \fs17
\cf0 b{\dn006 \fs12 m}s{\up006 \fs12 m }\par

}
{\phpg\posx5349\pvpg\posy11682\absw307\absh160 \f20 \fs17 \cf0 \f20 \fs17 \cf0 +
{\i \f50 b }\par
}
{\phpg\posx5990\pvpg\posy11620\absw439\absh215 \i \f50 \fs17 \cf0 \i \f50 \fs17
\cf0 s{\fs12 m}{\i0 \f40 \fs12 {\field{\*\fldinst SYMBOL 45 \\f Symbol }}}{\i0 \
f20 \fs12 1 }\par
}
{\phpg\posx2460\pvpg\posy11816\absw615\absh160 \i \f50 \fs17 \cf0 \i \f50 \fs17
\cf0 G {\i0 \f20 (}s{\i0 \f20 )}{\i0 \f20 = }\par
}
{\phpg\posx3156\pvpg\posy11635\absw631\absh477 \f40 \fs17 \cf0 \f40 \fs17 \cf0 L
{\f20 (}{\i \f50 y}{\f20 (}{\i \f50 t}{\f20 )) }
\par}{\phpg\posx3156\pvpg\posy11635\absw631\absh477 \sl-271 \f40 \fs17 \cf0 L {\
f20 (}{\i \f50 u}{\f20 (}{\i \f50 t}{\f20 )) }\par
}
{\phpg\posx3868\pvpg\posy11816\absw155\absh160 \f20 \fs17 \cf0 \f20 \fs17 \cf0 =
\par
}
{\phpg\posx4101\pvpg\posy11682\absw447\absh404 \i \f50 \fs17 \cf0 \i \f50 \fs17
\cf0 Y{\i0 \f20 (}s{\i0 \f20 ) }
\par}{\phpg\posx4101\pvpg\posy11682\absw447\absh404 \sl-271 \i \f50 \fs17 \cf0 U
{\i0 \f20 (}s{\i0 \f20 ) }\par
}
{\phpg\posx5635\pvpg\posy11721\absw345\absh163 \i \f50 \fs12 \cf0 \i \f50 \fs12
\cf0 m{\i0 \f40 {\field{\*\fldinst SYMBOL 45 \\f Symbol }}}{\i0 \f20 1 }\par
}
{\phpg\posx4588\pvpg\posy11816\absw155\absh160 \f20 \fs17 \cf0 \f20 \fs17 \cf0 =
\par
}
{\phpg\posx6482\pvpg\posy11682\absw1286\absh243 \f20 \fs17 \cf0 \f20 \fs17 \cf0
+{\i \f50 ...} +{\i \f50 b}{\dn006 \fs12 1}{\i \f50 s} +{\i \f50 b}{\dn006 \
fs12 0 }\par
}
{\phpg\posx8560\pvpg\posy11822\absw541\absh160 \f10 \fs17 \cf0 \f10 \fs17 \cf0 (
14.5) \par
}
{\phpg\posx5839\pvpg\posy11992\absw302\absh163 \i \f50 \fs12 \cf0 \i \f50 \fs12
\cf0 n{\i0 \f40 {\field{\*\fldinst SYMBOL 45 \\f Symbol }}}{\i0 \f20 1 }\par
}
{\phpg\posx6151\pvpg\posy11906\absw396\absh202 \i \f50 \fs17 \cf0 \i \f50 \fs17
\cf0 s{\fs12 n}{\i0 \f40 \fs12 {\field{\*\fldinst SYMBOL 45 \\f Symbol }}}{\i0 \
f20 \fs12 1 }\par
}
{\phpg\posx5073\pvpg\posy11942\absw765\absh191 \i \f50 \fs17 \cf0 \i \f50 \fs17
\cf0 a{\dn006 \fs12 n}s{\dn006 \fs12 n}{\i0 \f20 +} a \par
}
{\phpg\posx6602\pvpg\posy11953\absw914\absh232 \f20 \fs17 \cf0 \f20 \fs17 \cf0 +
{\i \f50 a}{\dn006 \fs12 1}{\i \f50 s} +{\i \f50 a}{\dn006 \fs12 0 }\par
}
{\phpg\posx1701\pvpg\posy12373\absw7446\absh835 \f10 \fs17 \cf0 \f10 \fs17 \cf0
donde{\i \f50 G} es la funcin de transferencia del sistema, pero expresada en el
dominio trans\par}{\phpg\posx1701\pvpg\posy12373\absw7446\absh835 \sl-239 \f10 \fs17 \cf0 for
mado, en lugar de en el dominio del tiempo. Como puede observarse, la utilizacin
\par}{\phpg\posx1701\pvpg\posy12373\absw7446\absh835 \sl-251 \par\f10 \fs17 \cf0
\fi3535 594 \par
}
\sect\sectd\pard\plain
\pgwsxn10771\pghsxn14740

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}}\par}{\phpg\posx7044\pvpg\posy1429\absw2025\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Conceptos fundamentales \par
}
{\phpg\posx1701\pvpg\posy2047\absw7576\absh374 \f10 \fs17 \cf0 \f10 \fs17 \cf0 d
e la transformada de Laplace es muy ventajosa, puesto que simplifica considerabl
e\par}{\phpg\posx1701\pvpg\posy2047\absw7576\absh374 \sl-237 \f10 \fs17 \cf0 ment
e la representacin de un sistema dinmico [Simmons, 1993], como en el siguiente \pa
r
}
{\phpg\posx1701\pvpg\posy2524\absw789\absh160 \f10 \fs17 \cf0 \f10 \fs17 \cf0 ej
emplo: \par
}
{\phpg\posx6158\pvpg\posy2702\absw146\absh233 \f10 \fs17 \cf0 \f10 \fs17 \cf0 <
\par
}
{\phpg\posx3511\pvpg\posy3020\absw2365\absh160 \i \f50 \fs17 \cf0 \i \f50 \fs17
\cf0 u{\i0 \f20 (}t{\i0 \f20 )}{\i0 \f20 =} Ri{\i0 \f20 (}t{\i0 \f20 )}{\i0 \f
20 +} L{\i0 \f20 (}di{\i0 \f20 (}t{\i0 \f20 )}dt{\i0 \f20 )}{\i0 \f20 + }\par
}

{\phpg\posx5944\pvpg\posy2886\absw165\absh404 \f20 \fs17 \cf0 \fi26 \f20 \fs17 \

cf0 1
\par}{\phpg\posx5944\pvpg\posy2886\absw165\absh404 \sl-271 \f20 \fs17 \cf0 {\i \
f50 C }\par
}
{\phpg\posx6388\pvpg\posy3020\absw470\absh160 \i \f50 \fs17 \cf0 \i \f50 \fs17 \
cf0 i{\i0 \f20 (}t{\i0 \f20 )}dt \par
}
{\phpg\posx6235\pvpg\posy3402\absw281\absh404 \f20 \fs17 \cf0 \fi74 \f20 \fs17 \
cf0 1
\par}{\phpg\posx6235\pvpg\posy3402\absw281\absh404 \sl-271 \f20 \fs17 \cf0 {\i \
f50 Cs }\par
}
{\phpg\posx6508\pvpg\posy3536\absw351\absh160 \i \f50 \fs17 \cf0 \i \f50 \fs17 \
cf0 I{\i0 \f20 (}s{\i0 \f20 ) }\par
}
{\phpg\posx3967\pvpg\posy3536\absw2199\absh160 \i \f50 \fs17 \cf0 \i \f50 \fs17
\cf0 U{\i0 \f20 (}s{\i0 \f20 )}{\i0 \f20 =} RI{\i0 \f20 (}s{\i0 \f20 )}{\i0 \f
20 +} LsI{\i0 \f20 (}s{\i0 \f20 )}{\i0 \f20 + }\par
}
{\phpg\posx8560\pvpg\posy3026\absw541\absh625 \f10 \fs17 \cf0 \f10 \fs17 \cf0 (1
4.6)
\par}{\phpg\posx8560\pvpg\posy3026\absw541\absh625 \sl-257 \par\f10 \fs17 \cf0 (
14.7) \par
}
{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \f10 \fs17 \cf0 \f10 \fs17 \cf0
donde con minsculas se representan las variables del dominio temporal (como{\i \f
50 i}{\f20 (}{\i \f50 t}{\f20 )})
\par}{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \sl-239 \f10 \fs17 \cf0 y e
n maysculas las variables transformadas en el dominio de Laplace (como{\i \f50
I}{\f20 (}{\i \f50 s}{\f20 )}).
\par}{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \sl-237 \f10 \fs17 \cf0 \fi
297 Por tanto, la funcin de transferencia{\i \f50 G}{\f20 (}{\i \f50 s}{\f20 )}
es la expresin que relaciona la seal
\par}{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \sl-239 \f10 \fs17 \cf0 de
salida de un componente con la seal de entrada en el dominio de Laplace, siendo
\par}{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \sl-237 \f10 \fs17 \cf0 {\i
\f50 G }{\f20 (}{\i \f50 s}{\f20 )}{\f20 =}{\f40 L}{\f20 (}{\i \f50 s}{\f20
(}{\i \f50 t}{\f20 ))}{\i \f50 /}{\f40 L}{\f20 (}{\i \f50 e}{\f20 (}{\i \f50 t}{
\f20 ))}{\f20 =}{\i \f50 S}{\f20 (}{\i \f50 s}{\f20 )}{\i \f50 /E}{\f20 (}{\i
\f50 s}{\f20 )}.
\par}{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \sl-239 \f10 \fs17 \cf0 \fi
297 Los ejemplos ms comunes de la utilizacin de las funciones de transferencia s
e
\par}{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \sl-239 \f10 \fs17 \cf0 pue
den encontrar en estos tres tipos de controladores: el controlador proporcional,
el
\par}{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \sl-237 \f10 \fs17 \cf0 con
trolador integral y el controlador derivativo.
\par}{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \sl-206 \par\f10 \fs17 \cf0
\fi297 {\f0\fs23 \bullet }{\f40 } En un controlador proporcional, la sali
da (seal de control{\i \f50 s}) es directa\par}{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \sl-266 \f10 \fs17 \cf0 \fi
496 mente proporcional a la entrada (seal de error{\i \f50 e}):{\i \f50 s}{\f
20 =}{\i \f50 k }{\i\dn006 \f50 \fs12 p}{\f40 {\field{\*\fldinst SYMBOL 42 \
\f Symbol }}}{\i \f50 e}, donde{\i \f50 k }{\i\dn006 \f50 \fs12 p} es una
\par}{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \sl-211 \f10 \fs17 \cf0 \fi
496 constante que se denomina ganancia proporcional. As, la seal de control de\par}{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \sl-239 \f10 \fs17 \cf0 \fi
496 pende nicamente del error en cada instante del tiempo. Por lo tanto, la funcin

\par}{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \sl-266 \f10 \fs17 \cf0 \fi

496 de transferencia{\i \f50 G}{\f20 (}{\i \f50 s}{\f20 )}{\f20 =}{\i \f50
S/E}{\f20 =}{\i \f50 k }{\i\dn006 \f50 \fs12 p}. De esta forma, el control
ador proporcional
\par}{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \sl-211 \f10 \fs17 \cf0 \fi
496 funciona como un amplificador del valor de la seal de error. As, los val
ores
\par}{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \sl-239 \f10 \fs17 \cf0 \fi
496 de seal de error grandes producen valores de salidas de control grandes. Por
\par}{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \sl-237 \f10 \fs17 \cf0 \fi
496 ejemplo, considrese un calentador de agua con un controlador proporcional en
\par}{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \sl-268 \f10 \fs17 \cf0 \fi
496 el que la seal de entrada de referencia se establece a 20{\up006 \fs12 o}C y
{\i \f50 k }{\i\dn006 \f50 \fs12 p} se establece a
\par}{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \sl-208 \f10 \fs17 \cf0 \fi
496 un factor proporcional de 10. As, cuando el valor actual es de 10{\up006 \fs1
2 o}C (hay un
\par}{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \sl-239 \f10 \fs17 \cf0 \fi
496 error de 10{\up006 \fs12 o}C), la salida de control marcara 100 % (aumentar
un 100 % el calor
\par}{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \sl-240 \f10 \fs17 \cf0 \fi
496 suministrado), cuando la temperatura es 20{\up006 \fs12 o}C (hay un error d
e 0{\up006 \fs12 o}C), la salida
\par}{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \sl-237 \f10 \fs17 \cf0 \fi
496 marcara 0 % (no aumentar), y con 15{\up006 \fs12 o}C (un error de 5{\up006 \
fs12 o}C) la salida marca 50 %
\par}{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \sl-240 \f10 \fs17 \cf0 \fi
496 (aumentar un 50 %).
\par}{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \sl-258 \par\f10 \fs17 \cf0
\fi297 {\f0\fs23 \bullet }{\f40 } En un controlador integral, ={\i\dn006 \f50
\fs12 tla} salida es proporcional a la integral de la entrada
\par}{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \sl-145 \f10 \fs17 \cf0 \fi
3014 {\i \f50 \fs12 i}{\dn006 \f20 \fs12
0}{\i \f50 e}{\i \f50 dt}, sien
do{\i \f50 k }{\i\dn006 \f50 \fs12 i} una constante que se denomina
\par}{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \sl-211 \f10 \fs17 \cf0 \fi
496 ganancia integral. La integral entre 0 y{\i \f50 t} de{\i \f50 e} es el rea
de la funcin{\i \f50 e} entre 0 y{\i \f50 t}.
\par}{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \sl-237 \f10 \fs17 \cf0 \fi
496 As, la salida del controlador (seal de error) es proporcional a la acumulacin
\par}{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \sl-239 \f10 \fs17 \cf0 \fi
496 de los errores de los instantes de tiempo anteriores. Por tanto, la
funcin de
\par}{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \sl-268 \f10 \fs17 \cf0 \fi
496 transferencia ser:{\i \f50 G}{\f20 (}{\i \f50 s}{\f20 )}{\f20
=}{\i \f5
0
S}{\f20 (}{\i \f50 s}{\f20 )}{\i \f50 /E}{\f20 (}{\i \f50 s}{\f20 )}{\f20
=}{\i \f50
k }{\i\dn006 \f50 \fs12 i}{\i \f50 /s}, puesto que{\i \f50
S}{\f20 (}{\i \f50 s}{\f20 )}{\f20
=}{\i \f50
k }{\i\dn006 \f50 \fs12 i}{
\i \f50 E}{\f20 (}{\i \f50 s}{\f20 )}{\i \f50 /s}.
\par}{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \sl-208 \f10 \fs17 \cf0 \fi
496 De esta manera, en los controladores integrales, la salida depende de la seal
\par}{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \sl-239 \f10 \fs17 \cf0 \fi
496 de error y del tiempo durante el que la seal de salida mantiene la desviacin
\par}{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \sl-239 \f10 \fs17 \cf0 \fi
496 respecto a la entrada de referencia.
\par}{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \sl-193 \par\f10 \fs17 \cf0
\fi297 {\f0\fs23 \bullet }{\f40 } En un control derivativo, la salida es propo
rcional a la derivada de la entrada.
\par}{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \sl-268 \f10 \fs17 \cf0 \fi

496 Es decir, es proporcional a la razn de cambio de la seal de error:{\i \f50 s}

{\f20 =}{\i \f50 k }{\i\dn006 \f50 \fs12 d}{\i \f50 de/dt},
\par}{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \sl-237 \f10 \fs17 \cf0 \fi
496 donde{\i \f50 k }{\i\dn006 \f50 \fs12 d} es una constante que se denomin
a ganancia derivativa. Por tanto, la
\par}{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \sl-240 \f10 \fs17 \cf0 \fi
496 funcin de transferencia es:{\i \f50 G}{\f20 (}{\i \f50 s}{\f20 )}{\f20 =}
{\i \f50 S}{\f20 (}{\i \f50 s}{\f20 )}{\i \f50 /E}{\f20 (}{\i \f50 s}{\f20 )}{
\f20 =}{\i \f50 k }{\i\dn006 \f50 \fs12 d}{\i \f50 s}, ya que{\i \f50 S}{
\f20 (}{\i \f50 s}{\f20 )}{\f20 =}{\i \f50 k }{\i\dn006 \f50 \fs12 d}{\i \f
50 s}{\i \f50 E}{\f20 (}{\i \f50 s}{\f20 )}.
\par}{\phpg\posx1701\pvpg\posy4014\absw7631\absh8358 \sl-237 \par\f10 \fs17 \cf0
\fi3535 595 \par
}
{\phpg\posx2198\pvpg\posy9834\absw2518\absh176 \f10 \fs17 \cf0 \f10 \fs17 \cf0 e
n el tiempo. Es decir,{\i \f50 s}{\f20 =}{\i \f50 k }\par
}
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}}\par}{\phpg\posx1701\pvpg\posy1429\absw596\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Control \par
}
{\phpg\posx1701\pvpg\posy2047\absw7551\absh4647 \f10 \fs18 \cf0 \fi496 \f10 \fs1
8 \cf0 As, en los controladores derivativos, la salida depende proporcional
mente de
\par}{\phpg\posx1701\pvpg\posy2047\absw7551\absh4647 \sl-237 \f10 \fs18 \cf0 \fi
496 las variaciones de la seal retroalimentada. Este tipo de controladores permi
\par}{\phpg\posx1701\pvpg\posy2047\absw7551\absh4647 \sl-239 \f10 \fs18 \cf0 \fi
496 ten realizar acciones correctivas anticipndose a errores grandes, puesto que
el
\par}{\phpg\posx1701\pvpg\posy2047\absw7551\absh4647 \sl-239 \f10 \fs18 \cf0 \fi
496 control es dependiente de la variacin del error. Sin embargo, cuando la varia
\par}{\phpg\posx1701\pvpg\posy2047\absw7551\absh4647 \sl-237 \f10 \fs18 \cf0 \fi
496 cin es constante, no es posible realizar una actuacin correctiva, por lo que e
s
\par}{\phpg\posx1701\pvpg\posy2047\absw7551\absh4647 \sl-239 \f10 \fs18 \cf0 \fi
496 necesario combinar este tipo de controlador con alguno de los anteriores.
\par}{\phpg\posx1701\pvpg\posy2047\absw7551\absh4647 \sl-269 \par\f10 \fs18 \cf0
14.2.4.3
Controlador PID
\par}{\phpg\posx1701\pvpg\posy2047\absw7551\absh4647 \sl-188 \par\f10 \fs18 \cf0
\fi297 A pesar de su sencillez, los controladores PID son los controladores ms u
tilizados
\par}{\phpg\posx1701\pvpg\posy2047\absw7551\absh4647 \sl-237 \f10 \fs18 \cf0 en
la mayora de problemas de control de procesos en la industria y en el control de
\par}{\phpg\posx1701\pvpg\posy2047\absw7551\absh4647 \sl-239 \f10 \fs18 \cf0 pro
cesos qumicos. Los controladores PID son controladores de lazo cerrado don
de
\par}{\phpg\posx1701\pvpg\posy2047\absw7551\absh4647 \sl-239 \f10 \fs18 \cf0 la
seal de control depende de la seal de error en funcin de su comportam

iento
\par}{\phpg\posx1701\pvpg\posy2047\absw7551\absh4647 \sl-237 \f10 \fs18 \cf0 his
trico y de la tasa de variacin de la seal. Esta estrategia permite al controlador
\par}{\phpg\posx1701\pvpg\posy2047\absw7551\absh4647 \sl-239 \f10 \fs18 \cf0 PID
realizar un control ms estable y preciso.
\par}{\phpg\posx1701\pvpg\posy2047\absw7551\absh4647 \sl-242 \f10 \fs18 \cf0 \fi
297 La caracterstica principal de un controlador PID es la forma en la que se cal
cula
\par}{\phpg\posx1701\pvpg\posy2047\absw7551\absh4647 \sl-239 \f10 \fs18 \cf0 la
seal de control, estableciendo tres medidas para procesar la seal de salida contro
\par}{\phpg\posx1701\pvpg\posy2047\absw7551\absh4647 \sl-239 \f10 \fs18 \cf0 lad
a: anular el error del instante actual, medir la cantidad de tiempo que la seal s
e
\par}{\phpg\posx1701\pvpg\posy2047\absw7551\absh4647 \sl-237 \f10 \fs18 \cf0 ha
mantenido con valores incorrectos e intentar anticipar errores futuros midiendo
la
\par}{\phpg\posx1701\pvpg\posy2047\absw7551\absh4647 \sl-239 \f10 \fs18 \cf0 tas
a de variacin de la seal en cada instante. A estos controladores se les denomina
\par}{\phpg\posx1701\pvpg\posy2047\absw7551\absh4647 \sl-239 \f10 \fs18 \cf0 PID
debido al tipo de clculo que se realiza para la correccin de errores: Producto,
\par}{\phpg\posx1701\pvpg\posy2047\absw7551\absh4647 \sl-237 \f10 \fs18 \cf0 Int
egracin y Derivacin (vase la Figura 14.3). \par
}
{\phpg\posx4092\pvpg\posy10247\absw2589\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0
Figura 14.3: Controlador PID \par
}
{\phpg\posx1701\pvpg\posy11179\absw7389\absh1910 \f10 \fs18 \cf0 \fi297 \f10 \fs
18 \cf0 Mdulo Proporcional (P). Para tener en cuenta el error actual, la seal de e
rror
\par}{\phpg\posx1701\pvpg\posy11179\absw7389\absh1910 \sl-239 \f10 \fs18 \cf0 se
multiplica por una constante para amplificar su valor y as obtener una component
e
\par}{\phpg\posx1701\pvpg\posy11179\absw7389\absh1910 \sl-239 \f10 \fs18 \cf0 de
la seal de error que acte de forma proporcional al error. El comportamiento del
\par}{\phpg\posx1701\pvpg\posy11179\absw7389\absh1910 \sl-237 \f10 \fs18 \cf0 mdu
lo proporcional se puede describir mediante la funcin de transferencia que se
\par}{\phpg\posx1701\pvpg\posy11179\absw7389\absh1910 \sl-239 \f10 \fs18 \cf0 ex
plic en el apartado anterior.
\par}{\phpg\posx1701\pvpg\posy11179\absw7389\absh1910 \sl-242 \f10 \fs18 \cf0 \f
i297 Mdulo Integral(I). Para tener en cuenta los valores de error ocurrid
os en el
\par}{\phpg\posx1701\pvpg\posy11179\absw7389\absh1910 \sl-239 \f10 \fs18 \cf0 pa
sado, se realiza una operacin de integracin en el intervalo de tiempo determinado,
\par}{\phpg\posx1701\pvpg\posy11179\absw7389\absh1910 \sl-251 \par\f10 \fs18 \cf
0 \fi3535 596 \par
}
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145007ffd9
}}\par}{\phpg\posx6595\pvpg\posy1429\absw2472\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Mtodos genricos para control \par
}
{\phpg\posx1701\pvpg\posy2047\absw7600\absh5787 \f10 \fs18 \cf0 \f10 \fs18 \cf0
es decir, se calcula la tasa de los valores de error medidos en el pasado. Este
valor se
\par}{\phpg\posx1701\pvpg\posy2047\absw7600\absh5787 \sl-237 \f10 \fs18 \cf0 sum
a al valor del mdulo proporcional, evitando grandes oscilaciones debidos a picos
\par}{\phpg\posx1701\pvpg\posy2047\absw7600\absh5787 \sl-239 \f10 \fs18 \cf0 en
breves periodos de tiempo de la seal de error. El comportamiento del
mdulo
\par}{\phpg\posx1701\pvpg\posy2047\absw7600\absh5787 \sl-239 \f10 \fs18 \cf0 int
egral se puede describir mediante la funcin de transferencia que se explic en el
\par}{\phpg\posx1701\pvpg\posy2047\absw7600\absh5787 \sl-237 \f10 \fs18 \cf0 apa
rtado anterior.
\par}{\phpg\posx1701\pvpg\posy2047\absw7600\absh5787 \sl-251 \f10 \fs18 \cf0 \fi
297 Mdulo Derivativo(D). Con el fin de prevenir errores futuros, este md
ulo
\par}{\phpg\posx1701\pvpg\posy2047\absw7600\absh5787 \sl-237 \f10 \fs18 \cf0 cal
cula la primera derivada de la seal de error. Este valor se considera
como una
\par}{\phpg\posx1701\pvpg\posy2047\absw7600\absh5787 \sl-239 \f10 \fs18 \cf0 med
ida de la respuesta del sistema a los cambios. As, cuanto mayor es la derivada,
\par}{\phpg\posx1701\pvpg\posy2047\absw7600\absh5787 \sl-239 \f10 \fs18 \cf0 ms
rpido responde el controlador a los cambios del sistema. El comportamie
nto
\par}{\phpg\posx1701\pvpg\posy2047\absw7600\absh5787 \sl-237 \f10 \fs18 \cf0 del
mdulo derivativo se puede describir mediante la funcin de transferencia que se
\par}{\phpg\posx1701\pvpg\posy2047\absw7600\absh5787 \sl-239 \f10 \fs18 \cf0 exp
lic en el apartado anterior.
\par}{\phpg\posx1701\pvpg\posy2047\absw7600\absh5787 \sl-249 \f10 \fs18 \cf0 \fi
297 En la actualidad, la mayora de controladores simples PID que se comercializan
, se
\par}{\phpg\posx1701\pvpg\posy2047\absw7600\absh5787 \sl-239 \f10 \fs18 \cf0 des
arrollan sobre microprocesadores (controladores digitales). Un controlador digit
al
\par}{\phpg\posx1701\pvpg\posy2047\absw7600\absh5787 \sl-239 \f10 \fs18 \cf0 fun

ciona de forma discreta, muestreando la seal analgica de entrada mediante dis\par}{\phpg\posx1701\pvpg\posy2047\absw7600\absh5787 \sl-237 \f10 \fs18 \cf0 pos
itivos sensores. En dichos controladores, los algoritmos de control se implement
an
\par}{\phpg\posx1701\pvpg\posy2047\absw7600\absh5787 \sl-239 \f10 \fs18 \cf0 dir
ectamente en el lenguaje del microprocesador, distribuidos en bloques de clculo y
\par}{\phpg\posx1701\pvpg\posy2047\absw7600\absh5787 \sl-239 \f10 \fs18 \cf0 alm
acenados en la memoria del dispositivo controlador. Uno de los ejemplos de uso
\par}{\phpg\posx1701\pvpg\posy2047\absw7600\absh5787 \sl-237 \f10 \fs18 \cf0 hab
ituales de estos controladores en la industria es su utilizacin para el control d
e
\par}{\phpg\posx1701\pvpg\posy2047\absw7600\absh5787 \sl-239 \f10 \fs18 \cf0 vel
ocidad en automviles.
\par}{\phpg\posx1701\pvpg\posy2047\absw7600\absh5787 \sl-249 \f10 \fs18 \cf0 \fi
297 A pesar del gran xito de los controladores PID, tambin tienen sus lmites. En
\par}{\phpg\posx1701\pvpg\posy2047\absw7600\absh5787 \sl-239 \f10 \fs18 \cf0 pri
mer lugar, estn diseados para resolver problemas de control lineal, es decir, aque
\par}{\phpg\posx1701\pvpg\posy2047\absw7600\absh5787 \sl-239 \f10 \fs18 \cf0 llo
s que permiten la resolucin de ecuaciones diferenciales mediante transformadas de
\par}{\phpg\posx1701\pvpg\posy2047\absw7600\absh5787 \sl-237 \f10 \fs18 \cf0 Lap
lace. Adems, existen situaciones, como la denominada saturacin de accin in\par}{\phpg\posx1701\pvpg\posy2047\absw7600\absh5787 \sl-239 \f10 \fs18 \cf0 teg
ral, en la que la combinacin de la accin integral del controlador junt
o con la
\par}{\phpg\posx1701\pvpg\posy2047\absw7600\absh5787 \sl-237 \f10 \fs18 \cf0 apo
rtacin proporcional podra llevar a una situacin fuera de control que debe ser
\par}{\phpg\posx1701\pvpg\posy2047\absw7600\absh5787 \sl-239 \f10 \fs18 \cf0 sub
sanada mediante intervencin manual(para ms detalles vase [Smith y Corripio,
\par}{\phpg\posx1701\pvpg\posy2047\absw7600\absh5787 \sl-239 \f10 \fs18 \cf0 199
4]). \par
}
{\phpg\posx1701\pvpg\posy8958\absw706\absh231 \f10 \fs25 \cf0 \f10 \fs25 \cf0 14
.3 \par
}
{\phpg\posx2576\pvpg\posy8958\absw4481\absh231 \f10 \fs25 \cf0 \f10 \fs25 \cf0 Mt
odos genricos para control \par
}
{\phpg\posx1701\pvpg\posy9503\absw7566\absh1236 \f10 \fs18 \cf0 \fi297 \f10 \fs1
8 \cf0 En esta seccin se considera al control como una tarea genrica, e
n el sentido
\par}{\phpg\posx1701\pvpg\posy9503\absw7566\absh1236 \sl-237 \f10 \fs18 \cf0 de
la Ingeniera del Conocimiento, y se describen algunas propuestas de mto
dos
\par}{\phpg\posx1701\pvpg\posy9503\absw7566\absh1236 \sl-239 \f10 \fs18 \cf0 de
resolucin de problemas para tareas de control en el marco de la meto
dologa
\par}{\phpg\posx1701\pvpg\posy9503\absw7566\absh1236 \sl-237 \f10 \fs18 \cf0 Com
monKADS. Se trata de mtodos generales, ciertamente muy simples, demasiado
\par}{\phpg\posx1701\pvpg\posy9503\absw7566\absh1236 \sl-239 \f10 \fs18 \cf0 esq
uemticos para abordar en profundidad el desarrollo prctico de sistemas de control
\par}{\phpg\posx1701\pvpg\posy9503\absw7566\absh1236 \sl-239 \f10 \fs18 \cf0 int
eligentes. \par
}
{\phpg\posx1701\pvpg\posy11290\absw754\absh192 \f10 \fs21 \cf0 \f10 \fs21 \cf0 1
4.3.1 \par
}
{\phpg\posx2656\pvpg\posy11290\absw5676\absh192 \f10 \fs21 \cf0 \f10 \fs21 \cf0

Control convencional frente a control inteligente \par

}
{\phpg\posx1701\pvpg\posy11707\absw7467\absh1435 \f10 \fs18 \cf0 \fi297 \f10 \fs
18 \cf0 La estructura de un sistema de control convencional (vase la Fi
gura 14.4) es
\par}{\phpg\posx1701\pvpg\posy11707\absw7467\absh1435 \sl-239 \f10 \fs18 \cf0 in
suficiente para el control de procesos complejos, debido a los siguientes factor
es:
\par}{\phpg\posx1701\pvpg\posy11707\absw7467\absh1435 \sl-215 \par\f10 \fs18 \cf
0 \fi297 {\f0\fs23 \bullet }{\f40 } Mal comportamiento de este tipo de procesos
frente a controladores convencio\par}{\phpg\posx1701\pvpg\posy11707\absw7467\absh1435 \sl-239 \f10 \fs18 \cf0 \f
i496 nales, debido entre otros motivos, a sistemas mal definidos, la disponibili
dad de
\par}{\phpg\posx1701\pvpg\posy11707\absw7467\absh1435 \sl-251 \par\f10 \fs18 \cf
0 \fi3535 597 \par
}
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}}\par}{\phpg\posx1701\pvpg\posy1429\absw596\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Control \par
}
{\phpg\posx1999\pvpg\posy2047\absw7157\absh1149 \f10 \fs18 \cf0 \fi199 \f10 \fs1
8 \cf0 representacin analtica, la existencia de incertidumbre e imprecisin, la nece
si\par}{\phpg\posx1999\pvpg\posy2047\absw7157\absh1149 \sl-237 \f10 \fs18 \cf0 \fi
199 dad de gestionar conceptos no numricos, etc.
\par}{\phpg\posx1999\pvpg\posy2047\absw7157\absh1149 \sl-191 \par\f10 \fs18 \cf0
{\f0\fs23 \bullet }{\f40 } Necesidad de aumentar la seguridad de funcionamient
o, por exigencia de mayor
\par}{\phpg\posx1999\pvpg\posy2047\absw7157\absh1149 \sl-237 \f10 \fs18 \cf0 \fi
199 fiabilidad (por ejemplo, centrales nucleares), o por exigencia de funcionami
ento
\par}{\phpg\posx1999\pvpg\posy2047\absw7157\absh1149 \sl-239 \f10 \fs18 \cf0 \fi
199 continuo (por ejemplo, altos hornos, hornos de cemento, ...). \par
}
{\phpg\posx2575\pvpg\posy3773\absw666\absh264 \f10 \fs13 \cf0 \f10 \fs13 \cf0 Pu
ntos de
\par}{\phpg\posx2575\pvpg\posy3773\absw666\absh264 \sl-160 \f10 \fs13 \cf0 \fi36
consigna \par
}
{\phpg\posx5091\pvpg\posy3784\absw491\absh106 \f10 \fs11 \cf0 \f10 \fs11 \cf0 PL
ANTA \par
}
{\phpg\posx3518\pvpg\posy4102\absw1135\absh122 \b \f10 \fs13 \cf0 \b \f10 \fs13
\cf0 CONTROLADOR \par
}

{\phpg\posx6064\pvpg\posy4099\absw1015\absh122 \b \f10 \fs13 \cf0 \b \f10 \fs13

\cf0 ACTUADORES \par
}
{\phpg\posx5122\pvpg\posy4770\absw490\absh235 \f10 \fs11 \cf0 \f10 \fs11 \cf0 Ma
terias
\par}{\phpg\posx5122\pvpg\posy4770\absw490\absh235 \sl-142 \f10 \fs11 \cf0 \fi46
Primas \par
}
{\phpg\posx7563\pvpg\posy4891\absw512\absh106 \f10 \fs11 \cf0 \f10 \fs11 \cf0 Pr
oducto \par
}
{\phpg\posx6216\pvpg\posy5074\absw747\absh122 \b \f10 \fs13 \cf0 \b \f10 \fs13 \
cf0 PROCESO \par
}
{\phpg\posx6169\pvpg\posy6104\absw821\absh122 \b \f10 \fs13 \cf0 \b \f10 \fs13 \
cf0 SENSORES \par
}
{\phpg\posx1701\pvpg\posy6751\absw7560\absh5895 \f10 \fs18 \cf0 \fi1022 \f10 \fs
18 \cf0 Figura 14.4: Esquema de un sistema de control convencional.
\par}{\phpg\posx1701\pvpg\posy6751\absw7560\absh5895 \sl-225 \par\f10 \fs18 \cf0
\fi297 El Control Supervisor supone, respecto al control convencional, la intro
duccin del
\par}{\phpg\posx1701\pvpg\posy6751\absw7560\absh5895 \sl-237 \f10 \fs18 \cf0 ope
rador dentro del sistema de control, generalmente como un lazo de control super\par}{\phpg\posx1701\pvpg\posy6751\absw7560\absh5895 \sl-239 \f10 \fs18 \cf0 pue
sto al lazo de control convencional. Las tareas que se realizan en control super
visor
\par}{\phpg\posx1701\pvpg\posy6751\absw7560\absh5895 \sl-239 \f10 \fs18 \cf0 (vas
e la Figura 14.5) son de dos tipos. En primer lugar, estn las relacionadas con
\par}{\phpg\posx1701\pvpg\posy6751\absw7560\absh5895 \sl-237 \f10 \fs18 \cf0 la
interaccin hombre-mquina, distinguiendo entre:
\par}{\phpg\posx1701\pvpg\posy6751\absw7560\absh5895 \sl-183 \par\f10 \fs18 \cf0
\fi297 {\f0\fs23 \bullet }{\f40 } La monitorizacin, que consiste bsicamente en l
a presentacin de datos de los
\par}{\phpg\posx1701\pvpg\posy6751\absw7560\absh5895 \sl-237 \f10 \fs18 \cf0 \fi
496 sensores al operador y el disparo de alarmas en el caso de que algn valor med
ido
\par}{\phpg\posx1701\pvpg\posy6751\absw7560\absh5895 \sl-239 \f10 \fs18 \cf0 \fi
496 est fuera del rango vlido.
\par}{\phpg\posx1701\pvpg\posy6751\absw7560\absh5895 \sl-190 \par\f10 \fs18 \cf0
\fi297 {\f0\fs23 \bullet }{\f40 } La interpretacin de comandos de control, que
consiste en la traduccin de las
\par}{\phpg\posx1701\pvpg\posy6751\absw7560\absh5895 \sl-239 \f10 \fs18 \cf0 \fi
496 rdenes del operador en nuevos puntos de consigna a establecer.
\par}{\phpg\posx1701\pvpg\posy6751\absw7560\absh5895 \sl-182 \par\f10 \fs18 \cf0
En segundo lugar, estn las relacionadas con la toma de decisiones de control rea
lizada
\par}{\phpg\posx1701\pvpg\posy6751\absw7560\absh5895 \sl-239 \f10 \fs18 \cf0 por
el operador, llevando a cabo la seleccin y aplicacin de estrategias de control.
\par}{\phpg\posx1701\pvpg\posy6751\absw7560\absh5895 \sl-237 \f10 \fs18 \cf0 Est
a toma de decisiones realizada por el operador constituye el elemento ms complejo
\par}{\phpg\posx1701\pvpg\posy6751\absw7560\absh5895 \sl-239 \f10 \fs18 \cf0 de
modelar en control inteligente, ya que su realizacin implica la necesidad de util
izar
\par}{\phpg\posx1701\pvpg\posy6751\absw7560\absh5895 \sl-239 \f10 \fs18 \cf0 con
ocimiento: experiencia, juicio y pericia humanas.
\par}{\phpg\posx1701\pvpg\posy6751\absw7560\absh5895 \sl-237 \f10 \fs18 \cf0 \fi
297 Las tareas de Monitorizacin y Supervisin por parte del operador se realizan en

\par}{\phpg\posx1701\pvpg\posy6751\absw7560\absh5895 \sl-239 \f10 \fs18 \cf0 una

sala de control con un software integrado de tipo SCADA (Supervisory Control
\par}{\phpg\posx1701\pvpg\posy6751\absw7560\absh5895 \sl-237 \f10 \fs18 \cf0 and
Data Acquisition). Los sistemas SCADA permiten el registro de datos del proceso
\par}{\phpg\posx1701\pvpg\posy6751\absw7560\absh5895 \sl-239 \f10 \fs18 \cf0 y
la interaccin de una forma cmoda a travs de interfaces grficos. Facilitan
la
\par}{\phpg\posx1701\pvpg\posy6751\absw7560\absh5895 \sl-239 \f10 \fs18 \cf0 pre
sentacin y almacenamiento de la informacin, pero contina siendo el operador
\par}{\phpg\posx1701\pvpg\posy6751\absw7560\absh5895 \sl-237 \f10 \fs18 \cf0 de
la sala de control el que decide sobre la evolucin del proceso, a la vist
a de los
\par}{\phpg\posx1701\pvpg\posy6751\absw7560\absh5895 \sl-239 \f10 \fs18 \cf0 dat
os presentados.
\par}{\phpg\posx1701\pvpg\posy6751\absw7560\absh5895 \sl-251 \par\f10 \fs18 \cf0
\fi3535 598 \par
}
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}}\par}{\phpg\posx6595\pvpg\posy1429\absw2472\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Mtodos genricos para control \par
}
{\phpg\posx2677\pvpg\posy2068\absw580\absh220 \f10 \fs10 \cf0 \f10 \fs10 \cf0 Co
mandos
\par}{\phpg\posx2677\pvpg\posy2068\absw580\absh220 \sl-134 \f10 \fs10 \cf0 \fi26
de control \par
}
{\phpg\posx4664\pvpg\posy2053\absw540\absh220 \f10 \fs10 \cf0 \f10 \fs10 \cf0 Pu
ntos de
\par}{\phpg\posx4664\pvpg\posy2053\absw540\absh220 \sl-134 \f10 \fs10 \cf0 \fi30
consigna \par
}
{\phpg\posx6457\pvpg\posy2130\absw477\absh102 \b \f10 \fs10 \cf0 \b \f10 \fs10 \
cf0 PLANTA \par
}
{\phpg\posx3836\pvpg\posy2252\absw731\absh341 \f10 \fs10 \cf0 \f10 \fs10 \cf0 In
terpretacin
\par}{\phpg\posx3836\pvpg\posy2252\absw731\absh341 \sl-134 \f10 \fs10 \cf0 de co
mandos
\par}{\phpg\posx3836\pvpg\posy2252\absw731\absh341 \sl-134 \f10 \fs10 \cf0 \fi10
2 de control \par
}
{\phpg\posx5281\pvpg\posy2364\absw946\absh102 \b \f10 \fs10 \cf0 \b \f10 \fs10 \
cf0 CONTROLADOR \par
}
{\phpg\posx7109\pvpg\posy2362\absw846\absh102 \b \f10 \fs10 \cf0 \b \f10 \fs10 \
cf0 ACTUADORES \par
}
{\phpg\posx1944\pvpg\posy3332\absw693\absh102 \b \f10 \fs10 \cf0 \b \f10 \fs10 \
cf0 OPERADOR \par
}
{\phpg\posx3844\pvpg\posy3210\absw693\absh343 \b \f10 \fs10 \cf0 \fi53 \b \f10 \
fs10 \cf0 INTERFAZ
\par}{\phpg\posx3844\pvpg\posy3210\absw693\absh343 \sl-134 \b \f10 \fs10 \cf0 \f
i263 DE
\par}{\phpg\posx3844\pvpg\posy3210\absw693\absh343 \sl-134 \b \f10 \fs10 \cf0 OP
ERADOR \par
}
{\phpg\posx6399\pvpg\posy3116\absw460\absh220 \f10 \fs10 \cf0 \f10 \fs10 \cf0 Ma

terias
\par}{\phpg\posx6399\pvpg\posy3116\absw460\absh220 \sl-134 \f10 \fs10 \cf0 \fi43
Primas \par
}
{\phpg\posx8227\pvpg\posy3206\absw480\absh100 \f10 \fs10 \cf0 \f10 \fs10 \cf0 Pr
oducto \par
}
{\phpg\posx7235\pvpg\posy3352\absw600\absh102 \b \f10 \fs10 \cf0 \b \f10 \fs10 \
cf0 PROCESO \par
}
{\phpg\posx3807\pvpg\posy4373\absw773\absh100 \f10 \fs10 \cf0 \f10 \fs10 \cf0 Mo
nitorizacin \par
}
{\phpg\posx7220\pvpg\posy4336\absw666\absh102 \b \f10 \fs10 \cf0 \b \f10 \fs10 \
cf0 SENSORES \par
}
{\phpg\posx2657\pvpg\posy4541\absw698\absh341 \f10 \fs10 \cf0 \f10 \fs10 \cf0 Pr
esentacin
\par}{\phpg\posx2657\pvpg\posy4541\absw698\absh341 \sl-134 \f10 \fs10 \cf0 \fi72
de datos y
\par}{\phpg\posx2657\pvpg\posy4541\absw698\absh341 \sl-134 \f10 \fs10 \cf0 \fi13
5 alarmas \par
}
{\phpg\posx4736\pvpg\posy4512\absw553\absh220 \f10 \fs10 \cf0 \fi120 \f10 \fs10
\cf0 Datos
\par}{\phpg\posx4736\pvpg\posy4512\absw553\absh220 \sl-134 \f10 \fs10 \cf0 adqui
ridos \par
}
{\phpg\posx2832\pvpg\posy5200\absw5156\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 F
igura 14.5: Esquema de un sistema de control supervisor. \par
}
{\phpg\posx1701\pvpg\posy5851\absw7576\absh1236 \f10 \fs18 \cf0 \fi297 \f10 \fs1
8 \cf0 El control inteligente (vase la Figura 14.6) surge como soporte para la si
stema\par}{\phpg\posx1701\pvpg\posy5851\absw7576\absh1236 \sl-237 \f10 \fs18 \cf0 tiz
acin de las tareas complejas realizadas por el operador, con el fin de suplir
sus
\par}{\phpg\posx1701\pvpg\posy5851\absw7576\absh1236 \sl-239 \f10 \fs18 \cf0 pos
ibles carencias producidas, entre otros motivos, por la sobrecarga de informacin
\par}{\phpg\posx1701\pvpg\posy5851\absw7576\absh1236 \sl-237 \f10 \fs18 \cf0 o l
a fatiga. Se trata de automatizar, en la medida en que sea posible, tareas como
el
\par}{\phpg\posx1701\pvpg\posy5851\absw7576\absh1236 \sl-239 \f10 \fs18 \cf0 anli
sis de los datos, la deteccin de fallos, el diagnstico de los mismos y la toma de
\par}{\phpg\posx1701\pvpg\posy5851\absw7576\absh1236 \sl-239 \f10 \fs18 \cf0 dec
isiones o propuesta de acciones concretas [Colomer y otros, 2000]. \par
}
{\phpg\posx2773\pvpg\posy7566\absw580\absh220 \f10 \fs10 \cf0 \f10 \fs10 \cf0 Co
mandos
\par}{\phpg\posx2773\pvpg\posy7566\absw580\absh220 \sl-134 \f10 \fs10 \cf0 \fi26
de control \par
}
{\phpg\posx4760\pvpg\posy7551\absw540\absh220 \f10 \fs10 \cf0 \f10 \fs10 \cf0 Pu
ntos de
\par}{\phpg\posx4760\pvpg\posy7551\absw540\absh220 \sl-134 \f10 \fs10 \cf0 \fi30
consigna \par
}
{\phpg\posx6546\pvpg\posy7665\absw477\absh102 \b \f10 \fs10 \cf0 \b \f10 \fs10 \
cf0 PLANTA \par
}

{\phpg\posx3932\pvpg\posy7750\absw731\absh341 \f10 \fs10 \cf0 \f10 \fs10 \cf0 In

terpretacin
\par}{\phpg\posx3932\pvpg\posy7750\absw731\absh341 \sl-134 \f10 \fs10 \cf0 de co
mandos
\par}{\phpg\posx3932\pvpg\posy7750\absw731\absh341 \sl-134 \f10 \fs10 \cf0 \fi10
2 de control \par
}
{\phpg\posx5377\pvpg\posy7862\absw946\absh102 \b \f10 \fs10 \cf0 \b \f10 \fs10 \
cf0 CONTROLADOR \par
}
{\phpg\posx7205\pvpg\posy7860\absw846\absh102 \b \f10 \fs10 \cf0 \b \f10 \fs10 \
cf0 ACTUADORES \par
}
{\phpg\posx2512\pvpg\posy8319\absw600\absh220 \f10 \fs10 \cf0 \f10 \fs10 \cf0 Es
trategias
\par}{\phpg\posx2512\pvpg\posy8319\absw600\absh220 \sl-134 \f10 \fs10 \cf0 \fi36
de control \par
}
{\phpg\posx1895\pvpg\posy8830\absw693\absh102 \b \f10 \fs10 \cf0 \b \f10 \fs10 \
cf0 OPERADOR \par
}
{\phpg\posx3085\pvpg\posy8705\absw755\absh371 \b \f10 \fs8 \cf0 \fi164 \b \f10 \
fs8 \cf0 SISTEMA
\par}{\phpg\posx3085\pvpg\posy8705\absw755\absh371 \sl-107 \b \f10 \fs8 \cf0 \fi
169 BASADO
\par}{\phpg\posx3085\pvpg\posy8705\absw755\absh371 \sl-107 \b \f10 \fs8 \cf0 \fi
311 EN
\par}{\phpg\posx3085\pvpg\posy8705\absw755\absh371 \sl-107 \b \f10 \fs8 \cf0 CON
OCIMIENTO \par
}
{\phpg\posx3940\pvpg\posy8708\absw693\absh343 \b \f10 \fs10 \cf0 \fi53 \b \f10 \
fs10 \cf0 INTERFAZ
\par}{\phpg\posx3940\pvpg\posy8708\absw693\absh343 \sl-134 \b \f10 \fs10 \cf0 \f
i263 DE
\par}{\phpg\posx3940\pvpg\posy8708\absw693\absh343 \sl-134 \b \f10 \fs10 \cf0 OP
ERADOR \par
}
{\phpg\posx6495\pvpg\posy8614\absw460\absh220 \f10 \fs10 \cf0 \f10 \fs10 \cf0 Ma
terias
\par}{\phpg\posx6495\pvpg\posy8614\absw460\absh220 \sl-134 \f10 \fs10 \cf0 \fi43
Primas \par
}
{\phpg\posx8323\pvpg\posy8705\absw480\absh100 \f10 \fs10 \cf0 \f10 \fs10 \cf0 Pr
oducto \par
}
{\phpg\posx7331\pvpg\posy8850\absw600\absh102 \b \f10 \fs10 \cf0 \b \f10 \fs10 \
cf0 PROCESO \par
}
{\phpg\posx3930\pvpg\posy9871\absw773\absh100 \f10 \fs10 \cf0 \f10 \fs10 \cf0 Mo
nitorizacin \par
}
{\phpg\posx7435\pvpg\posy9865\absw666\absh102 \b \f10 \fs10 \cf0 \b \f10 \fs10 \
cf0 SENSORES \par
}
{\phpg\posx2753\pvpg\posy10040\absw698\absh341 \f10 \fs10 \cf0 \f10 \fs10 \cf0 P
resentacin
\par}{\phpg\posx2753\pvpg\posy10040\absw698\absh341 \sl-134 \f10 \fs10 \cf0 \fi7
2 de datos y
\par}{\phpg\posx2753\pvpg\posy10040\absw698\absh341 \sl-134 \f10 \fs10 \cf0 \fi1
35 alarmas \par

}
{\phpg\posx4832\pvpg\posy10011\absw553\absh220 \f10 \fs10 \cf0 \fi120 \f10 \fs10
\cf0 Datos
\par}{\phpg\posx4832\pvpg\posy10011\absw553\absh220 \sl-134 \f10 \fs10 \cf0 adqu
iridos \par
}
{\phpg\posx2827\pvpg\posy10701\absw5174\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0
Figura 14.6: Esquema de un sistema de control inteligente. \par
}
{\phpg\posx1701\pvpg\posy11494\absw754\absh192 \f10 \fs21 \cf0 \f10 \fs21 \cf0 1
4.3.2 \par
}
{\phpg\posx2656\pvpg\posy11494\absw3594\absh192 \f10 \fs21 \cf0 \f10 \fs21 \cf0
Tarea genrica para el Control \par
}
{\phpg\posx1701\pvpg\posy11901\absw7579\absh1260 \f10 \fs18 \cf0 \fi297 \f10 \fs
18 \cf0 Existe un vaco en CommonKADS respecto al control inteligente ya que no ha
y una
\par}{\phpg\posx1701\pvpg\posy11901\absw7579\absh1260 \sl-239 \f10 \fs18 \cf0 ta
rea bsica para el Control. La tarea genrica ms parecida es Remedio o Reparacin,
\par}{\phpg\posx1701\pvpg\posy11901\absw7579\absh1260 \sl-237 \f10 \fs18 \cf0 un
subtipo de Modificacin, cuyo objetivo es restaurar la funcionalidad de un sistem
a,
\par}{\phpg\posx1701\pvpg\posy11901\absw7579\absh1260 \sl-239 \f10 \fs18 \cf0 de
teniendo un proceso defectuoso que la ha alterado. Sin embargo, Modificacin no
\par}{\phpg\posx1701\pvpg\posy11901\absw7579\absh1260 \sl-251 \par\f10 \fs18 \cf
0 \fi3535 599 \par
}
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}}\par}{\phpg\posx1701\pvpg\posy1429\absw596\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Control \par
}
{\phpg\posx1701\pvpg\posy2047\absw7529\absh2957 \f10 \fs18 \cf0 \f10 \fs18 \cf0
existe como tarea bsica en las ltimas versiones de CommonKADS. Por tanto, es
\par}{\phpg\posx1701\pvpg\posy2047\absw7529\absh2957 \sl-237 \f10 \fs18 \cf0 nec
esario construir una plantilla de tarea para Control Inteligente, entendida
como
\par}{\phpg\posx1701\pvpg\posy2047\absw7529\absh2957 \sl-239 \f10 \fs18 \cf0 una
tarea de supervisin inteligente, obtenida por combinacin de otras tareas.
\par}{\phpg\posx1701\pvpg\posy2047\absw7529\absh2957 \sl-239 \f10 \fs18 \cf0 \fi
297 Como hemos indicado al definir el control supervisor, ste se basa en tareas c
o\par}{\phpg\posx1701\pvpg\posy2047\absw7529\absh2957 \sl-237 \f10 \fs18 \cf0 mo
Monitorizacin, realizada mediante el sistema SCADA, y otras como Valoracin,
\par}{\phpg\posx1701\pvpg\posy2047\absw7529\absh2957 \sl-239 \f10 \fs18 \cf0 Dia
gnstico y Planificacin, realizadas por el operador a la vista de los datos y alar\par}{\phpg\posx1701\pvpg\posy2047\absw7529\absh2957 \sl-239 \f10 \fs18 \cf0 mas
proporcionados por la interfaz del sistema SCADA. A continuacin se construye
\par}{\phpg\posx1701\pvpg\posy2047\absw7529\absh2957 \sl-237 \f10 \fs18 \cf0 un
mtodo para control inteligente, basado en las plantillas de estas tareas genricas.
\par}{\phpg\posx1701\pvpg\posy2047\absw7529\absh2957 \sl-239 \f10 \fs18 \cf0 \fi
297 Un sistema de Monitorizacin adquiere y procesa un conjunto de seales prove\par}{\phpg\posx1701\pvpg\posy2047\absw7529\absh2957 \sl-237 \f10 \fs18 \cf0 nie
ntes de un entorno y genera descripciones de alto nivel de abstraccin sobre lo
s
\par}{\phpg\posx1701\pvpg\posy2047\absw7529\absh2957 \sl-239 \f10 \fs18 \cf0 obj
etos y eventos de dicho entorno. El objetivo de la correspondiente tarea es anal
izar
\par}{\phpg\posx1701\pvpg\posy2047\absw7529\absh2957 \sl-239 \f10 \fs18 \cf0 un
proceso en curso para detectar si se comporta de acuerdo con las expectativas. L
a
\par}{\phpg\posx1701\pvpg\posy2047\absw7529\absh2957 \sl-237 \f10 \fs18 \cf0 Fig
ura 14.7 muestra la plantilla de la tarea Monitorizacin, extendida para problemas
\par}{\phpg\posx1701\pvpg\posy2047\absw7529\absh2957 \sl-239 \f10 \fs18 \cf0 de
control. \par
}
{\phpg\posx1995\pvpg\posy5735\absw281\absh106 \f20 \fs11 \cf0 \f20 \fs11 \cf0 sea
l \par
}
{\phpg\posx2978\pvpg\posy5595\absw599\absh365 \f20 \fs11 \cf0 \f20 \fs11 \cf0 ad
quisicin
\par}{\phpg\posx2978\pvpg\posy5595\absw599\absh365 \sl-143 \f20 \fs11 \cf0 \fi84
de datos
\par}{\phpg\posx2978\pvpg\posy5595\absw599\absh365 \sl-143 \f20 \fs11 \cf0 \fi86
(recibir) \par

}
{\phpg\posx4119\pvpg\posy5635\absw440\absh236 \f20 \fs11 \cf0 \fi61 \f20 \fs11 \
cf0 nuevo
\par}{\phpg\posx4119\pvpg\posy5635\absw440\absh236 \sl-143 \f20 \fs11 \cf0 halla
zgo \par
}
{\phpg\posx5068\pvpg\posy5725\absw434\absh106 \f20 \fs11 \cf0 \f20 \fs11 \cf0 ab
straer \par
}
{\phpg\posx5940\pvpg\posy5635\absw479\absh236 \f20 \fs11 \cf0 \f20 \fs11 \cf0 ha
llazgo
\par}{\phpg\posx5940\pvpg\posy5635\absw479\absh236 \sl-143 \f20 \fs11 \cf0 abstr
acto \par
}
{\phpg\posx6967\pvpg\posy5735\absw584\absh106 \f20 \fs11 \cf0 \f20 \fs11 \cf0 se
leccionar \par
}
{\phpg\posx8053\pvpg\posy5721\absw559\absh106 \f20 \fs11 \cf0 \f20 \fs11 \cf0 pa
rmetro \par
}
{\phpg\posx8083\pvpg\posy6394\absw562\absh106 \f20 \fs11 \cf0 \f20 \fs11 \cf0 es
pecificar \par
}
{\phpg\posx7014\pvpg\posy7064\absw531\absh106 \f20 \fs11 \cf0 \f20 \fs11 \cf0 co
mparar \par
}
{\phpg\posx8197\pvpg\posy7049\absw364\absh106 \f20 \fs11 \cf0 \f20 \fs11 \cf0 no
rma \par
}
{\phpg\posx7000\pvpg\posy7740\absw519\absh106 \f20 \fs11 \cf0 \f20 \fs11 \cf0 di
ferencia \par
}
{\phpg\posx5905\pvpg\posy8368\absw545\absh236 \f20 \fs11 \cf0 \f20 \fs11 \cf0 hi
storia de
\par}{\phpg\posx5905\pvpg\posy8368\absw545\absh236 \sl-143 \f20 \fs11 \cf0 \fi27
hallazgos \par
}
{\phpg\posx7021\pvpg\posy8435\absw476\absh106 \f20 \fs11 \cf0 \f20 \fs11 \cf0 cl
asificar \par
}
{\phpg\posx8061\pvpg\posy8434\absw649\absh106 \f20 \fs11 \cf0 \f20 \fs11 \cf0 di
screpancia \par
}
{\phpg\posx8063\pvpg\posy8951\absw656\absh365 \f20 \fs11 \cf0 \f20 \fs11 \cf0 pr
esentacin
\par}{\phpg\posx8063\pvpg\posy8951\absw656\absh365 \sl-143 \f20 \fs11 \cf0 \fi48
de alarmas
\par}{\phpg\posx8063\pvpg\posy8951\absw656\absh365 \sl-143 \f20 \fs11 \cf0 \fi46
(presentar) \par
}
{\phpg\posx8195\pvpg\posy9815\absw393\absh106 \f20 \fs11 \cf0 \f20 \fs11 \cf0 al
arma \par
}
{\phpg\posx1701\pvpg\posy10353\absw7761\absh1893 \f10 \fs18 \cf0 \fi1819 \f10 \f
s18 \cf0 Figura 14.7: Plantilla para Monitorizacin.
\par}{\phpg\posx1701\pvpg\posy10353\absw7761\absh1893 \sl-244 \par\f10 \fs18 \cf
0 \fi297 La Valoracin tiene por objetivo establecer una categora de decisin para un
caso,
\par}{\phpg\posx1701\pvpg\posy10353\absw7761\absh1893 \sl-237 \f10 \fs18 \cf0 ba
sndose en normas especficas del dominio. Su plantilla se muestra en la Figura 14.8

.
\par}{\phpg\posx1701\pvpg\posy10353\absw7761\absh1893 \sl-239 \f10 \fs18 \cf0 \f
i297 El objetivo de la tarea de Planificacin es generar un plan, formado por un c
onjun\par}{\phpg\posx1701\pvpg\posy10353\absw7761\absh1893 \sl-239 \f10 \fs18 \cf0 to
de acciones, para alcanzar un objetivo. CommonKADS no proporciona un mtodo
\par}{\phpg\posx1701\pvpg\posy10353\absw7761\absh1893 \sl-237 \f10 \fs18 \cf0 es
pecfico, sino que recomienda usar mtodos de sntesis o de diseo por configura\par}{\phpg\posx1701\pvpg\posy10353\absw7761\absh1893 \sl-239 \f10 \fs18 \cf0 cin
, segn que el espacio de planes sea reducido o grande, respectivamente (vase la
\par}{\phpg\posx1701\pvpg\posy10353\absw7761\absh1893 \sl-239 \f10 \fs18 \cf0 Fi
gura 14.8). \par
}
{\phpg\posx5236\pvpg\posy13123\absw359\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 6
00 \par
}
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ffd9
}}\par}{\phpg\posx7826\pvpg\posy1429\absw1239\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Control borroso \par
}
{\phpg\posx3144\pvpg\posy2093\absw195\absh129 \f20 \fs9 \cf0 \f20 \fs9 \cf0 caso
\par
}
{\phpg\posx3066\pvpg\posy2624\absw347\absh129 \f20 \fs9 \cf0 \f20 \fs9 \cf0 abst
raer \par
}
{\phpg\posx6159\pvpg\posy2795\absw659\absh129 \f20 \fs9 \cf0 \f20 \fs9 \cf0 requ
erimientos \par
}
{\phpg\posx3044\pvpg\posy3061\absw396\absh199 \f20 \fs9 \cf0 \fi100 \f20 \fs9 \c
f0 caso
\par}{\phpg\posx3044\pvpg\posy3061\absw396\absh199 \sl-121 \f20 \fs9 \cf0 abstra
cto \par
}

{\phpg\posx3808\pvpg\posy3146\absw476\absh129 \f20
cificar \par
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{\phpg\posx4733\pvpg\posy3133\absw323\absh129 \f20
as \par
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{\phpg\posx6327\pvpg\posy3312\absw329\absh129 \f20
rar \par
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{\phpg\posx7297\pvpg\posy3243\absw693\absh199 \f20
0 conocimiento
\par}{\phpg\posx7297\pvpg\posy3243\absw693\absh199
posicin \par
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{\phpg\posx4647\pvpg\posy3686\absw494\absh129 \f20
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{\phpg\posx6312\pvpg\posy3698\absw360\absh199 \f20
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es \par
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{\phpg\posx3885\pvpg\posy4182\absw323\absh129 \f20
uar \par
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{\phpg\posx4754\pvpg\posy4169\absw280\absh129 \f20
a \par
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{\phpg\posx6232\pvpg\posy4206\absw537\absh199 \f20
0 seleccionar
\par}{\phpg\posx6232\pvpg\posy4206\absw537\absh199
junto \par
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{\phpg\posx7224\pvpg\posy4190\absw864\absh199 \f20
cimiento sobre
\par}{\phpg\posx7224\pvpg\posy4190\absw864\absh199
restricciones \par
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{\phpg\posx3809\pvpg\posy4629\absw476\absh199 \f20
uacin
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de norma \par
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{\phpg\posx6333\pvpg\posy4698\absw317\absh199 \f20
es
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\par
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{\phpg\posx2785\pvpg\posy5127\absw598\absh199 \f20
cimiento
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nar \par
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\fs9 \cf0 \f20 \fs9 \cf0 espe

\fs9 \cf0 \f20 \fs9 \cf0 norm
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\fs9 \cf0 \fi47 \f20 \fs9 \cf
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\fs9 \cf0 \fi39 \f20 \fs9 \cf
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\fs9 \cf0 \f20 \fs9 \cf0 norm
\fs9 \cf0 \fi21 \f20 \fs9 \cf
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cimiento sobre
\par}{\phpg\posx7224\pvpg\posy5192\absw864\absh199 \sl-121 \f20 \fs9 \cf0 \fi163
preferencias \par
}
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sin \par
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0 planes
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idos
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i106 {\f10 \fs14 (b)}{\f10 \fs14 Sntesis }\par
}
{\phpg\posx3228\pvpg\posy6554\absw4316\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 F
igura 14.8: Plantillas para Valoracin y Sntesis. \par
}
{\phpg\posx1701\pvpg\posy7190\absw7428\absh1236 \f10 \fs18 \cf0 \fi297 \f10 \fs1
8 \cf0 Por ltimo, el objetivo del Diagnstico (vase la Figura 14.9) consiste en enc
on\par}{\phpg\posx1701\pvpg\posy7190\absw7428\absh1236 \sl-239 \f10 \fs18 \cf0 tra
r un factor causal que explique un comportamiento observado discrepante respecto
\par}{\phpg\posx1701\pvpg\posy7190\absw7428\absh1236 \sl-237 \f10 \fs18 \cf0 a
la norma o a las expectativas. La Figura 14.10 muestra un mtodo para Contro
l
\par}{\phpg\posx1701\pvpg\posy7190\absw7428\absh1236 \sl-239 \f10 \fs18 \cf0 Int
eligente, obtenido como combinacin de las plantillas de tareas comentadas pre\par}{\phpg\posx1701\pvpg\posy7190\absw7428\absh1236 \sl-239 \f10 \fs18 \cf0 via
mente, y constituye un punto de partida para abordar el diseo de un sistema de
\par}{\phpg\posx1701\pvpg\posy7190\absw7428\absh1236 \sl-237 \f10 \fs18 \cf0 con
trol inteligente. \par
}
{\phpg\posx1701\pvpg\posy8987\absw706\absh231 \f10 \fs25 \cf0 \f10 \fs25 \cf0 14
.4 \par
}
{\phpg\posx2576\pvpg\posy8987\absw2193\absh231 \f10 \fs25 \cf0 \f10 \fs25 \cf0 C
ontrol borroso \par
}
{\phpg\posx1701\pvpg\posy9511\absw7605\absh3411 \f10 \fs18 \cf0 \fi297 \f10 \fs1
8 \cf0 Tradicionalmente, los sistemas de control inteligente combinan la teora cls
ica de
\par}{\phpg\posx1701\pvpg\posy9511\absw7605\absh3411 \sl-237 \f10 \fs18 \cf0 con
trol con tcnicas de IA para obtener un sistema basado en un modelo fsi
co, o
\par}{\phpg\posx1701\pvpg\posy9511\absw7605\absh3411 \sl-239 \f10 \fs18 \cf0 mat
emtico, dirigido por cierto conocimiento adicional. El estudio de estos sistemas
\par}{\phpg\posx1701\pvpg\posy9511\absw7605\absh3411 \sl-239 \f10 \fs18 \cf0 se
ha apoyado en campos de la IA tales como las redes neuronales, los
algoritmos
\par}{\phpg\posx1701\pvpg\posy9511\absw7605\absh3411 \sl-237 \f10 \fs18 \cf0 gent
icos, los sistemas multiagente o la lgica borrosa.
\par}{\phpg\posx1701\pvpg\posy9511\absw7605\absh3411 \sl-239 \f10 \fs18 \cf0 \fi
297 En este apartado se estudiarn los sistemas de control inteligentes de mayor i
m\par}{\phpg\posx1701\pvpg\posy9511\absw7605\absh3411 \sl-239 \f10 \fs18 \cf0 pla
ntacin, los controladores borrosos. El objetivo de estos controladores es intenta

r
\par}{\phpg\posx1701\pvpg\posy9511\absw7605\absh3411 \sl-237 \f10 \fs18 \cf0 com
pensar las discrepancias entre los valores observados y los esperados,
utilizan\par}{\phpg\posx1701\pvpg\posy9511\absw7605\absh3411 \sl-239 \f10 \fs18 \cf0 do
ciertas reglas de actuacin, especificadas mediante descriptores lingsticos. Por
\par}{\phpg\posx1701\pvpg\posy9511\absw7605\absh3411 \sl-237 \f10 \fs18 \cf0 eje
mplo, la utilizacin de trminos tales como muy caluroso o poco rpido representan
\par}{\phpg\posx1701\pvpg\posy9511\absw7605\absh3411 \sl-239 \f10 \fs18 \cf0 inf
ormacin cualitativa poco precisa, pero son un elemento sustancial del conocimient
o
\par}{\phpg\posx1701\pvpg\posy9511\absw7605\absh3411 \sl-239 \f10 \fs18 \cf0 hum
ano. Estos sistemas son fciles de entender por el experto y su implementacin es
\par}{\phpg\posx1701\pvpg\posy9511\absw7605\absh3411 \sl-237 \f10 \fs18 \cf0 sen
cilla. Adems, debido a que su manufacturacin es relativamente econmica, estos
\par}{\phpg\posx1701\pvpg\posy9511\absw7605\absh3411 \sl-239 \f10 \fs18 \cf0 con
troladores inteligentes se han incorporado velozmente al mundo de la industria;
en
\par}{\phpg\posx1701\pvpg\posy9511\absw7605\absh3411 \sl-251 \par\f10 \fs18 \cf0
\fi3535 601 \par
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}}\par}{\phpg\posx1701\pvpg\posy1429\absw596\absh144 \f20 \fs16 \cf0 \f20 \fs16

\cf0 Control \par
}
{\phpg\posx5131\pvpg\posy2169\absw575\absh114 \f20 \fs12 \cf0 \f20 \fs12 \cf0 hi
ptesis \par
}
{\phpg\posx6218\pvpg\posy2165\absw606\absh114 \f20 \fs12 \cf0 \f20 \fs12 \cf0 es
pecificar \par
}
{\phpg\posx7338\pvpg\posy2150\absw630\absh114 \f20 \fs12 \cf0 \f20 \fs12 \cf0 ob
servable \par
}
{\phpg\posx5051\pvpg\posy2830\absw645\absh114 \f20 \fs12 \cf0 \f20 \fs12 \cf0 se
leccionar \par
}
{\phpg\posx7454\pvpg\posy2807\absw471\absh114 \f20 \fs12 \cf0 \f20 \fs12 \cf0 ob
tener \par
}
{\phpg\posx2716\pvpg\posy3478\absw720\absh114 \f20 \fs12 \cf0 \f20 \fs12 \cf0 di
screpancia \par
}
{\phpg\posx4093\pvpg\posy3495\absw377\absh114 \f20 \fs12 \cf0 \f20 \fs12 \cf0 cu
brir \par
}
{\phpg\posx5131\pvpg\posy3499\absw575\absh114 \f20 \fs12 \cf0 \f20 \fs12 \cf0 hi
ptesis \par
}
{\phpg\posx7443\pvpg\posy3501\absw531\absh114 \f20 \fs12 \cf0 \f20 \fs12 \cf0 ha
llazgo \par
}
{\phpg\posx5063\pvpg\posy4148\absw606\absh114 \f20 \fs12 \cf0 \f20 \fs12 \cf0 es
pecificar \par
}
{\phpg\posx5116\pvpg\posy4729\absw607\absh254 \f20 \fs12 \cf0 \f20 \fs12 \cf0 ha
llazgos
\par}{\phpg\posx5116\pvpg\posy4729\absw607\absh254 \sl-155 \f20 \fs12 \cf0 predi
chos \par
}
{\phpg\posx6257\pvpg\posy4813\absw547\absh114 \f20 \fs12 \cf0 \f20 \fs12 \cf0 co
mparar \par
}
{\phpg\posx6201\pvpg\posy5443\absw690\absh254 \f20 \fs12 \cf0 \fi66 \f20 \fs12 \
cf0 resultado
\par}{\phpg\posx6201\pvpg\posy5443\absw690\absh254 \sl-155 \f20 \fs12 \cf0 diagns
tico \par
}
{\phpg\posx3662\pvpg\posy6079\absw3453\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 F
igura 14.9: Plantilla para Diagnstico. \par
}
{\phpg\posx1701\pvpg\posy6705\absw7615\absh5936 \f10 \fs18 \cf0 \f10 \fs18 \cf0
ocasiones, combinndolos con controladores PID tradicionales. Algunas aplicaciones
\par}{\phpg\posx1701\pvpg\posy6705\absw7615\absh5936 \sl-237 \f10 \fs18 \cf0 del
uso de controladores borrosos son: hornos de cemento, trenes y suburbanos (Hi\par}{\phpg\posx1701\pvpg\posy6705\absw7615\absh5936 \sl-239 \f10 \fs18 \cf0 tac
hi, control del metro de Sendai, Japn), vuelo sin piloto, robots mviles (NASA),
\par}{\phpg\posx1701\pvpg\posy6705\absw7615\absh5936 \sl-237 \f10 \fs18 \cf0 con
trol de purificacin de agua (Fuji Elec. y TIT), centro de suministro domst
ico
\par}{\phpg\posx1701\pvpg\posy6705\absw7615\absh5936 \sl-239 \f10 \fs18 \cf0 de

agua (Matsushita), control de grupos de ascensores (Mitsubishi Elec.), cm

aras
\par}{\phpg\posx1701\pvpg\posy6705\absw7615\absh5936 \sl-239 \f10 \fs18 \cf0 dig
itales (enfoque, estabilizacin de imagen), lavadoras... etc.
\par}{\phpg\posx1701\pvpg\posy6705\absw7615\absh5936 \sl-277 \par\f10 \fs18 \cf0
{\fs21 14.4.1}{\fs21
Estructura}{\fs21 bsica }
\par}{\phpg\posx1701\pvpg\posy6705\absw7615\absh5936 \sl-183 \par\f10 \fs18 \cf0
\fi297 Un sistema de lgica borrosa puro est formado nicamente por dos componentes:
\par}{\phpg\posx1701\pvpg\posy6705\absw7615\absh5936 \sl-193 \par\f10 \fs18 \cf0
\fi297 {\f0\fs23 \bullet }{\f40 } Una base de reglas borrosas.
\par}{\phpg\posx1701\pvpg\posy6705\absw7615\absh5936 \sl-196 \par\f10 \fs18 \cf0
\fi297 {\f0\fs23 \bullet }{\f40 } Un mecanismo de inferencias borrosas.
\par}{\phpg\posx1701\pvpg\posy6705\absw7615\absh5936 \sl-193 \par\f10 \fs18 \cf0
La base de reglas es un conjunto de reglas borrosas (SI-ENTONCES) ex
presadas
\par}{\phpg\posx1701\pvpg\posy6705\absw7615\absh5936 \sl-239 \f10 \fs18 \cf0 en
forma lingstica. Estas reglas se describen mediante una expresin que contiene
\par}{\phpg\posx1701\pvpg\posy6705\absw7615\absh5936 \sl-237 \f10 \fs18 \cf0 un
conjunto de trminos borrosos en la parte del antecedente (SI) y otro co
njunto
\par}{\phpg\posx1701\pvpg\posy6705\absw7615\absh5936 \sl-239 \f10 \fs18 \cf0 de
trminos borrosos en la parte del consecuente (ENTONCES) (vase el captulo 3
\par}{\phpg\posx1701\pvpg\posy6705\absw7615\absh5936 \sl-239 \f10 \fs18 \cf0 sob
re Sistemas Basados en Reglas). En control borroso, se les denomina trminos de
\par}{\phpg\posx1701\pvpg\posy6705\absw7615\absh5936 \sl-237 \f10 \fs18 \cf0 la
parte izquierda o LHS (del ingls Left Hand Side), y trminos de la parte derecha
\par}{\phpg\posx1701\pvpg\posy6705\absw7615\absh5936 \sl-239 \f10 \fs18 \cf0 o R
HS (del ingls Right Hand Side), respectivamente. Por ejemplo, en el campo de la
\par}{\phpg\posx1701\pvpg\posy6705\absw7615\absh5936 \sl-237 \f10 \fs18 \cf0 domt
ica, un controlador de temperatura podra utilizar la regla: SI la humedad de la
\par}{\phpg\posx1701\pvpg\posy6705\absw7615\absh5936 \sl-239 \f10 \fs18 \cf0 hab
itacin es alta y la temperatura se incrementa rpidamente, ENTONCES activar
\par}{\phpg\posx1701\pvpg\posy6705\absw7615\absh5936 \sl-239 \f10 \fs18 \cf0 el
aire acondicionado a una potencia media-alta.
\par}{\phpg\posx1701\pvpg\posy6705\absw7615\absh5936 \sl-237 \f10 \fs18 \cf0 \fi
297 El mecanismo de inferencias borrosas busca en la base de reglas borrosas las
que
\par}{\phpg\posx1701\pvpg\posy6705\absw7615\absh5936 \sl-239 \f10 \fs18 \cf0 son
aplicables a la situacin actual, y opera con ellas de forma que el
espacio de
\par}{\phpg\posx1701\pvpg\posy6705\absw7615\absh5936 \sl-251 \par\f10 \fs18 \cf0
\fi3535 602 \par
}
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{\phpg\posx3457\pvpg\posy6063\absw461\absh181 \f20 \fs9 \cf0 \fi47 \f20 \fs9 \cf
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\par}{\phpg\posx3457\pvpg\posy6063\absw461\absh181 \sl-110 \f20 \fs9 \cf0 diagnst
ico \par
}
{\phpg\posx7227\pvpg\posy5983\absw327\absh181 \f20 \fs9 \cf0 \fi36 \f20 \fs9 \cf
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es \par
}
{\phpg\posx3503\pvpg\posy6519\absw366\absh117 \f20 \fs9 \cf0 \f20 \fs9 \cf0 pres
entar \par
}
{\phpg\posx7155\pvpg\posy6445\absw488\absh181 \f20 \fs9 \cf0 \f20 \fs9 \cf0 sele
ccionar
\par}{\phpg\posx7155\pvpg\posy6445\absw488\absh181 \sl-110 \f20 \fs9 \cf0 subcon
junto \par
}
{\phpg\posx8056\pvpg\posy6430\absw785\absh181 \f20 \fs9 \cf0 \f20 \fs9 \cf0 cono
cimiento sobre
\par}{\phpg\posx8056\pvpg\posy6430\absw785\absh181 \sl-110 \f20 \fs9 \cf0 \fi140
restricciones \par
}
{\phpg\posx3452\pvpg\posy6908\absw460\absh117 \f20 \fs9 \cf0 \f20 \fs9 \cf0 expl
icacin \par
}
{\phpg\posx4509\pvpg\posy6787\absw799\absh231 \b \f20 \fs9 \cf0 \fi108 \b \f20 \
fs9 \cf0 OPERADOR
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TROLADOR \par
}
{\phpg\posx5962\pvpg\posy6907\absw272\absh117 \f20 \fs9 \cf0 \f20 \fs9 \cf0 alar
ma \par
}
{\phpg\posx7247\pvpg\posy6892\absw288\absh181 \f20 \fs9 \cf0 \f20 \fs9 \cf0 plan

es
\par}{\phpg\posx7247\pvpg\posy6892\absw288\absh181 \sl-110 \f20 \fs9 \cf0 vlidos
\par
}
{\phpg\posx4760\pvpg\posy7405\absw386\absh181 \f20 \fs9 \cf0 \f20 \fs9 \cf0 punt
os de
\par}{\phpg\posx4760\pvpg\posy7405\absw386\absh181 \sl-110 \f20 \fs9 \cf0 consig
na \par
}
{\phpg\posx7238\pvpg\posy7403\absw305\absh117 \f20 \fs9 \cf0 \f20 \fs9 \cf0 orde
nar \par
}
{\phpg\posx8056\pvpg\posy7340\absw785\absh181 \f20 \fs9 \cf0 \f20 \fs9 \cf0 cono
cimiento sobre
\par}{\phpg\posx8056\pvpg\posy7340\absw785\absh181 \sl-110 \f20 \fs9 \cf0 \fi148
preferencias \par
}
{\phpg\posx4764\pvpg\posy7885\absw366\absh117 \f20 \fs9 \cf0 \f20 \fs9 \cf0 pres
entar \par
}
{\phpg\posx7201\pvpg\posy7793\absw405\absh181 \f20 \fs9 \cf0 \fi74 \f20 \fs9 \cf
0 planes
\par}{\phpg\posx7201\pvpg\posy7793\absw405\absh181 \sl-110 \f20 \fs9 \cf0 prefer
idos \par
}
{\phpg\posx4757\pvpg\posy8213\absw405\absh181 \f20 \fs9 \cf0 \f20 \fs9 \cf0 coma
ndos
\par}{\phpg\posx4757\pvpg\posy8213\absw405\absh181 \sl-110 \f20 \fs9 \cf0 de co
ntrol \par
}
{\phpg\posx5609\pvpg\posy8281\absw533\absh117 \f20 \fs9 \cf0 \f20 \fs9 \cf0 desc
omponer \par
}
{\phpg\posx6333\pvpg\posy8229\absw599\absh181 \f20 \fs9 \cf0 \f20 \fs9 \cf0 plan
de control
\par}{\phpg\posx6333\pvpg\posy8229\absw599\absh181 \sl-110 \f20 \fs9 \cf0 \fi152
elegido \par
}
{\phpg\posx7166\pvpg\posy8281\absw449\absh117 \f20 \fs9 \cf0 \f20 \fs9 \cf0 sele
ccionar \par
}
{\phpg\posx8061\pvpg\posy8213\absw785\absh181 \f20 \fs9 \cf0 \f20 \fs9 \cf0 cono
cimiento sobre
\par}{\phpg\posx8061\pvpg\posy8213\absw785\absh181 \sl-110 \f20 \fs9 \cf0 \fi148
preferencias \par
}
{\phpg\posx3302\pvpg\posy8776\absw4170\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 F
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}
{\phpg\posx1701\pvpg\posy9371\absw7603\absh3536 \f10 \fs18 \cf0 \f10 \fs18 \cf0
entradas sea proyectado en el espacio de salidas. Sin embargo, es habit
ual que las
\par}{\phpg\posx1701\pvpg\posy9371\absw7603\absh3536 \sl-239 \f10 \fs18 \cf0 ent
radas y las salidas de los controladores sean nmeros reales precisos. Para poder
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lizar reglas borrosas a partir de entradas y salidas concretas, existen principa
lmente
\par}{\phpg\posx1701\pvpg\posy9371\absw7603\absh3536 \sl-239 \f10 \fs18 \cf0 dos
soluciones:
\par}{\phpg\posx1701\pvpg\posy9371\absw7603\absh3536 \sl-357 \f10 \fs18 \cf0 \fi

297 {\f0\fs23 \bullet }{\f40 } Sistema borroso de Takagi-Sugeno.

\par}{\phpg\posx1701\pvpg\posy9371\absw7603\absh3536 \sl-189 \par\f10 \fs18 \cf0
\fi297 {\f0\fs23 \bullet }{\f40 } Utilizacin de fuzzificador/defuzzificador.
\par}{\phpg\posx1701\pvpg\posy9371\absw7603\absh3536 \sl-357 \f10 \fs18 \cf0 El
sistema borroso de Takagi-Sugeno establece las entradas y salidas del
controla\par}{\phpg\posx1701\pvpg\posy9371\absw7603\absh3536 \sl-239 \f10 \fs18 \cf0 dor
como variables con valores reales, operando directamente con ellos. Una solucin
\par}{\phpg\posx1701\pvpg\posy9371\absw7603\absh3536 \sl-237 \f10 \fs18 \cf0 alt
ernativa consiste en aadir un componente de fuzzificacin y otro de defuzzifica\par}{\phpg\posx1701\pvpg\posy9371\absw7603\absh3536 \sl-239 \f10 \fs18 \cf0 cin
al sistema. En esta configuracin, se interpone un fuzzificador en la entrada del
\par}{\phpg\posx1701\pvpg\posy9371\absw7603\absh3536 \sl-239 \f10 \fs18 \cf0 mec
anismo de inferencia, que transforma la entrada numrica precisa en un conjunto
\par}{\phpg\posx1701\pvpg\posy9371\absw7603\absh3536 \sl-237 \f10 \fs18 \cf0 bor
roso. Adems, se interpone un defuzzificador en la salida, que traduce los conjunt
os
\par}{\phpg\posx1701\pvpg\posy9371\absw7603\absh3536 \sl-239 \f10 \fs18 \cf0 bor
rosos resultantes de aplicar las reglas a una salida numrica precisa.
\par}{\phpg\posx1701\pvpg\posy9371\absw7603\absh3536 \sl-251 \par\f10 \fs18 \cf0
\fi3535 603 \par
}
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d9
}}\par}{\phpg\posx1701\pvpg\posy1429\absw596\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Control \par
}
{\phpg\posx1999\pvpg\posy2047\absw6566\absh1242 \f10 \fs18 \cf0 \f10 \fs18 \cf0
As, los sistemas borrosos se clasifican en tres tipos segn su estructura:
\par}{\phpg\posx1999\pvpg\posy2047\absw6566\absh1242 \sl-193 \par\f10 \fs18 \cf0
{\f0\fs23 \bullet }{\f40 } Sistema borroso puro.
\par}{\phpg\posx1999\pvpg\posy2047\absw6566\absh1242 \sl-196 \par\f10 \fs18 \cf0
{\f0\fs23 \bullet }{\f40 } Sistema borroso de Takagi-Sugeno.
\par}{\phpg\posx1999\pvpg\posy2047\absw6566\absh1242 \sl-196 \par\f10 \fs18 \cf0
{\f0\fs23 \bullet }{\f40 } Sistema borroso con fuzzificador/defuzzificador. \p
ar
}
{\phpg\posx1701\pvpg\posy5791\absw7411\absh376 \f10 \fs18 \cf0 \f10 \fs18 \cf0 F
igura 14.11: Sistema de lgica borrosa puro (izquierda); sistema de lgica borroso
\par}{\phpg\posx1701\pvpg\posy5791\absw7411\absh376 \sl-239 \f10 \fs18 \cf0 con
fuzzificador y defuzzificador (derecha). \par
}
{\phpg\posx1701\pvpg\posy6928\absw7632\absh5735 \f10 \fs18 \cf0 \fi297 \f10 \fs1
8 \cf0 Independientemente de la arquitectura utilizada, una cuestin clave es la o
btencin
\par}{\phpg\posx1701\pvpg\posy6928\absw7632\absh5735 \sl-237 \f10 \fs18 \cf0 de
las reglas borrosas SI-ENTONCES que se utilizan en el controlador. Existen dos
\par}{\phpg\posx1701\pvpg\posy6928\absw7632\absh5735 \sl-239 \f10 \fs18 \cf0 for

mas de obtener dichas reglas. La primera consiste en que el experto del dominio
\par}{\phpg\posx1701\pvpg\posy6928\absw7632\absh5735 \sl-239 \f10 \fs18 \cf0 de
aplicacin describa dichas reglas. Para ello, resulta conveniente la utilizacin de
\par}{\phpg\posx1701\pvpg\posy6928\absw7632\absh5735 \sl-237 \f10 \fs18 \cf0 tcni
cas de adquisicin de conocimiento (vase el captulo 3). La segunda consiste en
\par}{\phpg\posx1701\pvpg\posy6928\absw7632\absh5735 \sl-239 \f10 \fs18 \cf0 apl
icar algoritmos de aprendizaje y utilizar los datos obtenidos para generar y aju
star
\par}{\phpg\posx1701\pvpg\posy6928\absw7632\absh5735 \sl-239 \f10 \fs18 \cf0 las
reglas (vase el captulo 18 sobre Extraccin de Reglas). As, los sistemas borrosos
\par}{\phpg\posx1701\pvpg\posy6928\absw7632\absh5735 \sl-237 \f10 \fs18 \cf0 se
clasifican en dos tipos segn el origen de las reglas borrosas SI-ENTONCES:
\par}{\phpg\posx1701\pvpg\posy6928\absw7632\absh5735 \sl-194 \par\f10 \fs18 \cf0
\fi297 {\f0\fs23 \bullet }{\f40 } Sistemas estticos (experto).
\par}{\phpg\posx1701\pvpg\posy6928\absw7632\absh5735 \sl-196 \par\f10 \fs18 \cf0
\fi297 {\f0\fs23 \bullet }{\f40 } Sistemas adaptativos (algoritmos de aprendiz
aje).
\par}{\phpg\posx1701\pvpg\posy6928\absw7632\absh5735 \sl-193 \par\f10 \fs18 \cf0
\fi297 Existen varias alternativas a la hora de configurar los sistemas de cont
rol borrosos.
\par}{\phpg\posx1701\pvpg\posy6928\absw7632\absh5735 \sl-239 \f10 \fs18 \cf0 Sin
embargo, la configuracin ms habitual es un sistema esttico donde se interpone
\par}{\phpg\posx1701\pvpg\posy6928\absw7632\absh5735 \sl-239 \f10 \fs18 \cf0 un
fuzzificador en las entradas y un defuzzificador en las salidas. Adems, asumiremo
s
\par}{\phpg\posx1701\pvpg\posy6928\absw7632\absh5735 \sl-237 \f10 \fs18 \cf0 que
estos controladores operan en instantes de tiempos discretos, por lo que para c
ada
\par}{\phpg\posx1701\pvpg\posy6928\absw7632\absh5735 \sl-268 \f10 \fs18 \cf0 ins
tante de tiempo{\i \f50 t}{\f20 =}{\i \f50 t}{\i\dn006 \f50 \fs12 k} el con
trolador aplica alguna de las reglas para obtener una
\par}{\phpg\posx1701\pvpg\posy6928\absw7632\absh5735 \sl-208 \f10 \fs18 \cf0 sal
ida. La frecuencia de muestreo de las entradas depender del tipo de p
roceso a
\par}{\phpg\posx1701\pvpg\posy6928\absw7632\absh5735 \sl-239 \f10 \fs18 \cf0 con
trolar. As, para el desarrollo de un controlador borroso de este tipo, tendremos
\par}{\phpg\posx1701\pvpg\posy6928\absw7632\absh5735 \sl-239 \f10 \fs18 \cf0 que
especificar:
\par}{\phpg\posx1701\pvpg\posy6928\absw7632\absh5735 \sl-193 \par\f10 \fs18 \cf0
\fi242 1. Variables de entrada LHS y de salida RHS de las reglas.
\par}{\phpg\posx1701\pvpg\posy6928\absw7632\absh5735 \sl-196 \par\f10 \fs18 \cf0
\fi242 2. Mtodo de fuzzificacin.
\par}{\phpg\posx1701\pvpg\posy6928\absw7632\absh5735 \sl-196 \par\f10 \fs18 \cf0
\fi242 3. Base de reglas borrosas.
\par}{\phpg\posx1701\pvpg\posy6928\absw7632\absh5735 \sl-251 \par\f10 \fs18 \cf0
\fi3535 604 \par
}
\sect\sectd\pard\plain
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145007ffd9
}}\par}{\phpg\posx7826\pvpg\posy1429\absw1239\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Control borroso \par
}
{\phpg\posx1701\pvpg\posy2047\absw7692\absh1461 \f10 \fs18 \cf0 \fi242 \f10 \fs1
8 \cf0 4. Mecanismo de inferencias.
\par}{\phpg\posx1701\pvpg\posy2047\absw7692\absh1461 \sl-247 \par\f10 \fs18 \cf0
\fi242 5. Mtodo de defuzzificacin.
\par}{\phpg\posx1701\pvpg\posy2047\absw7692\absh1461 \sl-236 \par\f10 \fs18 \cf0
\fi297 En el resto de esta seccin analizaremos en detalle cada uno de estos paso
s, en los
\par}{\phpg\posx1701\pvpg\posy2047\absw7692\absh1461 \sl-239 \f10 \fs18 \cf0 que
se desglosa el desarrollo de un sistema de control borroso esttico con fuzzifica
\par}{\phpg\posx1701\pvpg\posy2047\absw7692\absh1461 \sl-237 \f10 \fs18 \cf0 dor
/defuzzificador. \par
}
{\phpg\posx1701\pvpg\posy4153\absw754\absh192 \f10 \fs21 \cf0 \f10 \fs21 \cf0 14
.4.2 \par
}
{\phpg\posx2656\pvpg\posy4153\absw2565\absh192 \f10 \fs21 \cf0 \f10 \fs21 \cf0 V
ariables LHS / RHS \par
}
{\phpg\posx1701\pvpg\posy4593\absw7618\absh6878 \f10 \fs18 \cf0 \fi297 \f10 \fs1
8 \cf0 Si se desean utilizar reglas borrosas SI-ENTONCES en un sistema de contro
l, es
\par}{\phpg\posx1701\pvpg\posy4593\absw7618\absh6878 \sl-237 \f10 \fs18 \cf0 nec
esario establecer qu trminos lingsticos van a ser utilizados. Para ello, hay que
\par}{\phpg\posx1701\pvpg\posy4593\absw7618\absh6878 \sl-239 \f10 \fs18 \cf0 div
idir el universo de discurso en un nmero finito de conjuntos borrosos,
dndole
\par}{\phpg\posx1701\pvpg\posy4593\absw7618\absh6878 \sl-239 \f10 \fs18 \cf0 una
etiqueta lingstica a cada uno de ellos. Es decir, para cada una de las variables
\par}{\phpg\posx1701\pvpg\posy4593\absw7618\absh6878 \sl-237 \f10 \fs18 \cf0 pre
cisas, tanto de la entrada como de la salida, hay que establecer cul es el rango
de
\par}{\phpg\posx1701\pvpg\posy4593\absw7618\absh6878 \sl-239 \f10 \fs18 \cf0 val
ores que definen cada uno de los conjuntos borrosos etiquetados. As, las variable

s
\par}{\phpg\posx1701\pvpg\posy4593\absw7618\absh6878 \sl-237 \f10 \fs18 \cf0 LHS
estarn formadas por los conjuntos borrosos definidos sobre las variabl
es de
\par}{\phpg\posx1701\pvpg\posy4593\absw7618\absh6878 \sl-239 \f10 \fs18 \cf0 ent
rada, y las variables RHS estarn formadas por los conjuntos borrosos definidos
\par}{\phpg\posx1701\pvpg\posy4593\absw7618\absh6878 \sl-239 \f10 \fs18 \cf0 sob
re las variables de salida.
\par}{\phpg\posx1701\pvpg\posy4593\absw7618\absh6878 \sl-263 \f10 \fs18 \cf0 \fi
297 Como vimos en el captulo 7 , para establecer estas etiquetas lingsticas, hay qu
e
\par}{\phpg\posx1701\pvpg\posy4593\absw7618\absh6878 \sl-237 \f10 \fs18 \cf0 ele
gir las funciones de pertenencia mediante las que se definen los correspondiente
s
\par}{\phpg\posx1701\pvpg\posy4593\absw7618\absh6878 \sl-239 \f10 \fs18 \cf0 con
juntos borrosos. Habitualmente estas funciones son descritas a mano, por lo que
\par}{\phpg\posx1701\pvpg\posy4593\absw7618\absh6878 \sl-237 \f10 \fs18 \cf0 se
suelen utilizar funciones relativamente sencillas como: triangulares, rectangula
res,
\par}{\phpg\posx1701\pvpg\posy4593\absw7618\absh6878 \sl-239 \f10 \fs18 \cf0 tra
pezoidales o gaussianas.
\par}{\phpg\posx1701\pvpg\posy4593\absw7618\absh6878 \sl-264 \f10 \fs18 \cf0 \fi
297 Sin embargo, un nmero excesivo de conjuntos borrosos podra complicar dema\par}{\phpg\posx1701\pvpg\posy4593\absw7618\absh6878 \sl-237 \f10 \fs18 \cf0 sia
do la legibilidad de las reglas borrosas. Para evitar este problema,
las variables
\par}{\phpg\posx1701\pvpg\posy4593\absw7618\absh6878 \sl-239 \f10 \fs18 \cf0 LHS
y RHS se suelen:
\par}{\phpg\posx1701\pvpg\posy4593\absw7618\absh6878 \sl-236 \par\f10 \fs18 \cf0
\fi297 {\f0\fs23 \bullet }{\f40 } Escalar a un mismo universo de discurso.
\par}{\phpg\posx1701\pvpg\posy4593\absw7618\absh6878 \sl-247 \par\f10 \fs18 \cf0
\fi297 {\f0\fs23 \bullet }{\f40 } Dividir en un mismo conjunto de valores borr
osos.
\par}{\phpg\posx1701\pvpg\posy4593\absw7618\absh6878 \sl-236 \par\f10 \fs18 \cf0
\fi297 Por ejemplo, supongamos un sistema de control con dos variables de entra
da ({\i \f50 x,}{\i \f50 z})
\par}{\phpg\posx1701\pvpg\posy4593\absw7618\absh6878 \sl-237 \f10 \fs18 \cf0 y u
na salida ({\i \f50 y}) donde las variables de entrada son valores concretos ent
e 1 y 10 y
\par}{\phpg\posx1701\pvpg\posy4593\absw7618\absh6878 \sl-239 \f10 \fs18 \cf0 la
salida de control es un valor entre 4 y 13. Podramos definir dos conjuntos fuzzy
\par}{\phpg\posx1701\pvpg\posy4593\absw7618\absh6878 \sl-239 \f10 \fs18 \cf0 par
a establecer cundo x o z son valores bajo, bajo-medio o medio-alto arbitrariament
e
\par}{\phpg\posx1701\pvpg\posy4593\absw7618\absh6878 \sl-237 \f10 \fs18 \cf0 med
iante tres conjuntos borrosos (A, B y C). Del mismo modo, podramos establecer
\par}{\phpg\posx1701\pvpg\posy4593\absw7618\absh6878 \sl-239 \f10 \fs18 \cf0 un
conjunto de etiquetas lingsticas para describir la salida, por ejemplo valores baj
os,
\par}{\phpg\posx1701\pvpg\posy4593\absw7618\absh6878 \sl-239 \f10 \fs18 \cf0 med
ios, altos y muy altos, estableciendo en el rango de valores de la salida (4 a
13)
\par}{\phpg\posx1701\pvpg\posy4593\absw7618\absh6878 \sl-237 \f10 \fs18 \cf0 ms c
onjuntos borrosos (B,C,D y F). Como el universo de discurso es comn, podra
\par}{\phpg\posx1701\pvpg\posy4593\absw7618\absh6878 \sl-239 \f10 \fs18 \cf0 com
partirse el mismo conjunto de valores borrosos para la entrada y en
la salida,
\par}{\phpg\posx1701\pvpg\posy4593\absw7618\absh6878 \sl-237 \f10 \fs18 \cf0 com
o se describe en la Figura 14.12. \par
}

{\phpg\posx5236\pvpg\posy13123\absw359\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 6

05 \par
}
\sect\sectd\pard\plain
\pgwsxn10771\pghsxn14740
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}}\par}{\phpg\posx1701\pvpg\posy1429\absw596\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Control \par
}
{\phpg\posx1701\pvpg\posy3460\absw7571\absh3392 \f10 \fs17 \cf0 \fi621 \f10 \fs1
7 \cf0 Figura 14.12: Variables borrosas sobre un mismo universo de discurso.
\par}{\phpg\posx1701\pvpg\posy3460\absw7571\absh3392 \sl-296 \par\f10 \fs17 \cf0
{\fs21 14.4.3}{\fs21
Obtencin}{\fs21 de}{\fs21 entradas}{\fs21 borrosas:}
{\fs21 fuzzificacin }
\par}{\phpg\posx1701\pvpg\posy3460\absw7571\absh3392 \sl-183 \par\f10 \fs17 \cf0
\fi297 En general, la fuzzificacin es el proceso mediante el cual se transforma
un valor
\par}{\phpg\posx1701\pvpg\posy3460\absw7571\absh3392 \sl-239 \f10 \fs17 \cf0 numr
ico concreto de una variable de entrada en un conjunto borroso que representa
\par}{\phpg\posx1701\pvpg\posy3460\absw7571\absh3392 \sl-237 \f10 \fs17 \cf0 dic
ho valor de forma imprecisa.
\par}{\phpg\posx1701\pvpg\posy3460\absw7571\absh3392 \sl-268 \f10 \fs17 \cf0 \fi
297 Consideremos un conjunto de variables de entrada{\f20 (}{\i \f50 x }

{\dn006 \f20 \fs12 1}{\i \f50 ,}{\i \f50 ...,}{\i \f50 x }{\i\dn006 \f50 \fs1
2 n}{\f20 )}, representada en
\par}{\phpg\posx1701\pvpg\posy3460\absw7571\absh3392 \sl-240 \f10 \fs17 \cf0 for
ma de un vector columna{\i \f50 x}{\f20 =}{\f20
(}{\i \f50 x }{\dn006
\f20 \fs12 1}{\i \f50 ,}{\i \f50 ...,}{\i \f50 x }{\i\dn006 \f50 \fs12 n}{\
f20 ) }{\i\up006 \f50 \fs12 t}. Un fuzzificador proyecta un punto
\par}{\phpg\posx1701\pvpg\posy3460\absw7571\absh3392 \sl-237 \f10 \fs17 \cf0 pre
ciso{\i \f50 x }{\up006 \f40 \fs12 }{\f40 {\field{\*\fldinst SYMBOL 206 \\f S
ymbol }}}{\i \f50 U}{\f20 =}{\i \f50 U}{\dn006 \f20 \fs12 1}{\f40 }{\i \f50
...}{\f40 }{\i \f50 U}{\i \f50 \fs12 n} en un conjunto borroso{\i \f50 A }{
\up006 \f40 \fs12 } del conjunto{\i \f50 U} (universo de
\par}{\phpg\posx1701\pvpg\posy3460\absw7571\absh3392 \sl-211 \f10 \fs17 \cf0 dis
curso). Los fuzzificadores se clasifican en dos categoras: unitarios y no unitari
os.
\par}{\phpg\posx1701\pvpg\posy3460\absw7571\absh3392 \sl-237 \f10 \fs17 \cf0 \fi
297 Un fuzzificador unitario produce un conjunto borroso unitario, es decir, un
con\par}{\phpg\posx1701\pvpg\posy3460\absw7571\absh3392 \sl-239 \f10 \fs17 \cf0 jun
to cuyo soporte se reduce a un punto, el correspondiente al valor pr
eciso de la
\par}{\phpg\posx1701\pvpg\posy3460\absw7571\absh3392 \sl-268 \f10 \fs17 \cf0 ent
rada{\i \f50 x }{\i\dn006 \f50 \fs12 p}, que tiene grado de pertenencia mximo.
Los restantes puntos del univer\par}{\phpg\posx1701\pvpg\posy3460\absw7571\absh3392 \sl-208 \f10 \fs17 \cf0 so
no pertenecen al conjunto en ningn grado. Para ello, se utiliza una func
in de
\par}{\phpg\posx1701\pvpg\posy3460\absw7571\absh3392 \sl-239 \f10 \fs17 \cf0 per
tenencia bivaluada: \par
}
{\phpg\posx4732\pvpg\posy7265\absw183\absh233 \f10 \fs17 \cf0 \f10 \fs17 \cf0
\par
}
{\phpg\posx3947\pvpg\posy7592\absw280\absh176 \i \f50 \fs17 \cf0 \i \f50 \fs17 \
cf0 {\field{\*\fldinst SYMBOL 109 \\f Symbol }}{\fs12 A }\par
}
{\phpg\posx4197\pvpg\posy7592\absw479\absh160 \f20 \fs17 \cf0 \f20 \fs17 \cf0 ({
\i \f50 x}) = \par
}
{\phpg\posx4982\pvpg\posy7472\absw110\absh374 \f20 \fs17 \cf0 \f20 \fs17 \cf0 1
\par}{\phpg\posx4982\pvpg\posy7472\absw110\absh374 \sl-237 \f20 \fs17 \cf0 0 \pa
r
}
{\phpg\posx5279\pvpg\posy7426\absw1398\absh466 \i \f50 \fs17 \cf0 \i \f50 \fs17
\cf0 x es x{\i0 \f20 =} x {\dn006 \fs12 p}{\i0 \f40 {\field{\*\fldinst SYM
BOL 206 \\f Symbol }}} U
\par}{\phpg\posx5279\pvpg\posy7426\absw1398\absh466 \sl-237 \i \f50 \fs17 \cf0 x
es x{\i0 \f40
}{\i0 \f20 =} x {\dn006 \fs12 p}{\i0 \f40 {\field{\*\fldinst SYMBOL 206 \\f S
ymbol }}} U \par
}
{\phpg\posx8560\pvpg\posy7598\absw541\absh160 \f10 \fs17 \cf0 \f10 \fs17 \cf0 (1
4.8) \par
}
{\phpg\posx1701\pvpg\posy8030\absw7551\absh2491 \f10 \fs17 \cf0 \fi297 \f10 \fs1
7 \cf0 Un fuzzificador no unitario produce un conjunto borroso cuyo sop
orte contiene
\par}{\phpg\posx1701\pvpg\posy8030\absw7551\absh2491 \sl-239 \f10 \fs17 \cf0 ms d
e un punto. En estos fuzzificadores, el valor de pertenencia es mximo{\i \f50 {\
field{\*\fldinst SYMBOL 109 \\f Symbol }}}{\f20 (}{\i \f50 x}{\f20 )}{\f20 =}{\
f20 1 }

\par}{\phpg\posx1701\pvpg\posy8030\absw7551\absh2491 \sl-268 \f10 \fs17 \cf0 par

a{\i \f50 x}{\f20 =}{\i \f50 x }{\i\dn006 \f50 \fs12 p}. Conforme{\i \f5
0 x} se aleja de{\i \f50 x }{\i\dn006 \f50 \fs12 p}, el valor de per
tenencia decrece. Algunos
\par}{\phpg\posx1701\pvpg\posy8030\absw7551\absh2491 \sl-208 \f10 \fs17 \cf0 eje
mplos de funciones de pertenencia habituales son las triangulares, trapezoidales
, o
\par}{\phpg\posx1701\pvpg\posy8030\absw7551\absh2491 \sl-239 \f10 \fs17 \cf0 gau
ssianas.
\par}{\phpg\posx1701\pvpg\posy8030\absw7551\absh2491 \sl-273 \par\f10 \fs17 \cf0
{\fs21 14.4.4}{\fs21
Base}{\fs21 de}{\fs21 Reglas}{\fs21 Borrosas }
\par}{\phpg\posx1701\pvpg\posy8030\absw7551\absh2491 \sl-183 \par\f10 \fs17 \cf0
\fi297 La base de reglas borrosas es la parte de la arquitectura del sistema
de control
\par}{\phpg\posx1701\pvpg\posy8030\absw7551\absh2491 \sl-239 \f10 \fs17 \cf0 bor
roso donde se almacena el conocimiento en forma de reglas SI-ENTONCES, defi\par}{\phpg\posx1701\pvpg\posy8030\absw7551\absh2491 \sl-239 \f10 \fs17 \cf0 nid
as por los conjuntos borrosos LHS y RHS. Es decir, la base de reglas borrosas es
\par}{\phpg\posx1701\pvpg\posy8030\absw7551\absh2491 \sl-237 \f10 \fs17 \cf0 un
conjunto de reglas de la forma: \par
}
{\phpg\posx2824\pvpg\posy11038\absw1411\absh210 \i \f50 \fs17 \cf0 \i \f50 \fs17
\cf0 R{\fs12 l}{\i0 \f20 :} SIx
es F{\up006 \fs12 l }\par
}
{\phpg\posx3621\pvpg\posy11170\absw91\absh129 \f20 \fs12 \cf0 \f20 \fs12 \cf0 1
\par
}
{\phpg\posx4156\pvpg\posy11189\absw56\absh108 \i \f50 \fs12 \cf0 \i \f50 \fs12 \
cf0 i \par
}
{\phpg\posx4358\pvpg\posy11047\absw3525\absh275 \f40 \fs17 \cf0 \f40 \fs17 \cf0
{\field{\*\fldinst SYMBOL 217 \\f Symbol }}{\i \f50
...} {\field{\*\fldinst
SYMBOL 217 \\f Symbol }}{\i \f50
x }{\i\dn006 \f50 \fs12 n}{\i \f50 es}{\
i \f50 F }{\i\dn006 \f50 \fs12 n}{\i \f50 ENT}{\i \f50 ONCES}{\i \f50 y}
{\i \f50 es}{\i \f50 G }\par
}
{\phpg\posx5820\pvpg\posy11057\absw50\absh108 \i \f50 \fs12 \cf0 \i \f50 \fs12 \
cf0 l \par
}
{\phpg\posx7884\pvpg\posy11057\absw50\absh108 \i \f50 \fs12 \cf0 \i \f50 \fs12 \
cf0 l \par
}
{\phpg\posx8560\pvpg\posy11099\absw541\absh160 \f10 \fs17 \cf0 \f10 \fs17 \cf0 (
14.9) \par
}
{\phpg\posx1701\pvpg\posy11374\absw7467\absh1734 \f10 \fs17 \cf0 \f10 \fs17 \cf0
donde{\i \f50 R}{\i\up006 \f50 \fs12 l} es la l-sima regla de la base
de reglas,{\i \f50 F }{\i\dn006 \f50 \fs12 i}{\i\up006 \f50 \fs12 l} es u
n conjunto borroso en el
\par}{\phpg\posx1701\pvpg\posy11374\absw7467\absh1734 \sl-215 \f10 \fs17 \cf0 un
iverso{\i \f50 U}{\i\dn006 \f50 \fs12 i},{\i \f50 G }{\i\up006 \f50 \fs12 l
} es un conjunto borroso en el universo{\i \f50 V} , y donde{\i \f50 x }{\i\dn
006 \f50 \fs12 i} e{\i \f50 y} son variables
\par}{\phpg\posx1701\pvpg\posy11374\absw7467\absh1734 \sl-264 \f10 \fs17 \cf0 li
ngsticas. Los conjuntos borrosos{\i \f50 F }{\i\dn006 \f50 \fs12 i}{\i\up006 \f
50 \fs12 l} y{\i \f50 G }{\i\up006 \f50 \fs12 l} corresponden a alguno de l
os trminos
\par}{\phpg\posx1701\pvpg\posy11374\absw7467\absh1734 \sl-187 \f10 \fs17 \cf0 li
ngsticos definidos para las variables LHS y RHS, respectivamente. Adems, lla

\par}{\phpg\posx1701\pvpg\posy11374\absw7467\absh1734 \sl-237 \f10 \fs17 \cf0 ma

remos{\i \f50 M} al nmero de reglas borrosas en la base de conocimien
to, por lo que
\par}{\phpg\posx1701\pvpg\posy11374\absw7467\absh1734 \sl-239 \f10 \fs17 \cf0 {\
f20 1}{\f40 {\field{\*\fldinst SYMBOL 163 \\f Symbol }}}{\i \f50 l}{\f40 {\fi
eld{\*\fldinst SYMBOL 163 \\f Symbol }}}{\i \f50 M}.
\par}{\phpg\posx1701\pvpg\posy11374\absw7467\absh1734 \sl-251 \par\f10 \fs17 \cf
0 \fi3535 606 \par
}
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}}\par}{\phpg\posx7826\pvpg\posy1429\absw1239\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Control borroso \par
}
{\phpg\posx1701\pvpg\posy2047\absw7585\absh2519 \f10 \fs17 \cf0 \fi297 \f10 \fs1
7 \cf0 En este captulo consideraremos sistemas donde las reglas tienen ml
tiples en\par}{\phpg\posx1701\pvpg\posy2047\absw7585\absh2519 \sl-237 \f10 \fs17 \cf0 tra
das y una nica salida, como en la expresin anterior. Un sistema con mltiples
\par}{\phpg\posx1701\pvpg\posy2047\absw7585\absh2519 \sl-239 \f10 \fs17 \cf0 sal
idas siempre puede ser reducido a una combinacin de sistemas con nica salida.
\par}{\phpg\posx1701\pvpg\posy2047\absw7585\absh2519 \sl-239 \f10 \fs17 \cf0 La
Figura 14.13 muestra un ejemplo de base de reglas borrosas para un sistema con
\par}{\phpg\posx1701\pvpg\posy2047\absw7585\absh2519 \sl-237 \f10 \fs17 \cf0 dos
entradas,{\i \f50 x} y{\i \f50 z}, y una nica salida{\i \f50 y}.
\par}{\phpg\posx1701\pvpg\posy2047\absw7585\absh2519 \sl-176 \par\f10 \fs17 \cf0

\fi2025 {\fs12 R1:}{\fs12 SI}{\i \f50 \fs12 x}{\fs12 es}{\i \f50 \fs12 A}{
\fs12 ENTONCES}{\i \f50 \fs12 y}{\fs12 es}{\i \f50 \fs12 B }
\par}{\phpg\posx1701\pvpg\posy2047\absw7585\absh2519 \sl-160 \f10 \fs17 \cf0 \fi
2025 {\fs12 R2:}{\fs12 SI}{\i \f50 \fs12 z}{\fs12 es}{\i \f50 \fs12 C}{\fs1
2 ENTONCES}{\i \f50 \fs12 y}{\fs12 es}{\i \f50 \fs12 D }
\par}{\phpg\posx1701\pvpg\posy2047\absw7585\absh2519 \sl-158 \f10 \fs17 \cf0 \fi
2025 {\fs12 R3:}{\fs12 SI}{\i \f50 \fs12 x}{\fs12 es}{\i \f50 \fs12 A}{\fs1
2 Y}{\i \f50 \fs12 z}{\fs12 es}{\i \f50 \fs12 C}{\fs12 ENTONCES}{\i \f50
\fs12 y}{\fs12 es}{\i \f50 \fs12 F }
\par}{\phpg\posx1701\pvpg\posy2047\absw7585\absh2519 \sl-158 \f10 \fs17 \cf0 \fi
2025 {\fs12 R4:}{\fs12 SI}{\i \f50 \fs12 x}{\fs12 es}{\i \f50 \fs12 B}{\fs1
2 ENTONCES}{\i \f50 \fs12 y}{\fs12 es}{\i \f50 \fs12 F }
\par}{\phpg\posx1701\pvpg\posy2047\absw7585\absh2519 \sl-160 \f10 \fs17 \cf0 \fi
2025 {\fs12 R5:}{\fs12 SI}{\i \f50 \fs12 x}{\fs12 es}{\i \f50 \fs12 C}{\fs1
2 ENTONCES}{\i \f50 \fs12 y}{\fs12 es}{\i \f50 \fs12 D }
\par}{\phpg\posx1701\pvpg\posy2047\absw7585\absh2519 \sl-158 \f10 \fs17 \cf0 \fi
2025 {\fs12 R6:}{\fs12 SI}{\i \f50 \fs12 z}{\fs12 es}{\i \f50 \fs12 A}{\fs1
2 ENTONCES}{\i \f50 \fs12 y}{\fs12 es}{\i \f50 \fs12 B }
\par}{\phpg\posx1701\pvpg\posy2047\absw7585\absh2519 \sl-257 \par\f10 \fs17 \cf0
\fi2032 Figura 14.13: Base de reglas borrosas. \par
}
{\phpg\posx1701\pvpg\posy5406\absw754\absh192 \f10 \fs21 \cf0 \f10 \fs21 \cf0 14
.4.5 \par
}
{\phpg\posx2654\pvpg\posy5406\absw3007\absh192 \f10 \fs21 \cf0 \f10 \fs21 \cf0 M
ecanismo de inferencias \par
}
{\phpg\posx1701\pvpg\posy5800\absw7513\absh5390 \f10 \fs17 \cf0 \fi297 \f10 \fs1
7 \cf0 En cada instante discreto, el mecanismo de inferencias puede activar una,
varias
\par}{\phpg\posx1701\pvpg\posy5800\absw7513\absh5390 \sl-239 \f10 \fs17 \cf0 o
ninguna regla de la base de reglas. La activacin de una regla signifi
ca que un
\par}{\phpg\posx1701\pvpg\posy5800\absw7513\absh5390 \sl-268 \f10 \fs17 \cf0 con
junto borroso de entrada definido sobre{\i \f50 U}{\f20 =}{\i \f50 U}{\dn00
6 \f20 \fs12 1}{\f40 }{\i \f50 ...}{\f40 }{\i \f50 U}{\i\dn006 \f50 \fs12 n}
(la entrada fuzzificada)
\par}{\phpg\posx1701\pvpg\posy5800\absw7513\absh5390 \sl-208 \f10 \fs17 \cf0 es
proyectado en un conjunto borroso de salida definido sobre{\i \f50 V} . Cada re
gla se activar
\par}{\phpg\posx1701\pvpg\posy5800\absw7513\absh5390 \sl-239 \f10 \fs17 \cf0 en
un grado distinto, dependiendo del grado en el que se satisfagan los antecedente
s
\par}{\phpg\posx1701\pvpg\posy5800\absw7513\absh5390 \sl-239 \f10 \fs17 \cf0 de
la misma.
\par}{\phpg\posx1701\pvpg\posy5800\absw7513\absh5390 \sl-237 \f10 \fs17 \cf0 \fi
297 Durante el desarrollo de un sistema borroso, para establecer el me
canismo de
\par}{\phpg\posx1701\pvpg\posy5800\absw7513\absh5390 \sl-239 \f10 \fs17 \cf0 inf
erencias de reglas, hay que seleccionar:
\par}{\phpg\posx1701\pvpg\posy5800\absw7513\absh5390 \sl-355 \f10 \fs17 \cf0 \fi
242 1. Una interpretacin de la implicacin en las reglas SI-ENTONCES.
\par}{\phpg\posx1701\pvpg\posy5800\absw7513\absh5390 \sl-188 \par\f10 \fs17 \cf0
\fi242 2. Una regla de inferencia GMP.
\par}{\phpg\posx1701\pvpg\posy5800\absw7513\absh5390 \sl-188 \par\f10 \fs17 \cf0
\fi242 3. Un operador de agregacin para componer los resultados de las distinta
s reglas.
\par}{\phpg\posx1701\pvpg\posy5800\absw7513\absh5390 \sl-168 \par\par\f10 \fs17
\cf0 14.4.5.1
Implicacin de reglas
\par}{\phpg\posx1701\pvpg\posy5800\absw7513\absh5390 \sl-184 \par\f10 \fs17 \cf0

\fi297 Una implicacin borrosa ({\i \f50 A}{\f40 {\field{\*\fldinst SYMBOL 174 \
\f Symbol }}}{\i \f50 B}) se define como un tipo especial de relacin bo\par}{\phpg\posx1701\pvpg\posy5800\absw7513\absh5390 \sl-237 \f10 \fs17 \cf0 rro
sa en{\i \f50 X}{\f40 }{\i \f50 Y} , definida mediante alguna funcin de pertenenc
ia particular{\i \f50 {\field{\*\fldinst SYMBOL 109 \\f Symbol }} }{\i \f50 \fs
12 A}{\f40 \fs12 {\field{\*\fldinst SYMBOL 174 \\f Symbol }}}{\i \f50 \fs12 B}{
\f20 (}{\i \f50 x,}{\i \f50 y}{\f20 ) }
\par}{\phpg\posx1701\pvpg\posy5800\absw7513\absh5390 \sl-239 \f10 \fs17 \cf0 (vas
e el captulo 3). En la Tabla 14.1 se describen los operadores de implicacin ms
\par}{\phpg\posx1701\pvpg\posy5800\absw7513\absh5390 \sl-239 \f10 \fs17 \cf0 uti
lizados en el campo del control borroso.
\par}{\phpg\posx1701\pvpg\posy5800\absw7513\absh5390 \sl-237 \f10 \fs17 \cf0 \fi
297 Los operadores de implicacin deben ser elegidos convenientemente, atendie
ndo
\par}{\phpg\posx1701\pvpg\posy5800\absw7513\absh5390 \sl-239 \f10 \fs17 \cf0 a c
riterios tales como requisitos del dominio o caractersticas fsicas. Por ejemplo, l
a
\par}{\phpg\posx1701\pvpg\posy5800\absw7513\absh5390 \sl-237 \f10 \fs17 \cf0 imp
licacin de Mamdani (mnimo) se utiliza con frecuencia, debido a lo sencillo de su
\par}{\phpg\posx1701\pvpg\posy5800\absw7513\absh5390 \sl-239 \f10 \fs17 \cf0 imp
lementacin.
\par}{\phpg\posx1701\pvpg\posy5800\absw7513\absh5390 \sl-239 \f10 \fs17 \cf0 \fi
297 Supongamos que deseamos desarrollar un controlador borroso utilizando la imp
li\par}{\phpg\posx1701\pvpg\posy5800\absw7513\absh5390 \sl-237 \f10 \fs17 \cf0 cac
in de Mamdani, y que la base de reglas contiene una nica regla de inferencia: \par
}
{\phpg\posx3573\pvpg\posy11989\absw3614\absh160 \i \f50 \fs17 \cf0 \i \f50 \fs17
\cf0 Regla{\i0 \f20 :} SI x es A ENT ONCES y es B \par
}
{\phpg\posx8462\pvpg\posy11995\absw649\absh160 \f10 \fs17 \cf0 \f10 \fs17 \cf0 (
14.10) \par
}
{\phpg\posx1701\pvpg\posy12379\absw7600\absh830 \f10 \fs17 \cf0 \f10 \fs17 \cf0
y donde las reglas de pertenencia de los conjuntos borrosos A y B se definen com
o en
\par}{\phpg\posx1701\pvpg\posy12379\absw7600\absh830 \sl-239 \f10 \fs17 \cf0 la
Figura 14.14.
\par}{\phpg\posx1701\pvpg\posy12379\absw7600\absh830 \sl-251 \par\f10 \fs17 \cf0
\fi3535 607 \par
}
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}}\par}{\phpg\posx1701\pvpg\posy1429\absw596\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Control \par
}
{\phpg\posx3031\pvpg\posy2009\absw1777\absh1311 \f10 \fs12 \cf0 \f10 \fs12 \cf0
Nombre
\par}{\phpg\posx3031\pvpg\posy2009\absw1777\absh1311 \sl-165 \f10 \fs12 \cf0 Zad
eh Max-Min
\par}{\phpg\posx3031\pvpg\posy2009\absw1777\absh1311 \sl-167 \f10 \fs12 \cf0 Mam
dani (min)
\par}{\phpg\posx3031\pvpg\posy2009\absw1777\absh1311 \sl-167 \f10 \fs12 \cf0 Lar
sen (prod)
\par}{\phpg\posx3031\pvpg\posy2009\absw1777\absh1311 \sl-167 \f10 \fs12 \cf0 Luk
asiewicz (aritmtico)
\par}{\phpg\posx3031\pvpg\posy2009\absw1777\absh1311 \sl-165 \f10 \fs12 \cf0 Kle
ene-Dienes (booleano)
\par}{\phpg\posx3031\pvpg\posy2009\absw1777\absh1311 \sl-167 \f10 \fs12 \cf0 Pro
ducto Acotado
\par}{\phpg\posx3031\pvpg\posy2009\absw1777\absh1311 \sl-164 \par\f10 \fs12 \cf0
Producto Drstico \par
}
{\phpg\posx5054\pvpg\posy2009\absw2159\absh1078 \f10 \fs12 \cf0 \f10 \fs12 \cf0
Operador de implicacin
\par}{\phpg\posx5054\pvpg\posy2009\absw2159\absh1078 \sl-184 \f10 \fs12 \cf0 {\f

20 (}{\i \f50 {\field{\*\fldinst SYMBOL 109 \\f Symbol }} }{\i\dn006 \f50 \fs9
A}{\f20 (}{\i \f50 x}{\f20 )}{\f40 {\field{\*\fldinst SYMBOL 217 \\f Symbol }}}
{\i \f50 {\field{\*\fldinst SYMBOL 109 \\f Symbol }} }{\i\dn006 \f50 \fs9 B}{\
f20 (}{\i \f50 y}{\f20 ))}{\f40 {\field{\*\fldinst SYMBOL 218 \\f Symbol }}}{\
f20 (1}{\f40 {\field{\*\fldinst SYMBOL 45 \\f Symbol }}}{\i \f50 {\field{\*\f
ldinst SYMBOL 109 \\f Symbol }} }{\i\dn006 \f50 \fs9 A}{\f20 (}{\i \f50 x}{\f20
)) }
\par}{\phpg\posx5054\pvpg\posy2009\absw2159\absh1078 \sl-167 \f10 \fs12 \cf0 {\i
\f50 {\field{\*\fldinst SYMBOL 109 \\f Symbol }}}{\i \f50 \fs9 A}{\f20 (}{\i \
f50 x}{\f20 )}{\f40 {\field{\*\fldinst SYMBOL 217 \\f Symbol }}}{\i \f50 {\fie
ld{\*\fldinst SYMBOL 109 \\f Symbol }} }{\i\dn006 \f50 \fs9 B}{\f20 (}{\i \f50
y}{\f20 ) }
\par}{\phpg\posx5054\pvpg\posy2009\absw2159\absh1078 \sl-167 \f10 \fs12 \cf0 {\i
\f50 {\field{\*\fldinst SYMBOL 109 \\f Symbol }}}{\i \f50 \fs9 A}{\f20 (}{\i \
f50 x}{\f20 )}{\f40 }{\i \f50 {\field{\*\fldinst SYMBOL 109 \\f Symbol }} }{\i\
dn006 \f50 \fs9 B}{\f20 (}{\i \f50 y}{\f20 ) }
\par}{\phpg\posx5054\pvpg\posy2009\absw2159\absh1078 \sl-168 \f10 \fs12 \cf0 {\f
20 1}{\f40 {\field{\*\fldinst SYMBOL 217 \\f Symbol }}}{\f20 (1}{\f40 {\field
{\*\fldinst SYMBOL 45 \\f Symbol }}}{\i \f50 {\field{\*\fldinst SYMBOL 109 \\f
Symbol }} }{\i\dn006 \f50 \fs9 A}{\f20 (}{\i \f50 x}{\f20 )}{\f20 +}{\i \f50
{\field{\*\fldinst SYMBOL 109 \\f Symbol }} }{\i\dn006 \f50 \fs9 B}{\f20 (}{\i
\f50 y}{\f20 ) }
\par}{\phpg\posx5054\pvpg\posy2009\absw2159\absh1078 \sl-165 \f10 \fs12 \cf0 {\f
20 (1}{\f40 {\field{\*\fldinst SYMBOL 45 \\f Symbol }}}{\i \f50 {\field{\*\fld
inst SYMBOL 109 \\f Symbol }} }{\i\dn006 \f50 \fs9 A}{\f20 (}{\i \f50 x}{\f20 )
)}{\f40 {\field{\*\fldinst SYMBOL 218 \\f Symbol }}}{\i \f50 {\field{\*\fldins
t SYMBOL 109 \\f Symbol }} }{\i\dn006 \f50 \fs9 B}{\f20 (}{\i \f50 y}{\f20 ) }
\par}{\phpg\posx5054\pvpg\posy2009\absw2159\absh1078 \sl-167 \f10 \fs12 \cf0 {\f
20 0}{\f40 {\field{\*\fldinst SYMBOL 218 \\f Symbol }}}{\f20 (}{\i \f50 {\fiel
d{\*\fldinst SYMBOL 109 \\f Symbol }} }{\i\dn006 \f50 \fs9 A}{\f20 (}{\i \f50 x
}{\f20 )}{\f20 +}{\i \f50 {\field{\*\fldinst SYMBOL 109 \\f Symbol }} }{\i\dn0
06 \f50 \fs9 B}{\f20 (}{\i \f50 y}{\f20 )}{\f40 {\field{\*\fldinst SYMBOL 45
\\f Symbol }}}{\f20 1) }\par
}
{\phpg\posx5152\pvpg\posy3180\absw201\absh277 \i \f50 \fs12 \cf0 \i \f50 \fs12 \
cf0 {\field{\*\fldinst SYMBOL 109 \\f Symbol }}{\dn006 \fs9 A }
\par}{\phpg\posx5152\pvpg\posy3180\absw201\absh277 \sl-158 \i \f50 \fs12 \cf0 {\
field{\*\fldinst SYMBOL 109 \\f Symbol }}{\fs9 B }\par
}
{\phpg\posx5366\pvpg\posy3180\absw218\absh272 \f20 \fs12 \cf0 \f20 \fs12 \cf0 ({
\i \f50 x})
\par}{\phpg\posx5366\pvpg\posy3180\absw218\absh272 \sl-158 \f20 \fs12 \cf0 ({\i
\f50 x}) \par
}
{\phpg\posx6527\pvpg\posy3180\absw201\absh277 \i \f50 \fs12 \cf0 \i \f50 \fs12 \
cf0 {\field{\*\fldinst SYMBOL 109 \\f Symbol }}{\fs9 B }
\par}{\phpg\posx6527\pvpg\posy3180\absw201\absh277 \sl-158 \i \f50 \fs12 \cf0 {\
field{\*\fldinst SYMBOL 109 \\f Symbol }}{\fs9 A }\par
}
{\phpg\posx6739\pvpg\posy3180\absw506\absh272 \f20 \fs12 \cf0 \f20 \fs12 \cf0 ({
\i \f50 y}) = 1
\par}{\phpg\posx6739\pvpg\posy3180\absw506\absh272 \sl-158 \f20 \fs12 \cf0 ({\i
\f50 y}) = 1 \par
}
{\phpg\posx5328\pvpg\posy3499\absw91\absh129 \f20 \fs12 \cf0 \f20 \fs12 \cf0 0 \
par
}
{\phpg\posx5781\pvpg\posy3180\absw132\absh395 \i \f50 \fs12 \cf0 \i \f50 \fs12 \
cf0 if
\par}{\phpg\posx5781\pvpg\posy3180\absw132\absh395 \sl-158 \i \f50 \fs12 \cf0 if

\par}{\phpg\posx5781\pvpg\posy3180\absw132\absh395 \sl-160 \i \f50 \fs12 \cf0 if

\par
}
{\phpg\posx6131\pvpg\posy3499\absw199\absh134 \i \f50 \fs12 \cf0 \i \f50 \fs12 \
cf0 {\field{\*\fldinst SYMBOL 109 \\f Symbol }}{\fs9 A }\par
}
{\phpg\posx6340\pvpg\posy3499\absw1298\absh163 \f20 \fs12 \cf0 \f20 \fs12 \cf0 (
{\i \f50 y}){\i \f50 <} 1{\i \f50 ,}{\i \f50 {\field{\*\fldinst SYMBOL 109 \
\f Symbol }} }{\i\dn006 \f50 \fs9 B} ({\i \f50 y}){\i \f50 <} 1 \par
}
{\phpg\posx2102\pvpg\posy3868\absw6589\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 T
abla 14.1: Listado de operadores de implicacin ms utilizados en control. \par
}
{\phpg\posx2716\pvpg\posy7667\absw5336\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 F
igura 14.14: Ejemplo de descripcin de variables LHS/RHS. \par
}
{\phpg\posx1701\pvpg\posy8732\absw7670\absh1025 \f10 \fs18 \cf0 \fi297 \f10 \fs1
8 \cf0 Supongamos que el controlador recibe, en un instante dado, una entrada{\i
\f50 x} que vale
\par}{\phpg\posx1701\pvpg\posy8732\absw7670\absh1025 \sl-239 \f10 \fs18 \cf0 exa
ctamente 4. Mediante el proceso de fuzzificacin, este valor se puede representar
\par}{\phpg\posx1701\pvpg\posy8732\absw7670\absh1025 \sl-237 \f10 \fs18 \cf0 med
iante un conjunto borroso A' definido por una funcin de pertenencia bivaluada
\par}{\phpg\posx1701\pvpg\posy8732\absw7670\absh1025 \sl-268 \f10 \fs18 \cf0 {\i
\f50 {\field{\*\fldinst SYMBOL 109 \\f Symbol }}}{\i\dn006 \f50 \fs12 A}{\dn006
\f40 \fs9 } (fuzzificador unitario). Como puede observarse, el conjunto borroso
{\i \f50 A }{\up006 \f40 \fs12 } no con\par}{\phpg\posx1701\pvpg\posy8732\absw7670\absh1025 \sl-208 \f10 \fs18 \cf0 cue
rda exactamente con{\i \f50 A}. Qu podemos inferir sobre el valor de la variable
{\i \f50 y}? \par
}
{\phpg\posx1924\pvpg\posy12064\absw6921\absh223 \f10 \fs18 \cf0 \f10 \fs18 \cf0
Figura 14.15: Ejemplo de conjunto borroso{\i \f50 A} y fuzzificacin unitaria ({
\i \f50 A }{\up006 \f40 \fs12 }) de{\i \f50 x}. \par
}
{\phpg\posx5236\pvpg\posy13123\absw359\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 6
08 \par
}
\sect\sectd\pard\plain
\pgwsxn10771\pghsxn14740
{\phpg\posx0\pvpg\posy0\absw10780\absh14740 \overlay
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\par}{\phpg\posx6216\pvpg\posy2014\absw256\absh2124
1 0
\par}{\phpg\posx6216\pvpg\posy2014\absw256\absh2124
1 0 \par
}
{\phpg\posx6710\pvpg\posy2014\absw353\absh2124 \f10
\cf0 8
\par}{\phpg\posx6710\pvpg\posy2014\absw353\absh2124
31 0
\par}{\phpg\posx6710\pvpg\posy2014\absw353\absh2124
31 0
\par}{\phpg\posx6710\pvpg\posy2014\absw353\absh2124
0 0.5
\par}{\phpg\posx6710\pvpg\posy2014\absw353\absh2124

\sl-196 \f10 \fs14 \cf0 \fi8

\par}{\phpg\posx6710\pvpg\posy2014\absw353\absh2124
0 0.5
\par}{\phpg\posx6710\pvpg\posy2014\absw353\absh2124
31 0
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31 0
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}
{\phpg\posx7305\pvpg\posy2014\absw353\absh2124 \f10
\cf0 9
\par}{\phpg\posx7305\pvpg\posy2014\absw353\absh2124
32 0
\par}{\phpg\posx7305\pvpg\posy2014\absw353\absh2124
32 0
\par}{\phpg\posx7305\pvpg\posy2014\absw353\absh2124

\sl-196 \f10 \fs14 \cf0 \fi5

\sl-196 \f10 \fs14 \cf0 \fi8

\sl-196 \f10 \fs14 \cf0 \fi8
\sl-196 \f10 \fs14 \cf0 \fi8
\fs14 \cf0 \fi132 \f10 \fs14
\sl-244 \f10 \fs14 \cf0 \fi1
\sl-199 \f10 \fs14 \cf0 \fi1
\sl-196 \f10 \fs14 \cf0 \fi5
\sl-196 \f10 \fs14 \cf0 0.67

\sl-196 \f10 \fs14 \cf0 \fi1

\sl-199 \f10 \fs14 \cf0 \fi1
\sl-196 \f10 \fs14 \cf0 \fi1
\sl-196 \f10 \fs14 \cf0 \fi1
\sl-196 \f10 \fs14 \cf0 \fi1
\sl-196 \f10 \fs14 \cf0 \fi1
\fs14 \cf0 \fi132 \f10 \fs14
\sl-244 \f10 \fs14 \cf0 \fi1
\sl-199 \f10 \fs14 \cf0 \fi1
\sl-196 \f10 \fs14 \cf0 0.33

\par}{\phpg\posx7305\pvpg\posy2014\absw353\absh2124 \sl-196 \f10 \fs14 \cf0 0.33

\par}{\phpg\posx7305\pvpg\posy2014\absw353\absh2124 \sl-196 \f10 \fs14 \cf0 0.33
\par}{\phpg\posx7305\pvpg\posy2014\absw353\absh2124
32 0
\par}{\phpg\posx7305\pvpg\posy2014\absw353\absh2124
32 0
\par}{\phpg\posx7305\pvpg\posy2014\absw353\absh2124
32 0
\par}{\phpg\posx7305\pvpg\posy2014\absw353\absh2124
32 0
\par}{\phpg\posx7305\pvpg\posy2014\absw353\absh2124
32 0
\par}{\phpg\posx7305\pvpg\posy2014\absw353\absh2124
32 0 \par
}
{\phpg\posx7900\pvpg\posy2014\absw210\absh2124 \f10

\sl-196 \f10 \fs14 \cf0 \fi1

\sl-199 \f10 \fs14 \cf0 \fi1
\sl-196 \f10 \fs14 \cf0 \fi1
\sl-196 \f10 \fs14 \cf0 \fi1
\sl-196 \f10 \fs14 \cf0 \fi1
\sl-196 \f10 \fs14 \cf0 \fi1
\fs14 \cf0 \f10 \fs14 \cf0 1

0
\par}{\phpg\posx7900\pvpg\posy2014\absw210\absh2124 \sl-244 \f10 \fs14 \cf0 \fi4
0 0
\par}{\phpg\posx7900\pvpg\posy2014\absw210\absh2124 \sl-199 \f10 \fs14 \cf0 \fi4
0 0
\par}{\phpg\posx7900\pvpg\posy2014\absw210\absh2124 \sl-196 \f10 \fs14 \cf0 \fi4
0 0
\par}{\phpg\posx7900\pvpg\posy2014\absw210\absh2124 \sl-196 \f10 \fs14 \cf0 \fi4
0 0
\par}{\phpg\posx7900\pvpg\posy2014\absw210\absh2124 \sl-196 \f10 \fs14 \cf0 \fi4
0 0
\par}{\phpg\posx7900\pvpg\posy2014\absw210\absh2124 \sl-196 \f10 \fs14 \cf0 \fi4
0 0
\par}{\phpg\posx7900\pvpg\posy2014\absw210\absh2124 \sl-199 \f10 \fs14 \cf0 \fi4
0 0
\par}{\phpg\posx7900\pvpg\posy2014\absw210\absh2124 \sl-196 \f10 \fs14 \cf0 \fi4
0 0
\par}{\phpg\posx7900\pvpg\posy2014\absw210\absh2124 \sl-196 \f10 \fs14 \cf0 \fi4
0 0
\par}{\phpg\posx7900\pvpg\posy2014\absw210\absh2124 \sl-196 \f10 \fs14 \cf0 \fi4
0 0
\par}{\phpg\posx7900\pvpg\posy2014\absw210\absh2124 \sl-196 \f10 \fs14 \cf0 \fi4
0 0 \par
}
{\phpg\posx2971\pvpg\posy4621\absw4470\absh165 \f10 \fs18 \cf0 \f10 \fs18 \cf0 T
abla 14.2: Ejemplo de definicin de la relacin{\i \f50 R }\par
}
{\phpg\posx7329\pvpg\posy4627\absw472\absh193 \i \f50 \fs12 \cf0 \i \f50 \fs12 \
cf0 A{\i0 \f40 {\field{\*\fldinst SYMBOL 174 \\f Symbol }}}B{\i0 \f10 \fs18 . }\
par
}
{\phpg\posx1701\pvpg\posy5284\absw7506\absh376 \f10 \fs18 \cf0 \fi297 \f10 \fs18
\cf0 Representando los conjuntos A, B, y A' de forma algebraica (vanse las Figur
as
\par}{\phpg\posx1701\pvpg\posy5284\absw7506\absh376 \sl-239 \f10 \fs18 \cf0 14.1
5 y 14.14) tenemos que: \par
}
{\phpg\posx4641\pvpg\posy5782\absw287\absh233 \f10 \fs18 \cf0 {\f0\fs23 \bullet
}\f10 \fs18 \cf0 \par
}
{\phpg\posx4226\pvpg\posy6018\absw359\absh160 \i \f50 \fs18 \cf0 \i \f50 \fs18 \
cf0 A{\i0 \f20 = }\par
}
{\phpg\posx4963\pvpg\posy6018\absw280\absh176 \i \f50 \fs18 \cf0 \i \f50 \fs18 \
cf0 {\field{\*\fldinst SYMBOL 109 \\f Symbol }}{\fs12 A }\par
}
{\phpg\posx5212\pvpg\posy6018\absw2993\absh160 \f20 \fs18 \cf0 \f20 \fs18 \cf0 (
{\i \f50 x}){\i \f50 /x} = 0{\i \f50 ,}5{\i \f50 /} 2 + 1{\i \f50 ,}0{\i \f50
/} 3 + 0{\i \f50 ,}5{\i \f50 /} 4 \par
}
{\phpg\posx2591\pvpg\posy6180\absw287\absh233 \f10 \fs18 \cf0 {\f0\fs23 \bullet
}\f10 \fs18 \cf0 \par
}
{\phpg\posx2167\pvpg\posy6416\absw371\absh160 \i \f50 \fs18 \cf0 \i \f50 \fs18 \
cf0 B{\i0 \f20 = }\par
}
{\phpg\posx2913\pvpg\posy6416\absw280\absh176 \i \f50 \fs18 \cf0 \i \f50 \fs18 \
cf0 {\field{\*\fldinst SYMBOL 109 \\f Symbol }}{\fs12 B }\par
}
{\phpg\posx3170\pvpg\posy6416\absw5036\absh160 \f20 \fs18 \cf0 \f20 \fs18 \cf0 (

{\i \f50 y}){\i \f50 /y} = 0{\i \f50 ,}33{\i \f50 /} 5 + 0{\i \f50 ,}67{\i \
f50 /} 6 + 1{\i \f50 ,}0{\i \f50 /} 7 + 0{\i \f50 ,}67{\i \f50 /} 8 + 0
{\i \f50 ,}33{\i \f50 /} 9 \par
}
{\phpg\posx4895\pvpg\posy6578\absw287\absh233 \f10 \fs18 \cf0 {\f0\fs23 \bullet
}\f10 \fs18 \cf0 \par
}
{\phpg\posx4425\pvpg\posy6743\absw418\absh224 \i \f50 \fs18 \cf0 \i \f50 \fs18 \
cf0 A{\i0\up006 \f40 \fs12 }{\i0 \f20 = }\par
}
{\phpg\posx5217\pvpg\posy6814\absw325\absh176 \i \f50 \fs18 \cf0 \i \f50 \fs18 \
cf0 {\field{\*\fldinst SYMBOL 109 \\f Symbol }}{\fs12 A}{\i0\dn006 \f40 \fs9  }\p
ar
}
{\phpg\posx5522\pvpg\posy6814\absw2684\absh160 \f20 \fs18 \cf0 \f20 \fs18 \cf0 (
{\i \f50 x}){\i \f50 /x} = 0{\i \f50 /} 2 + 0{\i \f50 /} 3 + 1{\i \f50 ,}0
{\i \f50 /} 4 \par
}
{\phpg\posx8462\pvpg\posy6023\absw649\absh877 \f10 \fs18 \cf0 \f10 \fs18 \cf0 (1
4.11)
\par}{\phpg\posx8462\pvpg\posy6023\absw649\absh877 \sl-199 \par\f10 \fs18 \cf0 (
14.12)
\par}{\phpg\posx8462\pvpg\posy6023\absw649\absh877 \sl-199 \par\f10 \fs18 \cf0 (
14.13) \par
}
{\phpg\posx1701\pvpg\posy7302\absw7392\absh595 \f10 \fs18 \cf0 \f10 \fs18 \cf0 d
onde ambas variables,{\i \f50 x} e{\i \f50 y} estn definidas sobre el
mismo universo:{\i \f50 X}{\f20
=}{\i \f50 Y}{\f20
= }
\par}{\phpg\posx1701\pvpg\posy7302\absw7392\absh595 \sl-237 \f10 \fs18 \cf0 {\f4
0 \{}{\f20 0}{\f20 1}{\i \f50 ,,}{\i \f50 }{\f20
2}{\i \f50 ,}{\i \f50
...,}{\f20 10}{\f40 \}}. Calculamos la funcin de pertenencia de la implicacin us
ando el ope\par}{\phpg\posx1701\pvpg\posy7302\absw7392\absh595 \sl-239 \f10 \fs18 \cf0 rado
r min de Mamdani: \par
}
{\phpg\posx4000\pvpg\posy8240\absw518\absh198 \i \f50 \fs18 \cf0 \i \f50 \fs18 \
cf0 {\field{\*\fldinst SYMBOL 109 \\f Symbol }}{\fs12 A}{\i0 \f40 \fs12 {\field{
\*\fldinst SYMBOL 174 \\f Symbol }}}{\fs12 B }\par
}
{\phpg\posx4536\pvpg\posy8194\absw2235\absh269 \f20 \fs18 \cf0 \f20 \fs18 \cf0 (
{\i \f50 x }{\i\dn006 \f50 \fs12 i}{\i \f50 ,}{\i \f50 y}{\i\dn006 \f50 \fs12
i}) ={\i \f50 {\field{\*\fldinst SYMBOL 109 \\f Symbol }} }{\i\dn006 \f50 \fs1
2 A}({\i \f50 x }{\i \f50 \fs12 i}){\f40 {\field{\*\fldinst SYMBOL 217 \\f Sy
mbol }}}{\i \f50 {\field{\*\fldinst SYMBOL 109 \\f Symbol }} }{\i \f50 \fs12 B
}({\i \f50 y}{\i \f50 \fs12 i}) \par
}
{\phpg\posx8462\pvpg\posy8246\absw649\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 (1
4.14) \par
}
{\phpg\posx1701\pvpg\posy8704\absw1101\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 P
or ejemplo: \par
}
{\phpg\posx2949\pvpg\posy9113\absw4474\absh548 \i \f50 \fs18 \cf0 \fi352 \i \f50
\fs18 \cf0 {\field{\*\fldinst SYMBOL 109 \\f Symbol }} {\dn006 \fs12 R}{\i0 \f
20 (2},{\i0 \f20 3)}{\i0 \f20 =} {\field{\*\fldinst SYMBOL 109 \\f Symbol }} {
\dn006 \fs12 A}{\i0 \f20 (2)}{\i0 \f40 {\field{\*\fldinst SYMBOL 217 \\f Symbo
l }}} {\field{\*\fldinst SYMBOL 109 \\f Symbol }} {\dn006 \fs12 B}{\i0 \f20 (3)
}{\i0 \f20 =} min{\i0 \f40 \{}{\i0 \f20 0},{\i0 \f20 5} ,{\i0 \f20 0},{\i0 \
f20 0}{\i0 \f40 \}}{\i0 \f20 =}{\i0 \f20 0 }
\par}{\phpg\posx2949\pvpg\posy9113\absw4474\absh548 \sl-148 \par\i \f50 \fs18 \c

f0 {\field{\*\fldinst SYMBOL 109 \\f Symbol }} {\dn006 \fs12 R}{\i0 \f20 (2},{\
i0 \f20 5)}{\i0 \f20 =} {\field{\*\fldinst SYMBOL 109 \\f Symbol }} {\dn006 \f
s12 A}{\i0 \f20 (2)}{\i0 \f40 {\field{\*\fldinst SYMBOL 217 \\f Symbol }}} {\f
ield{\*\fldinst SYMBOL 109 \\f Symbol }} {\dn006 \fs12 B}{\i0 \f20 (5)}{\i0 \f2
0 =} min{\i0 \f40 \{}{\i0 \f20 0},{\i0 \f20 5} ,{\i0 \f20 0},{\i0 \f20 33}{\
i0 \f40 \}}{\i0 \f20 =}{\i0 \f20 0},{\i0 \f20 33 }\par
}
{\phpg\posx8462\pvpg\posy9165\absw649\absh698 \f10 \fs18 \cf0 \f10 \fs18 \cf0 (1
4.15)
\par}{\phpg\posx8462\pvpg\posy9165\absw649\absh698 \sl-297 \f10 \fs18 \cf0 (14.1
6)
\par}{\phpg\posx8462\pvpg\posy9165\absw649\absh698 \sl-299 \f10 \fs18 \cf0 (14.1
7) \par
}
{\phpg\posx1701\pvpg\posy10221\absw7417\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0
As, realizando un anlisis para todos los posibles valores del universo,
la relacin \par
}
{\phpg\posx1701\pvpg\posy10455\absw549\absh198 \i \f50 \fs18 \cf0 \i \f50 \fs18
\cf0 R{\fs12 A}{\i0 \f40 \fs12 {\field{\*\fldinst SYMBOL 174 \\f Symbol }}}{\fs1
2 B }\par
}
{\phpg\posx2335\pvpg\posy10461\absw2955\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0
estara definida por la Tabla 14.2. \par
}
{\phpg\posx1701\pvpg\posy11035\absw768\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 1
4.4.5.2 \par
}
{\phpg\posx2691\pvpg\posy11035\absw2013\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0
Reglas de inferencia \par
}
{\phpg\posx1701\pvpg\posy11423\absw7558\absh1020 \f10 \fs18 \cf0 \fi297 \f10 \fs
18 \cf0 Las inferencias borrosas son procedimientos computacionales para evaluar
descrip\par}{\phpg\posx1701\pvpg\posy11423\absw7558\absh1020 \sl-237 \f10 \fs18 \cf0 ci
ones lingsticas. As en el captulo 2 se describi cmo el Modus Ponens Generaliza\par}{\phpg\posx1701\pvpg\posy11423\absw7558\absh1020 \sl-239 \f10 \fs18 \cf0 do
o GMP (del ingls, Generalized Modus Ponens), que representa la forma habitual
\par}{\phpg\posx1701\pvpg\posy11423\absw7558\absh1020 \sl-239 \f10 \fs18 \cf0 de
inferencia a partir de reglas en los sistemas de control (vase la Figura 14.16).
El
\par}{\phpg\posx1701\pvpg\posy11423\absw7558\absh1020 \sl-237 \f10 \fs18 \cf0 GM
P permite inferir el valor borroso{\i \f50 B}{\up006 \f40 \fs12 }, dado un valo
r de entrada{\i \f50 A }{\up006 \f40 \fs12 } y una relacin \par
}
{\phpg\posx1701\pvpg\posy12613\absw1865\absh198 \f10 \fs18 \cf0 \f10 \fs18 \cf0
de implicacin{\i \f50 R }
\par}{\phpg\posx1701\pvpg\posy12613\absw1865\absh198 \sl-126 \f10 \fs18 \cf0 \fi
1466 {\i \f50 \fs12 A}{\f40 \fs12 {\field{\*\fldinst SYMBOL 174 \\f Symbol }}}{\
i \f50 \fs12 B }\par
}
{\phpg\posx3585\pvpg\posy12613\absw3162\absh619 \f20 \fs18 \cf0 \f20 \fs18 \cf0
({\i \f50 x,}{\i \f50 y}){\f10 que}{\f10 relacione}{\f10 ambas}{\f10 variab
les. }
\par}{\phpg\posx3585\pvpg\posy12613\absw3162\absh619 \sl-251 \par\f20 \fs18 \cf0
\fi1651 {\f10 609 }\par
}
\sect\sectd\pard\plain
\pgwsxn10771\pghsxn14740
{\phpg\posx0\pvpg\posy0\absw10780\absh14740 \overlay

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05145140051451400514514005145140051451400514514005145140051451400514514005145140
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}}\par}{\phpg\posx1701\pvpg\posy1429\absw596\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Control \par
}
{\phpg\posx3727\pvpg\posy1985\absw2967\absh399 \f10 \fs12 \cf0 \f10 \fs12 \cf0 P
remisa 1: SI x es A ENTONCES y es B
\par}{\phpg\posx3727\pvpg\posy1985\absw2967\absh399 \sl-158 \f10 \fs12 \cf0 Prem
isa 2: x es A'
\par}{\phpg\posx3727\pvpg\posy1985\absw2967\absh399 \sl-160 \f10 \fs12 \cf0 Cons
ecuente: y es B' \par
}
{\phpg\posx3396\pvpg\posy2791\absw3976\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 F
igura 14.16: Modus Ponens General (GMP). \par
}
{\phpg\posx1999\pvpg\posy3376\absw7075\absh221 \f10 \fs18 \cf0 \f10 \fs18 \cf0 E
l valor inferido{\i \f50 B}{\up006 \f40 \fs12 } se calcula mediante la composic
in del valor{\i \f50 A }{\up006 \f40 \fs12 } con la relacin \par
}
{\phpg\posx1701\pvpg\posy3678\absw1865\absh198 \f10 \fs18 \cf0 \f10 \fs18 \cf0 d
e implicacin{\i \f50 R }
\par}{\phpg\posx1701\pvpg\posy3678\absw1865\absh198 \sl-126 \f10 \fs18 \cf0 \fi1
466 {\i \f50 \fs12 A}{\f40 \fs12 {\field{\*\fldinst SYMBOL 174 \\f Symbol }}}{\i
\f50 \fs12 B }\par
}
{\phpg\posx3585\pvpg\posy3678\absw1474\absh165 \f20 \fs18 \cf0 \f20 \fs18 \cf0 (
{\i \f50 x,}{\i \f50 y}){\f10 .}{\f10 Por}{\f10 tanto: }\par
}
{\phpg\posx3808\pvpg\posy4050\absw863\absh727 \i \f50 \fs18 \cf0 \fi623 \i \f50
\fs18 \cf0 B{\i0 \f40 \fs12  }
\par}{\phpg\posx3808\pvpg\posy4050\absw863\absh727 \sl-265 \par\i \f50 \fs18 \cf
0 {\field{\*\fldinst SYMBOL 109 \\f Symbol }}{\fs12 B}{\i0\dn006 \f20 \fs12 (}{
\i0\dn006 \f40 \fs9 y}{\fs12
)}{\i0 \f20 \fs12 = }\par
}
{\phpg\posx4706\pvpg\posy4050\absw753\absh257 \f20 \fs18 \cf0 \f20 \fs18 \cf0 ={
\i \f50 A }{\up006 \f40 \fs12 }{\f40 {\f63 \u9702\'3f}}{\i \f50 R }\par
}
{\phpg\posx5460\pvpg\posy4163\absw398\absh163 \i \f50 \fs12 \cf0 \i \f50 \fs12 \
cf0 A{\i0 \f40 {\field{\*\fldinst SYMBOL 174 \\f Symbol }}}B \par
}
{\phpg\posx5875\pvpg\posy4124\absw461\absh160 \f20 \fs18 \cf0 \f20 \fs18 \cf0 ({
\i \f50 x,}{\i \f50 y}) \par
}
{\phpg\posx4596\pvpg\posy4385\absw421\absh598 \f10 \fs18 \cf0 \fi105 \f10 \fs18
\cf0 >
\par}{\phpg\posx4596\pvpg\posy4385\absw421\absh598 \sl-213 \par\f10 \fs18 \cf0 {
\f40 \fs12 {\field{\*\fldinst SYMBOL 34 \\f Symbol }}}{\i \f50 \fs12 x}{\f40 \fs
12 {\field{\*\fldinst SYMBOL 206 \\f Symbol }}}{\i \f50 \fs12 X }\par
}
{\phpg\posx5059\pvpg\posy4618\absw386\absh188 \f20 \fs18 \cf0 \f20 \fs18 \cf0 [{
\i \f50 {\field{\*\fldinst SYMBOL 109 \\f Symbol }}}{\i\dn006 \f50 \fs12 A}{\dn0
06 \f40 \fs9  }\par

}
{\phpg\posx5419\pvpg\posy4572\absw1008\absh240 \f20 \fs18 \cf0 \f20 \fs18 \cf0 (
{\i \f50 x}){\f40 {\field{\*\fldinst SYMBOL 217 \\f Symbol }}}{\i \f50 {\field
{\*\fldinst SYMBOL 109 \\f Symbol }} }
\par}{\phpg\posx5419\pvpg\posy4572\absw1008\absh240 \sl-126 \f20 \fs18 \cf0 \fi6
09 {\i \f50 \fs12 A}{\f40 \fs12 {\field{\*\fldinst SYMBOL 174 \\f Symbol }}}{\i
\f50 \fs12 B }\par
}
{\phpg\posx6444\pvpg\posy4618\absw516\absh160 \f20 \fs18 \cf0 \f20 \fs18 \cf0 ({
\i \f50 x,}{\i \f50 y})] \par
}
{\phpg\posx8462\pvpg\posy4130\absw649\absh605 \f10 \fs18 \cf0 \f10 \fs18 \cf0 (1
4.18)
\par}{\phpg\posx8462\pvpg\posy4130\absw649\absh605 \sl-247 \par\f10 \fs18 \cf0 (
14.19) \par
}
{\phpg\posx1999\pvpg\posy5180\absw7123\absh165 \f10 \fs18 \cf0 \f10 \fs18 \cf0 P
ara el ejemplo que estamos considerando y un valor concreto{\i \f50 y}{\f20
=}{\f20 5}, podemos \par
}
{\phpg\posx1701\pvpg\posy5420\absw902\absh165 \f10 \fs18 \cf0 \f10 \fs18 \cf0 ob
tener{\i \f50 {\field{\*\fldinst SYMBOL 109 \\f Symbol }} }\par
}
{\phpg\posx2541\pvpg\posy5426\absw972\absh635 \i \f50 \fs12 \cf0 \i \f50 \fs12 \
cf0 B{\i0\dn006 \f40 \fs9 }{\i0 \f20 (5)}{\i0 \f10 \fs18 como: }
\par}{\phpg\posx2541\pvpg\posy5426\absw972\absh635 \sl-231 \par\i \f50 \fs12 \cf
0 \fi484 {\i0 \f10 \fs18 > }\par
}
{\phpg\posx2140\pvpg\posy6109\absw726\absh204 \i \f50 \fs18 \cf0 \i \f50 \fs18 \
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i0 \f20 \fs12 (5)}{\i0 \f20 = }\par
}
{\phpg\posx3386\pvpg\posy6062\absw2655\absh233 \f20 \fs18 \cf0 \f20 \fs18 \cf0 [
0{\f40 {\field{\*\fldinst SYMBOL 217 \\f Symbol }}} 0{\i \f50 ,}33{\i \f50 ,}
0{\f40 {\field{\*\fldinst SYMBOL 217 \\f Symbol }}} 0{\i \f50 ,}33{\i \f50 ,}
1{\f40 {\field{\*\fldinst SYMBOL 217 \\f Symbol }}} 0{\i \f50 ,}33] = \par
}
{\phpg\posx1701\pvpg\posy6357\absw4198\absh795 \f40 \fs12 \cf0 \fi1221 \f40 \fs1
2 \cf0 {\field{\*\fldinst SYMBOL 34 \\f Symbol }}{\i \f50 x}{\field{\*\fldinst S
YMBOL 206 \\f Symbol }}{\i \f50 X }
\par}{\phpg\posx1701\pvpg\posy6357\absw4198\absh795 \sl-203 \par\f40 \fs12 \cf0
{\f10 \fs18 En}{\f10 \fs18 forma}{\f10 \fs18 matricial,}{\f10 \fs18 podemos}{
\f10 \fs18 obtener}{\i \f50 \fs18 B}{\up006 }{\f10 \fs18 como: }
\par}{\phpg\posx1701\pvpg\posy6357\absw4198\absh795 \sl-273 \f40 \fs12 \cf0 \fi4
065 {\f10 \fs18 {\f63 \u9121\'3f} }\par
}
{\phpg\posx1970\pvpg\posy7355\absw239\absh224 \i \f50 \fs18 \cf0 \i \f50 \fs18 \
cf0 B{\i0\up006 \f40 \fs12  }\par
}
{\phpg\posx2188\pvpg\posy7355\absw1480\absh292 \f20 \fs18 \cf0 \f20 \fs18 \cf0 (
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x }{\i\dn006 \f50 \fs12 i}){\f40 {\f63 \u9702\'3f}}{\i \f50 R }\par
}
{\phpg\posx3669\pvpg\posy7466\absw398\absh163 \i \f50 \fs12 \cf0 \i \f50 \fs12 \
cf0 A{\i0 \f40 {\field{\*\fldinst SYMBOL 174 \\f Symbol }}}B \par
}
{\phpg\posx4084\pvpg\posy7339\absw1815\absh269 \f20 \fs18 \cf0 \f20 \fs18 \cf0 (
{\i \f50 x }{\i\dn006 \f50 \fs12 i}{\i \f50 ,}{\i \f50 y,}{\i \f50 i}) = [0
0 1]{\f40 {\f63 \u9702\'3f}}{\f10 {\f63 \u9123\'3f} }\par
}

{\phpg\posx6098\pvpg\posy5873\absw421\absh598 \f10 \fs18 \cf0 \fi103 \f10 \fs18

\cf0 >
\par}{\phpg\posx6098\pvpg\posy5873\absw421\absh598 \sl-213 \par\f10 \fs18 \cf0 {
\f40 \fs12 {\field{\*\fldinst SYMBOL 34 \\f Symbol }}}{\i \f50 \fs12 x}{\f40 \fs
12 {\field{\*\fldinst SYMBOL 206 \\f Symbol }}}{\i \f50 \fs12 X }\par
}
{\phpg\posx6559\pvpg\posy6109\absw1462\absh160 \f20 \fs18 \cf0 \f20 \fs18 \cf0 [
0{\i \f50 ,} 0{\i \f50 ,} 0{\i \f50 ,}33] = 0{\i \f50 ,}33 \par
}
{\phpg\posx8462\pvpg\posy6115\absw649\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 (1
4.20) \par
}
{\phpg\posx6000\pvpg\posy7186\absw356\absh590 \f20 \fs18 \cf0 \f20 \fs18 \cf0 0{
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\f50 ,}33
\par}{\phpg\posx6000\pvpg\posy7186\absw356\absh590 \sl-237 \f20 \fs18 \cf0 0{\i
\f50 ,}33 \par
}
{\phpg\posx6554\pvpg\posy7186\absw354\absh590 \f20 \fs18 \cf0 \f20 \fs18 \cf0 0{
\i \f50 ,}50
\par}{\phpg\posx6554\pvpg\posy7186\absw354\absh590 \sl-239 \f20 \fs18 \cf0 0{\i
\f50 ,}67
\par}{\phpg\posx6554\pvpg\posy7186\absw354\absh590 \sl-237 \f20 \fs18 \cf0 0{\i
\f50 ,}50 \par
}
{\phpg\posx7106\pvpg\posy7186\absw356\absh590 \f20 \fs18 \cf0 \f20 \fs18 \cf0 0{
\i \f50 ,}50
\par}{\phpg\posx7106\pvpg\posy7186\absw356\absh590 \sl-239 \f20 \fs18 \cf0 1{\i
\f50 ,}00
\par}{\phpg\posx7106\pvpg\posy7186\absw356\absh590 \sl-237 \f20 \fs18 \cf0 0{\i
\f50 ,}50 \par
}
{\phpg\posx7660\pvpg\posy7186\absw356\absh590 \f20 \fs18 \cf0 \f20 \fs18 \cf0 0{
\i \f50 ,}50
\par}{\phpg\posx7660\pvpg\posy7186\absw356\absh590 \sl-239 \f20 \fs18 \cf0 0{\i
\f50 ,}67
\par}{\phpg\posx7660\pvpg\posy7186\absw356\absh590 \sl-237 \f20 \fs18 \cf0 0{\i
\f50 ,}50 \par
}
{\phpg\posx8215\pvpg\posy7186\absw354\absh590 \f20 \fs18 \cf0 \f20 \fs18 \cf0 0{
\i \f50 ,}33
\par}{\phpg\posx8215\pvpg\posy7186\absw354\absh590 \sl-239 \f20 \fs18 \cf0 0{\i
\f50 ,}33
\par}{\phpg\posx8215\pvpg\posy7186\absw354\absh590 \sl-237 \f20 \fs18 \cf0 0{\i
\f50 ,}33 \par
}
{\phpg\posx8668\pvpg\posy6982\absw132\absh554 \f10 \fs18 \cf0 \f10 \fs18 \cf0 {\
f63 \u9124\'3f}
\par}{\phpg\posx8668\pvpg\posy6982\absw132\absh554 \sl-357 \f10 \fs18 \cf0 {\f63
\u9126\'3f} \par
}
{\phpg\posx8462\pvpg\posy7912\absw649\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 (1
4.21) \par
}
{\phpg\posx1701\pvpg\posy8082\absw5662\absh1024 \f10 \fs18 \cf0 \f10 \fs18 \cf0
resultando un conjunto{\i \f50 B}{\up006 \f40 \fs12 } dado por:
\par}{\phpg\posx1701\pvpg\posy8082\absw5662\absh1024 \sl-223 \par\f10 \fs18 \cf0
\fi1704 {\i \f50 B}{\up006 \f40 \fs12 }{\f20 =}{\f20 0}{\i \f50 ,}{\f20 33}{
\i \f50 /}{\f20 5}{\f20 +}{\f20 0}{\i \f50 ,}{\f20 50}{\i \f50 /}{\f20

6}{\f20 +}{\f20 0}{\i \f50 ,}{\f20 50}{\i \f50 /}{\f20 8}{\f20 +}{\f20
0}{\i \f50 ,}{\f20 33}{\i \f50 /}{\f20 9 }
\par}{\phpg\posx1701\pvpg\posy8082\absw5662\absh1024 \sl-223 \par\f10 \fs18 \cf0
que grficamente se representa como en la Figura 14.17. \par
}
{\phpg\posx8462\pvpg\posy8596\absw649\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 (1
4.22) \par
}
{\phpg\posx2606\pvpg\posy11135\absw5559\absh221 \f10 \fs18 \cf0 \f10 \fs18 \cf0
Figura 14.17: Conjunto borroso{\i \f50 B}{\up006 \f40 \fs12 } resultante de una
inferencia. \par
}
{\phpg\posx1701\pvpg\posy12074\absw7449\absh1104 \f10 \fs18 \cf0 \fi297 \f10 \fs
18 \cf0 Como puede observarse, el resultado{\i \f50 B}{\up006 \f40 \fs12 } es
la funcin de pertenencia de{\i \f50 B}, recor\par}{\phpg\posx1701\pvpg\posy12074\absw7449\absh1104 \sl-237 \f10 \fs18 \cf0 ta
da a una altura igual al grado en el que{\i \f50 A }{\up006 \f40 \fs12 } concue
rda con{\i \f50 A} (vase la Figura 14.18).
\par}{\phpg\posx1701\pvpg\posy12074\absw7449\absh1104 \sl-239 \f10 \fs18 \cf0 Al
grado de concordancia entre{\i \f50 A} y{\i \f50 A }{\up006 \f40 \fs12 }
se le denomina grado de satisfaccin de la
\par}{\phpg\posx1701\pvpg\posy12074\absw7449\absh1104 \sl-251 \par\f10 \fs18 \cf
0 \fi3535 610 \par
}
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}}\par}{\phpg\posx7826\pvpg\posy1429\absw1239\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Control borroso \par
}
{\phpg\posx3240\pvpg\posy2014\absw1861\absh1372 \f10 \fs14 \cf0 \f10 \fs14 \cf0
Operador Implicacin
\par}{\phpg\posx3240\pvpg\posy2014\absw1861\absh1372 \sl-196 \f10 \fs14 \cf0 \fi
333 Zadeh Max-Min
\par}{\phpg\posx3240\pvpg\posy2014\absw1861\absh1372 \sl-199 \f10 \fs14 \cf0 \fi
343 Mamdani (min)
\par}{\phpg\posx3240\pvpg\posy2014\absw1861\absh1372 \sl-196 \f10 \fs14 \cf0 \fi
417 Larsen (prod)
\par}{\phpg\posx3240\pvpg\posy2014\absw1861\absh1372 \sl-196 \f10 \fs14 \cf0 \fi
532 Aritmtico
\par}{\phpg\posx3240\pvpg\posy2014\absw1861\absh1372 \sl-196 \f10 \fs14 \cf0 \fi
590 Booleano
\par}{\phpg\posx3240\pvpg\posy2014\absw1861\absh1372 \sl-196 \f10 \fs14 \cf0 \fi
254 Producto Acotado
\par}{\phpg\posx3240\pvpg\posy2014\absw1861\absh1372 \sl-199 \f10 \fs14 \cf0 \fi
249 Producto Drstico \par
}
{\phpg\posx5344\pvpg\posy2014\absw2189\absh1393 \f10 \fs14 \cf0 \f10 \fs14 \cf0
Interpretacin agregacin
\par}{\phpg\posx5344\pvpg\posy2014\absw2189\absh1393 \sl-196 \f10 \fs14 \cf0 \fi
780 AND({\f40 {\field{\*\fldinst SYMBOL 217 \\f Symbol }}})
\par}{\phpg\posx5344\pvpg\posy2014\absw2189\absh1393 \sl-199 \f10 \fs14 \cf0 \fi
842 OR({\f40 {\field{\*\fldinst SYMBOL 218 \\f Symbol }}})
\par}{\phpg\posx5344\pvpg\posy2014\absw2189\absh1393 \sl-196 \f10 \fs14 \cf0 \fi
842 OR({\f40 {\field{\*\fldinst SYMBOL 218 \\f Symbol }}})
\par}{\phpg\posx5344\pvpg\posy2014\absw2189\absh1393 \sl-196 \f10 \fs14 \cf0 \fi
780 AND({\f40 {\field{\*\fldinst SYMBOL 217 \\f Symbol }}})
\par}{\phpg\posx5344\pvpg\posy2014\absw2189\absh1393 \sl-196 \f10 \fs14 \cf0 \fi
780 AND({\f40 {\field{\*\fldinst SYMBOL 217 \\f Symbol }}})
\par}{\phpg\posx5344\pvpg\posy2014\absw2189\absh1393 \sl-196 \f10 \fs14 \cf0 \fi
842 OR({\f40 {\field{\*\fldinst SYMBOL 218 \\f Symbol }}})
\par}{\phpg\posx5344\pvpg\posy2014\absw2189\absh1393 \sl-199 \f10 \fs14 \cf0 \fi
842 OR({\f40 {\field{\*\fldinst SYMBOL 218 \\f Symbol }}}) \par
}
{\phpg\posx3112\pvpg\posy3789\absw4557\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 T
abla 14.3: Relacin entre implicacin y agregacin. \par
}
{\phpg\posx1701\pvpg\posy4435\absw7369\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 r
egla o DOF (del ingls Degree Of Fulfillment). En el ejemplo anterior el grado
de \par
}
{\phpg\posx1701\pvpg\posy4607\absw2316\absh221 \f10 \fs18 \cf0 \f10 \fs18 \cf0 s

atisfaccin es{\i \f50 DOF}{\f20 (}{\i \f50 A }{\up006 \f40 \fs12 }{\i \f50 ,}{
\i \f50 R }\par
}
{\phpg\posx4000\pvpg\posy4669\absw914\absh198 \i \f50 \fs12 \cf0 \i \f50 \fs12 \
cf0 A{\i0 \f40 {\field{\*\fldinst SYMBOL 174 \\f Symbol }}}B{\i0 \f20 \fs18 )}{\
i0 \f20 \fs18 =}{\i0 \f20 \fs18 0}{\fs18 , }\par
}
{\phpg\posx3559\pvpg\posy5094\absw1008\absh224 \i \f50 \fs18 \cf0 \i \f50 \fs18
\cf0 DOF{\i0 \f20 (}A {\i0\up006 \f40 \fs12 }, R \par
}
{\phpg\posx4912\pvpg\posy4669\absw3317\absh467 \f20 \fs18 \cf0 \f20 \fs18 \cf0 5
{\f10 .}{\f10 De}{\f10 forma}{\f10 general,}{\f10 se}{\f10 calcula}{\f10
como: }
\par}{\phpg\posx4912\pvpg\posy4669\absw3317\absh467 \sl-307 \f20 \fs18 \cf0 \fi5
16 {\f10 > }\par
}
{\phpg\posx4567\pvpg\posy5166\absw702\absh198 \i \f50 \fs12 \cf0 \i \f50 \fs12 \
cf0 A{\i0 \f40 {\field{\*\fldinst SYMBOL 174 \\f Symbol }}}B{\i0 \f20 \fs18 )}{\
i0 \f20 \fs18 = }\par
}
{\phpg\posx5788\pvpg\posy5119\absw1078\absh264 \f20 \fs18 \cf0 \f20 \fs18 \cf0 [
{\i \f50 {\field{\*\fldinst SYMBOL 109 \\f Symbol }} }{\i\dn006 \f50 \fs12 A}({
\i \f50 x}){\f40 {\field{\*\fldinst SYMBOL 217 \\f Symbol }}}{\i \f50 {\field{
\*\fldinst SYMBOL 109 \\f Symbol }}}{\i\dn006 \f50 \fs12 A}{\dn006 \f40 \fs9  }\p
ar
}
{\phpg\posx6888\pvpg\posy5166\absw321\absh160 \f20 \fs18 \cf0 \f20 \fs18 \cf0 ({
\i \f50 x})] \par
}
{\phpg\posx8462\pvpg\posy5171\absw649\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 (1
4.23) \par
}
{\phpg\posx5325\pvpg\posy5416\absw421\absh163 \f40 \fs12 \cf0 \f40 \fs12 \cf0 {\
field{\*\fldinst SYMBOL 34 \\f Symbol }}{\i \f50 x}{\field{\*\fldinst SYMBOL 206
\\f Symbol }}{\i \f50 X }\par
}
{\phpg\posx2536\pvpg\posy7571\absw5697\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 F
igura 14.18: Efecto de recorte del Grado de Satisfaccin (DOF). \par
}
{\phpg\posx1701\pvpg\posy8347\absw7582\absh4459 \f10 \fs18 \cf0 \fi297 \f10 \fs1
8 \cf0 Sin embargo, este efecto de recorte es una caracterstica asociada al uso d
el opera\par}{\phpg\posx1701\pvpg\posy8347\absw7582\absh4459 \sl-239 \f10 \fs18 \cf0 dor
min de Mamdani, y no se produce con otros operadores de implicacin. As, por
\par}{\phpg\posx1701\pvpg\posy8347\absw7582\absh4459 \sl-237 \f10 \fs18 \cf0 eje
mplo, para el producto de Larsen,{\i \f50 B}{\up006 \f40 \fs12 } tiene la mis
ma forma que{\i \f50 B}, pero escalada
\par}{\phpg\posx1701\pvpg\posy8347\absw7582\absh4459 \sl-240 \f10 \fs18 \cf0 a u
na altura dada por el DOF.
\par}{\phpg\posx1701\pvpg\posy8347\absw7582\absh4459 \sl-271 \par\f10 \fs18 \cf0
14.4.5.3
Agregacin para componer una solucin
\par}{\phpg\posx1701\pvpg\posy8347\absw7582\absh4459 \sl-188 \par\f10 \fs18 \cf0
\fi297 Cuando se activa ms de una regla, es necesario componer los resultados de
las
\par}{\phpg\posx1701\pvpg\posy8347\absw7582\absh4459 \sl-239 \f10 \fs18 \cf0 dis
tintas reglas en una nica solucin. Las reglas activadas son aquellas para las que
\par}{\phpg\posx1701\pvpg\posy8347\absw7582\absh4459 \sl-237 \f10 \fs18 \cf0 {\i
\f50 DOF}{\f40
}{\f20 =}{\f20 0}. Para obtener una nica salida, el controlador borroso debe fu
sionar los

\par}{\phpg\posx1701\pvpg\posy8347\absw7582\absh4459 \sl-239 \f10 \fs18 \cf0 con

juntos borrosos resultantes de las inferencias en un nico conjunto. Por ejemplo,
\par}{\phpg\posx1701\pvpg\posy8347\absw7582\absh4459 \sl-239 \f10 \fs18 \cf0 si
se ha utilizado el operador de Mamdani, hay que agregar los conjunto
s de los
\par}{\phpg\posx1701\pvpg\posy8347\absw7582\absh4459 \sl-237 \f10 \fs18 \cf0 con
secuentes de las reglas activadas, pero recortados a nivel{\i \f50 DOF} .
\par}{\phpg\posx1701\pvpg\posy8347\absw7582\absh4459 \sl-244 \f10 \fs18 \cf0 \fi
297 La operacin de agregacin de conjuntos borrosos puede interpretarse como una
\par}{\phpg\posx1701\pvpg\posy8347\absw7582\absh4459 \sl-237 \f10 \fs18 \cf0 con
juncin de las soluciones parciales (AND) o una disyuncin de las mismas (OR).
\par}{\phpg\posx1701\pvpg\posy8347\absw7582\absh4459 \sl-239 \f10 \fs18 \cf0 Sin
embargo, el operador de implicacin seleccionado (Zadeh, Mamdani, Larsen ...etc.)
\par}{\phpg\posx1701\pvpg\posy8347\absw7582\absh4459 \sl-239 \f10 \fs18 \cf0 con
diciona la forma en la que se compone el resultado de las reglas activadas, es d
ecir,
\par}{\phpg\posx1701\pvpg\posy8347\absw7582\absh4459 \sl-237 \f10 \fs18 \cf0 el
tipo de operador de agregacin. En la Tabla 14.3 puede verse una colec
cin de
\par}{\phpg\posx1701\pvpg\posy8347\absw7582\absh4459 \sl-239 \f10 \fs18 \cf0 ope
radores de implicacin y su operador de agregacin correspondiente.
\par}{\phpg\posx1701\pvpg\posy8347\absw7582\absh4459 \sl-251 \par\f10 \fs18 \cf0
\fi3535 611 \par
}
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145007ffd9

}}\par}{\phpg\posx1701\pvpg\posy1429\absw596\absh144 \f20 \fs16 \cf0 \f20 \fs16

\cf0 Control \par
}
{\phpg\posx1701\pvpg\posy2047\absw7588\absh2977 \f10 \fs18 \cf0 \fi297 \f10 \fs1
8 \cf0 Como ejemplo, considrese la base de reglas de la Figura 14.13, donde los p
osibles
\par}{\phpg\posx1701\pvpg\posy2047\absw7588\absh2977 \sl-237 \f10 \fs18 \cf0 val
ores de las variables borrosas de los antecedentes vienen definidos por las func
iones
\par}{\phpg\posx1701\pvpg\posy2047\absw7588\absh2977 \sl-239 \f10 \fs18 \cf0 de
pertenencia de la Figura 14.12. Supngase que, en{\i \f50 t}{\f20 =}{\f20 0},
las variables de entrada
\par}{\phpg\posx1701\pvpg\posy2047\absw7588\absh2977 \sl-268 \f10 \fs18 \cf0 tom
an los valores precisos{\i \f50 x }{\dn006 \f20 \fs12 0}{\f20 =}{\f20 4} y{
\i \f50 z}{\dn006 \f20 \fs12 0}{\f20 =}{\f20 5}. Se activarn las reglas R1,
R2 y R3 de la
\par}{\phpg\posx1701\pvpg\posy2047\absw7588\absh2977 \sl-208 \f10 \fs18 \cf0 bas
e de reglas (vase la Figura 14.19).
\par}{\phpg\posx1701\pvpg\posy2047\absw7588\absh2977 \sl-194 \par\f10 \fs18 \cf0
\fi2025 {\fs12 R1:}{\fs12 SI}{\i \f50 \fs12 x}{\fs12 es}{\i \f50 \fs12 A}{
\fs12 ENTONCES}{\i \f50 \fs12 y}{\fs12 es}{\i \f50 \fs12 B }
\par}{\phpg\posx1701\pvpg\posy2047\absw7588\absh2977 \sl-160 \f10 \fs18 \cf0 \fi
2025 {\fs12 R2:}{\fs12 SI}{\i \f50 \fs12 z}{\fs12 es}{\i \f50 \fs12 C}{\fs1
2 ENTONCES}{\i \f50 \fs12 y}{\fs12 es}{\i \f50 \fs12 D }
\par}{\phpg\posx1701\pvpg\posy2047\absw7588\absh2977 \sl-158 \f10 \fs18 \cf0 \fi
2025 {\fs12 R3:}{\fs12 SI}{\i \f50 \fs12 x}{\fs12 es}{\i \f50 \fs12 A}{\fs1
2 Y}{\i \f50 \fs12 z}{\fs12 es}{\i \f50 \fs12 C}{\fs12 ENTONCES}{\i \f50
\fs12 y}{\fs12 es}{\i \f50 \fs12 F }
\par}{\phpg\posx1701\pvpg\posy2047\absw7588\absh2977 \sl-257 \par\f10 \fs18 \cf0
\fi2032 Figura 14.19: Base de reglas borrosas.
\par}{\phpg\posx1701\pvpg\posy2047\absw7588\absh2977 \sl-235 \par\f10 \fs18 \cf0
\fi297 En primer lugar, se realizar la fuzzificacin unitaria de las variables de
entrada{\i \f50 x} y
\par}{\phpg\posx1701\pvpg\posy2047\absw7588\absh2977 \sl-268 \f10 \fs18 \cf0 {\i
\f50 z} del siguiente modo{\i \f50 {\field{\*\fldinst SYMBOL 109 \\f Symbol }
}}{\i\dn006 \f50 \fs12 A}{\dn006 \f40 \fs9 }{\f20 (}{\i \f50 x }{\dn006 \f20 \fs
12 0}{\f20 )}{\f20 =}{\f20 1} y{\i \f50 {\field{\*\fldinst SYMBOL 109 \\f Sy
mbol }}}{\i\dn006 \f50 \fs12 C}{\dn006 \f40 \fs9 }{\f20 (}{\i \f50 z}{\dn006 \f
20 \fs12 0}{\f20 )}{\f20 =}{\f20 1}. Utilizando el operador de Mamdani,
\par}{\phpg\posx1701\pvpg\posy2047\absw7588\absh2977 \sl-211 \f10 \fs18 \cf0 se
calcula el DOF para las reglas activadas: \par
}
{\phpg\posx3811\pvpg\posy5852\absw2751\absh776 \i \f50 \fs18 \cf0 \fi811 \i \f50
\fs18 \cf0 DOF {\i0\dn006 \f20 \fs12 1}{\i0 \f20 =} {\field{\*\fldinst SYMBO
L 109 \\f Symbol }} {\dn006 \fs12 A}{\i0 \f20 (}x {\i0\dn006 \f20 \fs12 0}{\i0
\f20 )}{\i0 \f20 =}{\i0 \f20 0},{\i0 \f20 5 }
\par}{\phpg\posx3811\pvpg\posy5852\absw2751\absh776 \sl-150 \par\i \f50 \fs18 \c
f0 \fi729 DOF {\i0\dn006 \f20 \fs12 2}{\i0 \f20 =} {\field{\*\fldinst SYMBOL
109 \\f Symbol }} {\dn006 \fs12 C}{\i0 \f20 (}z{\i0\dn006 \f20 \fs12 0}{\i0 \f
20 )}{\i0 \f20 =}{\i0 \f20 0},{\i0 \f20 66 }
\par}{\phpg\posx3811\pvpg\posy5852\absw2751\absh776 \sl-148 \par\i \f50 \fs18 \c
f0 DOF {\i0\dn006 \f20 \fs12 3}{\i0 \f20 =} {\field{\*\fldinst SYMBOL 109 \\f
Symbol }} {\dn006 \fs12 A}{\i0 \f20 (}x {\i0\dn006 \f20 \fs12 0}{\i0 \f20 )}{
\i0 \f40 {\field{\*\fldinst SYMBOL 217 \\f Symbol }}} {\field{\*\fldinst SYMBOL
109 \\f Symbol }} {\fs12 C}{\i0 \f20 (}z{\i0 \f20 \fs12 0}{\i0 \f20 )}{\i0 \f
20 =}{\i0 \f20 0},{\i0 \f20 5 }\par
}
{\phpg\posx8462\pvpg\posy5858\absw649\absh968 \f10 \fs18 \cf0 \f10 \fs18 \cf0 (1
4.24)
\par}{\phpg\posx8462\pvpg\posy5858\absw649\absh968 \sl-300 \f10 \fs18 \cf0 (14.2

5)
\par}{\phpg\posx8462\pvpg\posy5858\absw649\absh968 \sl-297 \f10 \fs18 \cf0 (14.2
6)
\par}{\phpg\posx8462\pvpg\posy5858\absw649\absh968 \sl-299 \f10 \fs18 \cf0 (14.2
7) \par
}
{\phpg\posx1999\pvpg\posy7194\absw4309\absh239 \f10 \fs18 \cf0 \f10 \fs18 \cf0 A
s, la regla{\i \f50 R }{\dn006 \f20 \fs12 1} contribuye a la solucin con{\i \f
50 {\field{\*\fldinst SYMBOL 109 \\f Symbol }}}{\i\dn006 \f50 \fs12 B}{\dn006
\f40 \fs9  }\par
}
{\phpg\posx6319\pvpg\posy7194\absw2804\absh165 \f20 \fs18 \cf0 \f20 \fs18 \cf0 (
{\i \f50 y}){\f10 ,}{\f10 que}{\f10 es}{\f10 el}{\f10 conjunto}{\f10 defini
do }\par
}
{\phpg\posx1701\pvpg\posy7431\absw7373\absh1459 \f10 \fs18 \cf0 \f10 \fs18 \cf0
por{\i \f50 {\field{\*\fldinst SYMBOL 109 \\f Symbol }} }{\i\dn006 \f50 \fs12
B}{\f20 (}{\i \f50 y}{\f20 )} recortado a la altura{\i \f50 DOF }{\dn006 \f20
\fs12 1}. Del mismo modo{\i \f50 R }{\dn006 \f20 \fs12 2} contribuye a la s
olucin
\par}{\phpg\posx1701\pvpg\posy7431\absw7373\absh1459 \sl-240 \f10 \fs18 \cf0 con
{\i \f50 {\field{\*\fldinst SYMBOL 109 \\f Symbol }}}{\i\dn006 \f50 \fs12 D}{\
dn006 \f40 \fs9 }{\f20 (}{\i \f50 y}{\f20 )} ({\i \f50 {\field{\*\fldinst SYMBO
L 109 \\f Symbol }} }{\i\dn006 \f50 \fs12 D}{\f20 (}{\i \f50 y}{\f20 )} recorta
do por{\i \f50 DOF }{\dn006 \f20 \fs12 2}) y{\i \f50 R }{\dn006 \f20 \fs12
3} contribuye a la solucin con{\i \f50 {\field{\*\fldinst SYMBOL 109 \\f S
ymbol }}}{\i \f50 \fs12 F}{\dn006 \f40 \fs9
}{\f20 (}{\i \f50 y}{\f20 ) }
\par}{\phpg\posx1701\pvpg\posy7431\absw7373\absh1459 \sl-240 \f10 \fs18 \cf0 ({\
i \f50 {\field{\*\fldinst SYMBOL 109 \\f Symbol }} }{\i\dn006 \f50 \fs12 F}{\f2
0 (}{\i \f50 y}{\f20 )} recortado a la altura{\i \f50 DOF }{\dn006 \f20 \fs12
3}). En la Figura 14.20 podemos ver un resumen del
\par}{\phpg\posx1701\pvpg\posy7431\absw7373\absh1459 \sl-208 \f10 \fs18 \cf0 pro
ceso.
\par}{\phpg\posx1701\pvpg\posy7431\absw7373\absh1459 \sl-242 \f10 \fs18 \cf0 \fi
297 Finalmente, la salida global se calcula utilizando el operador de agregac
in OR
\par}{\phpg\posx1701\pvpg\posy7431\absw7373\absh1459 \sl-237 \f10 \fs18 \cf0 (vas
e la Tabla 14.3). En la Figura 14.21 puede observarse la salida global producida
\par}{\phpg\posx1701\pvpg\posy7431\absw7373\absh1459 \sl-239 \f10 \fs18 \cf0 por
el mecanismo de inferencias borrosas, que es: \par
}
{\phpg\posx3796\pvpg\posy9264\absw2897\absh246 \i \f50 \fs18 \cf0 \i \f50 \fs18
\cf0 {\field{\*\fldinst SYMBOL 109 \\f Symbol }}{\dn006 \fs12 OUT}{\i0 \f20 (}y
{\i0 \f20 )}{\i0 \f20 =} {\field{\*\fldinst SYMBOL 109 \\f Symbol }}{\dn006 \fs
12 B}{\i0\dn006 \f40 \fs9 }{\i0 \f20 (}y{\i0 \f20 )}{\i0 \f40 {\field{\*\fldin
st SYMBOL 218 \\f Symbol }}} {\field{\*\fldinst SYMBOL 109 \\f Symbol }}{\dn006
\fs12 D}{\i0\dn006 \f40 \fs9 }{\i0 \f20 (}y{\i0 \f20 )}{\i0 \f40 {\field{\*\fld
inst SYMBOL 218 \\f Symbol }}} {\field{\*\fldinst SYMBOL 109 \\f Symbol }}{\dn00
6 \fs12 F}{\i0\dn006 \f40 \fs9
 }\par
}
{\phpg\posx6715\pvpg\posy9310\absw265\absh160 \f20 \fs18 \cf0 \f20 \fs18 \cf0 ({
\i \f50 y}) \par
}
{\phpg\posx8462\pvpg\posy9316\absw649\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 (1
4.28) \par
}
{\phpg\posx1701\pvpg\posy9858\absw754\absh192 \f10 \fs21 \cf0 \f10 \fs21 \cf0 14
.4.6 \par
}

{\phpg\posx2655\pvpg\posy9858\absw5294\absh192 \f10 \fs21 \cf0 \f10 \fs21 \cf0 O

btencin de salidas precisas: defuzzificacin \par
}
{\phpg\posx1701\pvpg\posy10257\absw7704\absh1882 \f10 \fs18 \cf0 \fi297 \f10 \fs
18 \cf0 Una vez que la entrada ha sido procesada por el mecanismo de
inferencias bo\par}{\phpg\posx1701\pvpg\posy10257\absw7704\absh1882 \sl-266 \f10 \fs18 \cf0 rr
osas, se obtiene una salida global, dada por un conjunto borroso{\i \f50 {\fie
ld{\*\fldinst SYMBOL 109 \\f Symbol }}}{\i\dn006 \f50 \fs12 OUT}{\f20 (}{\i \f5
0 y}{\f20 )}. En un
\par}{\phpg\posx1701\pvpg\posy10257\absw7704\absh1882 \sl-211 \f10 \fs18 \cf0 co
ntrolador borroso, la defuzzificacin se utiliza para elegir un valor de salida pr
eciso
\par}{\phpg\posx1701\pvpg\posy10257\absw7704\absh1882 \sl-237 \f10 \fs18 \cf0 {\
i \f50 y}{\up006 \f40 \fs12 {\field{\*\fldinst SYMBOL 42 \\f Symbol }}} , a part
ir de{\i \f50 {\field{\*\fldinst SYMBOL 109 \\f Symbol }}}{\i\dn006 \f50 \fs12
OUT}{\f20 (}{\i \f50 y}{\f20 )}. La defuzzificacin es el proceso consistente e
n obtener un
\par}{\phpg\posx1701\pvpg\posy10257\absw7704\absh1882 \sl-239 \f10 \fs18 \cf0 va
lor preciso representativo de un conjunto borroso.
\par}{\phpg\posx1701\pvpg\posy10257\absw7704\absh1882 \sl-239 \f10 \fs18 \cf0 \f
i297 Se han propuesto numerosas tcnicas de defuzzificacin a lo largo de los aos. No
\par}{\phpg\posx1701\pvpg\posy10257\absw7704\absh1882 \sl-239 \f10 \fs18 \cf0 ex
iste una tcnica general que supere a las dems, sea cual sea la aplica
cin. Por
\par}{\phpg\posx1701\pvpg\posy10257\absw7704\absh1882 \sl-239 \f10 \fs18 \cf0 ta
nto, la eleccin de un mtodo concreto tiene un impacto muy importante sobre la
\par}{\phpg\posx1701\pvpg\posy10257\absw7704\absh1882 \sl-237 \f10 \fs18 \cf0 ef
iciencia y precisin del controlador. \par
}
{\phpg\posx5236\pvpg\posy13123\absw359\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 6
12 \par
}
\sect\sectd\pard\plain
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}}\par}{\phpg\posx7826\pvpg\posy1429\absw1239\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Control borroso \par
}
{\phpg\posx3633\pvpg\posy6083\absw3551\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 F
igura 14.20: Reglas borrosas activadas. \par
}
{\phpg\posx3031\pvpg\posy8032\absw4708\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 F

igura 14.21: Ejemplo de operador de agregacin OR. \par

}
{\phpg\posx1999\pvpg\posy8841\absw7072\absh1821 \f10 \fs18 \cf0 \f10 \fs18 \cf0
Las tcnicas de defuzzificacin ms utilizadas son:
\par}{\phpg\posx1999\pvpg\posy8841\absw7072\absh1821 \sl-357 \f10 \fs18 \cf0 {\f
0\fs23 \bullet }{\f40 } Centroide o Centro de las reas (COA, del ingls Center of
Areas).
\par}{\phpg\posx1999\pvpg\posy8841\absw7072\absh1821 \sl-188 \par\f10 \fs18 \cf0
{\f0\fs23 \bullet }{\f40 } Centro de las Sumas (COS, del ingls Center of Sums).
\par}{\phpg\posx1999\pvpg\posy8841\absw7072\absh1821 \sl-188 \par\f10 \fs18 \cf0
{\f0\fs23 \bullet }{\f40 } Media de los Mximos (MOM, del ingls Mean of Maxima).
\par}{\phpg\posx1999\pvpg\posy8841\absw7072\absh1821 \sl-189 \par\f10 \fs18 \cf0
{\f0\fs23 \bullet }{\f40 } Promedio de los Centros (CA, del ingls Center Averag
e).
\par}{\phpg\posx1999\pvpg\posy8841\absw7072\absh1821 \sl-177 \par\f10 \fs18 \cf0
El Centroide (COA) calcula{\i \f50 y}{\up006 \f40 \fs12 {\field{\*\fldinst
SYMBOL 42 \\f Symbol }}} como el centro geomtrico del valor borroso de \
par
}
{\phpg\posx1701\pvpg\posy10921\absw1037\absh188 \f10 \fs18 \cf0 \f10 \fs18 \cf0
salida{\i \f50 {\field{\*\fldinst SYMBOL 109 \\f Symbol }}}{\i\dn006 \f50 \fs1
2 OUT }\par
}
{\phpg\posx2772\pvpg\posy10857\absw2481\absh223 \f20 \fs18 \cf0 \f20 \fs18 \cf0
({\i \f50 y}){\f10 .}{\f10 El}{\f10 centro}{\f10 geomtrico}{\i \f50 y}{\up00
6 \f40 \fs12 {\field{\*\fldinst SYMBOL 42 \\f Symbol }} }\par
}
{\phpg\posx5342\pvpg\posy10921\absw765\absh188 \f10 \fs18 \cf0 \f10 \fs18 \cf0 d
e{\i \f50 {\field{\*\fldinst SYMBOL 109 \\f Symbol }}}{\i\dn006 \f50 \fs12 OUT
}\par
}
{\phpg\posx6112\pvpg\posy10921\absw2959\absh165 \f20 \fs18 \cf0 \f20 \fs18 \cf0
({\i \f50 y}){\f10 es}{\f10 el}{\f10 punto}{\f10 que}{\f10 divide}{\f10 el
}{\f10 rea }\par
}
{\phpg\posx1701\pvpg\posy11158\absw1639\absh381 \f10 \fs18 \cf0 \f10 \fs18 \cf0
bajo la curva{\i \f50 {\field{\*\fldinst SYMBOL 109 \\f Symbol }}}{\i\dn006 \f5
0 \fs12 OUT }
\par}{\phpg\posx1701\pvpg\posy11158\absw1639\absh381 \sl-211 \f10 \fs18 \cf0 com
o: \par
}
{\phpg\posx3374\pvpg\posy11158\absw5816\absh165 \f20 \fs18 \cf0 \f20 \fs18 \cf0
({\i \f50 y}){\f10 en}{\f10 dos}{\f10 regiones}{\f10 de}{\f10 igual}{\f10 r
ea.}{\f10 En}{\f10 un}{\f10 dominio}{\f10 discreto}{\f10 se}{\f10 define }
\par
}
{\phpg\posx4968\pvpg\posy11546\absw287\absh233 \f10 \fs18 \cf0 {\f0\fs23 \bullet
}\f10 \fs18 \cf0 \par
}
{\phpg\posx5040\pvpg\posy11580\absw128\absh114 \i \f50 \fs12 \cf0 \i \f50 \fs12
\cf0 N \par
}
{\phpg\posx5289\pvpg\posy11782\absw624\absh176 \i \f50 \fs18 \cf0 \i \f50 \fs18
\cf0 y {\field{\*\fldinst SYMBOL 109 \\f Symbol }}
\par}{\phpg\posx5289\pvpg\posy11782\absw624\absh176 \sl-126 \i \f50 \fs18 \cf0 \
fi98 {\fs12 i}{\fs12
OUT }\par
}
{\phpg\posx5947\pvpg\posy11782\absw319\absh188 \f20 \fs18 \cf0 \f20 \fs18 \cf0 (
{\i \f50 y}{\i\dn006 \f50 \fs12 i}) \par

}
{\phpg\posx4480\pvpg\posy12042\absw407\absh226 \i \f50 \fs18 \cf0 \i \f50 \fs18
\cf0 y{\i0\up006 \f40 \fs12 {\field{\*\fldinst SYMBOL 42 \\f Symbol }}}{\i0 \f20
= }\par
}
{\phpg\posx4982\pvpg\posy12065\absw354\absh373 \i \f50 \fs12 \cf0 \i \f50 \fs12
\cf0 i{\i0 \f20 =1 }
\par}{\phpg\posx4982\pvpg\posy12065\absw354\absh373 \sl-249 \i \f50 \fs12 \cf0 \
fi67 {\f0\fs23 \bullet }{\i0 \f10 \fs18 }\par
}
{\phpg\posx5124\pvpg\posy12254\absw128\absh114 \i \f50 \fs12 \cf0 \i \f50 \fs12
\cf0 N \par
}
{\phpg\posx8462\pvpg\posy12122\absw649\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 (
14.29) \par
}
{\phpg\posx5064\pvpg\posy12457\absw778\absh759 \i \f50 \fs18 \cf0 \fi307 \i \f50
\fs18 \cf0 {\field{\*\fldinst SYMBOL 109 \\f Symbol }}{\dn006 \fs12 OUT }
\par}{\phpg\posx5064\pvpg\posy12457\absw778\absh759 \sl-206 \i \f50 \fs18 \cf0 {
\fs12 i}{\i0 \f20 \fs12 =1 }
\par}{\phpg\posx5064\pvpg\posy12457\absw778\absh759 \sl-212 \par\i \f50 \fs18 \c
f0 \fi172 {\i0 \f10 613 }\par
}
{\phpg\posx5865\pvpg\posy12457\absw317\absh188 \f20 \fs18 \cf0 \f20 \fs18 \cf0 (
{\i \f50 y}{\i\dn006 \f50 \fs12 i}) \par
}
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00a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a28
00a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a28
00a28a2800a28a2803ffd9
}}\par}{\phpg\posx1701\pvpg\posy1429\absw596\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Control \par
}
{\phpg\posx1701\pvpg\posy2041\absw7488\absh1241 \f10 \fs18 \cf0 \f10 \fs18 \cf0
donde la suma se extiende a los N valores{\i \f50 y}{\i\dn006 \f50 \fs12 i}
del dominio discreto. En el caso de un
\par}{\phpg\posx1701\pvpg\posy2041\absw7488\absh1241 \sl-208 \f10 \fs18 \cf0 dom
inio continuo, el sumatorio se convierte en una integral.
\par}{\phpg\posx1701\pvpg\posy2041\absw7488\absh1241 \sl-239 \f10 \fs18 \cf0 \fi
297 El COA tiende a favorecer los valores centrales sobre los perifricos y slo cue
nta
\par}{\phpg\posx1701\pvpg\posy2041\absw7488\absh1241 \sl-268 \f10 \fs18 \cf0 una
vez las reas solapadas, puesto que opera sobre la funcin{\i \f50 {\field{\*\fldi
nst SYMBOL 109 \\f Symbol }}}{\i\dn006 \f50 \fs12 OUT}{\f20 (}{\i \f50 u}{\f20
)} obtenida tras
\par}{\phpg\posx1701\pvpg\posy2041\absw7488\absh1241 \sl-208 \f10 \fs18 \cf0 la
agregacin. El Centro de las Sumas (COS) resuelve este ltimo problema, ya que
\par}{\phpg\posx1701\pvpg\posy2041\absw7488\absh1241 \sl-239 \f10 \fs18 \cf0 ope
ra separadamente sobre cada contribucin. Para un dominio discreto, el COS se \par
}

{\phpg\posx1701\pvpg\posy3482\absw1174\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 d

efine como: \par
}
{\phpg\posx4867\pvpg\posy3624\absw806\absh233 \f10 \fs18 \cf0 {\f0\fs23 \bullet
}\f10 \fs18 \cf0
\par
}
{\phpg\posx4939\pvpg\posy3658\absw708\absh119 \i \f50 \fs12 \cf0 \i \f50 \fs12 \
cf0 N
M \par
}
{\phpg\posx4881\pvpg\posy4142\absw284\absh294 \i \f50 \fs12 \cf0 \i \f50 \fs12 \
cf0 i{\i0 \f20 =1 }
\par}{\phpg\posx4881\pvpg\posy4142\absw284\absh294 \sl-194 \i \f50 \fs12 \cf0 \f
i156 {\dn006 N }\par
}
{\phpg\posx4965\pvpg\posy3860\absw609\absh631 \i \f50 \fs18 \cf0 \fi220 \i \f50
\fs18 \cf0 y{\dn006 \fs12 i }
\par}{\phpg\posx4965\pvpg\posy3860\absw609\absh631 \sl-230 \par\i \f50 \fs18 \cf
0 {\f0\fs23 \bullet }{\i0 \f10 }{\i0 \f10 }\par
}
{\phpg\posx5347\pvpg\posy4147\absw581\absh594 \i \f50 \fs12 \cf0 \fi38 \i \f50 \
fs12 \cf0 k{\i0 \f20 =1 }
\par}{\phpg\posx5347\pvpg\posy4147\absw581\absh594 \sl-189 \i \f50 \fs12 \cf0 M
\par}{\phpg\posx5347\pvpg\posy4147\absw581\absh594 \sl-165 \par\i \f50 \fs12 \cf
0 \fi261 {\fs18 {\field{\*\fldinst SYMBOL 109 \\f Symbol }}}{\dn006 G}{\dn006 \f
s9 k }\par
}
{\phpg\posx4380\pvpg\posy4125\absw406\absh224 \i \f50 \fs18 \cf0 \i \f50 \fs18 \
cf0 y{\i0 \f40 \fs12 {\field{\*\fldinst SYMBOL 42 \\f Symbol }}}{\i0 \f20 = }\
par
}
{\phpg\posx5707\pvpg\posy3860\absw320\absh241 \i \f50 \fs18 \cf0 \i \f50 \fs18 \
cf0 {\field{\*\fldinst SYMBOL 109 \\f Symbol }}{\fs12 G}{\dn006 \fs9 k }\par
}
{\phpg\posx6048\pvpg\posy3860\absw319\absh188 \f20 \fs18 \cf0 \f20 \fs18 \cf0 ({
\i \f50 y}{\i\dn006 \f50 \fs12 i}) \par
}
{\phpg\posx8462\pvpg\posy4202\absw649\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 (1
4.30) \par
}
{\phpg\posx5949\pvpg\posy4539\absw319\absh188 \f20 \fs18 \cf0 \f20 \fs18 \cf0 ({
\i \f50 y}{\i\dn006 \f50 \fs12 i}) \par
}
{\phpg\posx1701\pvpg\posy5084\absw905\absh247 \f10 \fs18 \cf0 \f10 \fs18 \cf0 do
nde{\i \f50 {\field{\*\fldinst SYMBOL 109 \\f Symbol }}}{\i\dn006 \f50 \fs12 G
}{\i\dn006 \f50 \fs9 k }\par
}
{\phpg\posx2628\pvpg\posy4822\absw6101\absh402 \i \f50 \fs12 \cf0 \fi2352 \i \f5
0 \fs12 \cf0 i{\i0 \f20 =1} k{\i0 \f20 =1 }
\par}{\phpg\posx2628\pvpg\posy4822\absw6101\absh402 \sl-309 \i \f50 \fs12 \cf0 {
\i0 \f20 \fs18 (}{\fs18 y}{\i0 \f20 \fs18 )}{\i0 \f10 \fs18 es}{\i0 \f10 \fs18
la}{\i0 \f10 \fs18 funcin}{\i0 \f10 \fs18 de}{\i0 \f10 \fs18 pertenencia}{\i0
\f10 \fs18 resultante}{\i0 \f10 \fs18 de}{\i0 \f10 \fs18 aplicar}{\i0 \f10 \
fs18 la}{\i0 \f10 \fs18 regla}{\i0 \f10 \fs18 k-sima. }\par
}
{\phpg\posx1701\pvpg\posy5262\absw7432\absh651 \f10 \fs18 \cf0 \fi297 \f10 \fs18
\cf0 La Media de los Mximos (MOM) calcula{\i \f50 y}{\up006 \f40 \fs12 {\fiel
d{\*\fldinst SYMBOL 42 \\f Symbol }}} como el valor medio de los puntos
\par}{\phpg\posx1701\pvpg\posy5262\absw7432\absh651 \sl-268 \f10 \fs18 \cf0 de mx
imo grado de pertenencia en la salida global{\i \f50 {\field{\*\fldinst SYMB
OL 109 \\f Symbol }}}{\i\dn006 \f50 \fs12 OUT}{\f20 (}{\i \f50 y}{\f20 )}. Esta

tcnica es muy
\par}{\phpg\posx1701\pvpg\posy5262\absw7432\absh651 \sl-208 \f10 \fs18 \cf0 rpida
y no muestra preferencias por los valores centrales, como s ocurre con el COA \p
ar
}
{\phpg\posx1701\pvpg\posy6042\absw5291\absh250 \f10 \fs18 \cf0 \f10 \fs18 \cf0 y
el COS. Sin embargo, no tiene en cuenta la forma de{\i \f50 {\field{\*\fldins
t SYMBOL 109 \\f Symbol }}}{\i\dn006 \f50 \fs12 OUT }\par
}
{\phpg\posx1701\pvpg\posy6285\absw597\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 co
mo: \par
}
{\phpg\posx4871\pvpg\posy6592\absw407\absh226 \i \f50 \fs18 \cf0 \i \f50 \fs18 \
cf0 y{\i0\up006 \f40 \fs12 {\field{\*\fldinst SYMBOL 42 \\f Symbol }}}{\i0 \f20
= }\par
}
{\phpg\posx5332\pvpg\posy6463\absw526\absh247 \i \f50 \fs12 \cf0 \fi83 \i \f50 \
fs12 \cf0 P
\par}{\phpg\posx5332\pvpg\posy6463\absw526\absh247 \sl-148 \i \f50 \fs12 \cf0 {\
f0\fs23 \bullet }{\i0 \f10 \fs18 }{\fs18 u}{\dn006 j }\par
}
{\phpg\posx5700\pvpg\posy6800\absw165\absh160 \i \f50 \fs18 \cf0 \i \f50 \fs18 \
cf0 P \par
}
{\phpg\posx5339\pvpg\posy6946\absw273\absh130 \i \f50 \fs12 \cf0 \i \f50 \fs12 \
cf0 j{\i0 \f20 =1 }\par
}
{\phpg\posx7019\pvpg\posy6042\absw2052\absh165 \f20 \fs18 \cf0 \f20 \fs18 \cf0 (
{\i \f50 y}){\f10 .}{\f10 El}{\f10 MOM}{\f10 se}{\f10 calcula }\par
}
{\phpg\posx8462\pvpg\posy6671\absw649\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 (1
4.31) \par
}
{\phpg\posx1701\pvpg\posy7232\absw3492\absh233 \f10 \fs18 \cf0 \f10 \fs18 \cf0 d
onde{\i \f50 u}{\i\dn006 \f50 \fs12 j} es el{\i \f50 j}-simo mximo de{\i \f5
0 {\field{\*\fldinst SYMBOL 109 \\f Symbol }}}{\i\dn006 \f50 \fs12 OUT }\par
}
{\phpg\posx5227\pvpg\posy7232\absw3445\absh165 \f20 \fs18 \cf0 \f20 \fs18 \cf0 (
{\i \f50 y}){\f10 y}{\f10 P}{\f10 es}{\f10 el}{\f10 nmero}{\f10 total}{\f10
de}{\f10 mximos. }\par
}
{\phpg\posx1701\pvpg\posy7478\absw7548\absh376 \f10 \fs18 \cf0 \fi297 \f10 \fs18
\cf0 El Promedio de los Centros (CA) opera separadamente sobre cada contribucin
y
\par}{\phpg\posx1701\pvpg\posy7478\absw7548\absh376 \sl-239 \f10 \fs18 \cf0 calc
ula un promedio ponderado de los centros de las contribuciones. Se define como:
\par
}
{\phpg\posx5013\pvpg\posy8093\absw287\absh233 \f10 \fs18 \cf0 {\f0\fs23 \bullet
}\f10 \fs18 \cf0 \par
}
{\phpg\posx5073\pvpg\posy8126\absw165\absh114 \i \f50 \fs12 \cf0 \i \f50 \fs12 \
cf0 M \par
}
{\phpg\posx5335\pvpg\posy8329\absw514\absh251 \i \f50 \fs18 \cf0 \i \f50 \fs18 \
cf0 y{\dn006 \fs12 k}{\field{\*\fldinst SYMBOL 109 \\f Symbol }}{\dn006 \fs12 G
}{\dn006 \fs9 k }\par
}
{\phpg\posx5011\pvpg\posy8616\absw386\absh373 \i \f50 \fs12 \cf0 \i \f50 \fs12 \
cf0 k{\i0 \f20 =1 }

\par}{\phpg\posx5011\pvpg\posy8616\absw386\absh373 \sl-249 \i \f50 \fs12 \cf0 \f

i98 {\f0\fs23 \bullet }{\i0 \f10 \fs18 }\par
}
{\phpg\posx5172\pvpg\posy8806\absw165\absh114 \i \f50 \fs12 \cf0 \i \f50 \fs12 \
cf0 M \par
}
{\phpg\posx5870\pvpg\posy8329\absw351\absh188 \f20 \fs18 \cf0 \f20 \fs18 \cf0 ({
\i \f50 y}{\i\dn006 \f50 \fs12 k}) \par
}
{\phpg\posx4526\pvpg\posy8594\absw407\absh226 \i \f50 \fs18 \cf0 \i \f50 \fs18 \
cf0 y{\i0\up006 \f40 \fs12 {\field{\*\fldinst SYMBOL 42 \\f Symbol }}}{\i0 \f20
= }\par
}
{\phpg\posx8462\pvpg\posy8673\absw649\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 (1
4.32) \par
}
{\phpg\posx5433\pvpg\posy9008\absw320\absh243 \i \f50 \fs18 \cf0 \i \f50 \fs18 \
cf0 {\field{\*\fldinst SYMBOL 109 \\f Symbol }}{\dn006 \fs12 G}{\dn006 \fs9 k }\p
ar
}
{\phpg\posx5774\pvpg\posy9008\absw351\absh188 \f20 \fs18 \cf0 \f20 \fs18 \cf0 ({
\i \f50 y}{\i\dn006 \f50 \fs12 k}) \par
}
{\phpg\posx1701\pvpg\posy9810\absw3241\absh295 \f10 \fs18 \cf0 \f10 \fs18 \cf0 e
s el centro del conjunto borroso{\i \f50 G }{\i\dn006 \f50 \fs12 k}{\up006 \f4
0 \fs12 . }\par
}
{\phpg\posx1701\pvpg\posy9632\absw905\absh247 \f10 \fs18 \cf0 \f10 \fs18 \cf0 do
nde{\i \f50 {\field{\*\fldinst SYMBOL 109 \\f Symbol }}}{\i\dn006 \f50 \fs12 G
}{\i\dn006 \f50 \fs9 k }\par
}
{\phpg\posx2628\pvpg\posy9295\absw6454\absh570 \i \f50 \fs12 \cf0 \fi2481 \i \f5
0 \fs12 \cf0 k{\i0 \f20 =1 }
\par}{\phpg\posx2628\pvpg\posy9295\absw6454\absh570 \sl-206 \par\i \f50 \fs12 \c
f0 {\i0 \f20 \fs18 (}{\fs18 y}{\i0 \f20 \fs18 )}{\i0 \f10 \fs18 es}{\i0 \f10 \f
s18 la}{\i0 \f10 \fs18 funcin}{\i0 \f10 \fs18 de}{\i0 \f10 \fs18 pertenencia}
{\i0 \f10 \fs18 resultante}{\i0 \f10 \fs18 de}{\i0 \f10 \fs18 aplicar}{\i0 \f
10 \fs18 la}{\i0 \f10 \fs18 regla}{\i0 \f10 \fs18 k-sima}{\i0 \f10 \fs18 e}{\
fs18 y}{\dn006 k }\par
}
{\phpg\posx1701\pvpg\posy10475\absw754\absh691 \f10 \fs25 \cf0 \f10 \fs25 \cf0 1
4.5
\par}{\phpg\posx1701\pvpg\posy10475\absw754\absh691 \sl-260 \par\f10 \fs25 \cf0
{\fs21 14.5.1 }\par
}
{\phpg\posx2577\pvpg\posy10475\absw4158\absh691 \f10 \fs25 \cf0 \f10 \fs25 \cf0
Arquitecturas y herramientas
\par}{\phpg\posx2577\pvpg\posy10475\absw4158\absh691 \sl-260 \par\f10 \fs25 \cf0
\fi78 {\fs21 Herramientas}{\fs21 para}{\fs21 control}{\fs21 borroso }\par
}
{\phpg\posx1701\pvpg\posy11423\absw7526\absh1689 \f10 \fs18 \cf0 \fi297 \f10 \fs
18 \cf0 En el desarrollo de sistemas de control borroso resulta muy til el uso de
herra\par}{\phpg\posx1701\pvpg\posy11423\absw7526\absh1689 \sl-237 \f10 \fs18 \cf0 mi
entas que ayuden al diseo y a la implementacin. Existe un amplio abanico
de
\par}{\phpg\posx1701\pvpg\posy11423\absw7526\absh1689 \sl-239 \f10 \fs18 \cf0 he
rramientas para el desarrollo de sistemas basados en lgica borrosa, tanto comer\par}{\phpg\posx1701\pvpg\posy11423\absw7526\absh1689 \sl-239 \f10 \fs18 \cf0 ci
ales como gratuitas. Existen herramientas de carcter general, otras especializada

s
\par}{\phpg\posx1701\pvpg\posy11423\absw7526\absh1689 \sl-237 \f10 \fs18 \cf0 en
dominios concretos de la industria y otras que asisten en etapas co
ncretas del
\par}{\phpg\posx1701\pvpg\posy11423\absw7526\absh1689 \sl-239 \f10 \fs18 \cf0 de
sarrollo de sistemas borrosos.
\par}{\phpg\posx1701\pvpg\posy11423\absw7526\absh1689 \sl-252 \par\f10 \fs18 \cf
0 \fi3535 614 \par
}
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\cf0 Arquitecturas y herramientas \par

}
{\phpg\posx1701\pvpg\posy2047\absw7616\absh4122 \f10 \fs18 \cf0 \fi297 \f10 \fs1
8 \cf0 Las herramientas de carcter general (Fuzzy Logic Toolbox/MATLAB o
Fuzzy\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh4122 \sl-237 \f10 \fs18 \cf0 TEC
H ) son las ms extendidas, tanto en el mundo acadmico como el profesional.
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh4122 \sl-239 \f10 \fs18 \cf0 Sin
embargo, existen otras muchas herramientas tiles a la hora de desarrollar estos
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh4122 \sl-239 \f10 \fs18 \cf0 sis
temas. FuzzyCLIPS{\up006 \fs12 1} (de Togai Infralogic) es un paquete software
que proporciona
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh4122 \sl-237 \f10 \fs18 \cf0 mtod
os para el diseo, la depuracin y el test de sistemas expertos basados en l\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh4122 \sl-239 \f10 \fs18 \cf0 gic
a borrosa. FIDE {\up006 \fs12 2} (de Aptronix) es un conjunto de herramientas
para facilitar el
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh4122 \sl-239 \f10 \fs18 \cf0 des
arrollo de productos basados en lgica borrosa integrado con microcontroladores
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh4122 \sl-237 \f10 \fs18 \cf0 com
erciales, ofreciendo ayudas para la depuracin, la simulacin y control en tiempo
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh4122 \sl-239 \f10 \fs18 \cf0 rea
l.
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh4122 \sl-287 \f10 \fs18 \cf0 \fi
297 Si se desea facilitar la programacin de sistemas basados en lgica borrosa, exi
sten
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh4122 \sl-237 \f10 \fs18 \cf0 dif
erentes libreras que simplifican esta tarea. Por ejemplo, mbFuzzIT {\up006 \fs12
3} es una libre\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh4122 \sl-239 \f10 \fs18 \cf0 ra g
ratuita para programacin en Java, que incluye un editor grfico como ayuda al
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh4122 \sl-239 \f10 \fs18 \cf0 des
arrollo. jFuzzyLogic {\up006 \fs12 4} es otro paquete basado en Java, que perm
ite la seleccin de
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh4122 \sl-237 \f10 \fs18 \cf0 dis
tintas funciones de pertenencia, mtodos de defuzzificacin y mtodos de implica\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh4122 \sl-239 \f10 \fs18 \cf0 cin.
Una alternativa ms completa es la utilizacin de entornos de desarrollo para
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh4122 \sl-237 \f10 \fs18 \cf0 la
programacin de sistemas guiada por un framework general, como es el caso del
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh4122 \sl-239 \f10 \fs18 \cf0 fra
mework xFuzzy {\up006 \fs12 5}.
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh4122 \sl-287 \f10 \fs18 \cf0 \fi
297 En el resto de la seccin, se describen las caractersticas principales de algun
as de
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh4122 \sl-239 \f10 \fs18 \cf0 las
herramientas anteriormente mencionadas. \par
}
{\phpg\posx1701\pvpg\posy7223\absw7641\absh5469 \f10 \fs18 \cf0 \f10 \fs18 \cf0
FuzzyTECH
\par}{\phpg\posx1701\pvpg\posy7223\absw7641\absh5469 \sl-228 \par\f10 \fs18 \cf0
\fi297 FuzzyTECH{\up006 \fs12 6} es un producto propiedad de INFORM GmbH and I
nform Software
\par}{\phpg\posx1701\pvpg\posy7223\absw7641\absh5469 \sl-240 \f10 \fs18 \cf0 Cor
p. especializado en el desarrollo de aplicaciones tcnicas que utilizan lgica borro
sa.
\par}{\phpg\posx1701\pvpg\posy7223\absw7641\absh5469 \sl-287 \f10 \fs18 \cf0 \fi
297 Esta herramienta emplea una representacin de nmeros borrosos mediante fun\par}{\phpg\posx1701\pvpg\posy7223\absw7641\absh5469 \sl-237 \f10 \fs18 \cf0 cio
nes de pertenencia trapezoidales. Una de las caractersticas, a la que FuzzyTECH

\par}{\phpg\posx1701\pvpg\posy7223\absw7641\absh5469 \sl-239 \f10 \fs18 \cf0 pre

sta especial atencin es la fuzzificacin. La herramienta ofrece diferentes tcnicas
\par}{\phpg\posx1701\pvpg\posy7223\absw7641\absh5469 \sl-239 \f10 \fs18 \cf0 par
a el clculo eficiente de la fuzzificacin, e incluye algunas orientadas a la implem
en\par}{\phpg\posx1701\pvpg\posy7223\absw7641\absh5469 \sl-237 \f10 \fs18 \cf0 tac
in hardware. FuzzyTECH permite usar algunos de los mtodos de defuzzificacin
\par}{\phpg\posx1701\pvpg\posy7223\absw7641\absh5469 \sl-239 \f10 \fs18 \cf0 ms h
abituales (CA,COA y MOM), as como otros utilizados en el reconocimiento de
\par}{\phpg\posx1701\pvpg\posy7223\absw7641\absh5469 \sl-239 \f10 \fs18 \cf0 pat
rones (HyperCoM).
\par}{\phpg\posx1701\pvpg\posy7223\absw7641\absh5469 \sl-285 \f10 \fs18 \cf0 \fi
297 Una de las caractersticas fundamentales de FuzzyTECH es la generacin aut
o\par}{\phpg\posx1701\pvpg\posy7223\absw7641\absh5469 \sl-239 \f10 \fs18 \cf0 mtic
a de cdigo C. Cuando ste es compilado se obtienen resultados muy eficientes,
\par}{\phpg\posx1701\pvpg\posy7223\absw7641\absh5469 \sl-239 \f10 \fs18 \cf0 lo
cual es una caracterstica muy atractiva para el desarrollo de aplicaci
ones pro\par}{\phpg\posx1701\pvpg\posy7223\absw7641\absh5469 \sl-237 \f10 \fs18 \cf0 fes
ionales. Adems de versiones simplificadas con objetivos acadmicos, FuzzyTECH
\par}{\phpg\posx1701\pvpg\posy7223\absw7641\absh5469 \sl-239 \f10 \fs18 \cf0 tam
bin ofrece diferentes extensiones para sistemas de control embebidos y desarrollo
s
\par}{\phpg\posx1701\pvpg\posy7223\absw7641\absh5469 \sl-239 \f10 \fs18 \cf0 esp
eciales para la industria de la automocin.
\par}{\phpg\posx1701\pvpg\posy7223\absw7641\absh5469 \sl-181 \par\par\f10 \fs18
\cf0 \fi220 {\fs10 1}{\fs14 http://www.ortech-engr.com/fuzzy/fzyclips.html }
\par}{\phpg\posx1701\pvpg\posy7223\absw7641\absh5469 \sl-189 \f10 \fs18 \cf0 \fi
220 {\fs10 2}{\fs14 http://www.aptronix.com/fide/fide.htm }
\par}{\phpg\posx1701\pvpg\posy7223\absw7641\absh5469 \sl-189 \f10 \fs18 \cf0 \fi
220 {\fs10 3}{\fs14 http://mbfuzzit.sourceforge.net/en/mbfuzzit_software.html }
\par}{\phpg\posx1701\pvpg\posy7223\absw7641\absh5469 \sl-189 \f10 \fs18 \cf0 \fi
220 {\fs10 4}{\fs14 http://jfuzzylogic.sourceforge.net/html/index.html }
\par}{\phpg\posx1701\pvpg\posy7223\absw7641\absh5469 \sl-189 \f10 \fs18 \cf0 \fi
220 {\fs10 5}{\fs14 http://www.imse.cnm.es/Xfuzzy }
\par}{\phpg\posx1701\pvpg\posy7223\absw7641\absh5469 \sl-189 \f10 \fs18 \cf0 \fi
220 {\fs10 6}{\fs14 http://www.fuzzytech.com }
\par}{\phpg\posx1701\pvpg\posy7223\absw7641\absh5469 \sl-251 \par\f10 \fs18 \cf0
\fi3535 615 \par
}
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}}\par}{\phpg\posx1701\pvpg\posy1429\absw596\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Control \par
}
{\phpg\posx1701\pvpg\posy2047\absw5922\absh499 \f10 \fs18 \cf0 \f10 \fs18 \cf0 F
uzzy Logic Toolbox/Simulink/MatLab:
\par}{\phpg\posx1701\pvpg\posy2047\absw5922\absh499 \sl-188 \par\f10 \fs18 \cf0
\fi297 Fuzzy Logic Toolbox{\up006 \fs12 7}(FLT) es un producto de The M
athworks{\up006 \fs12 8 }\par
}
{\phpg\posx7711\pvpg\posy2423\absw1361\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 p
ara el entorno \par
}
{\phpg\posx1701\pvpg\posy2626\absw7722\absh6414 \f10 \fs18 \cf0 \f10 \fs18 \cf0
MATLAB {\up006 \fs12 9}. La FLT es una ampliacin del entorno de desarrollo MATL
AB para el
\par}{\phpg\posx1701\pvpg\posy2626\absw7722\absh6414 \sl-237 \f10 \fs18 \cf0 dis
eo de sistemas basados en lgica borrosa. Ofrece una entorno grfico muy sencillo
\par}{\phpg\posx1701\pvpg\posy2626\absw7722\absh6414 \sl-239 \f10 \fs18 \cf0 par
a el desarrollo de este tipo de sistemas paso a paso. Esta toolbox facilita el d
iseo
\par}{\phpg\posx1701\pvpg\posy2626\absw7722\absh6414 \sl-239 \f10 \fs18 \cf0 de
las reglas y la seleccin de las funciones ms utilizadas en lgica borro
sa. Las
\par}{\phpg\posx1701\pvpg\posy2626\absw7722\absh6414 \sl-237 \f10 \fs18 \cf0 pri
ncipales caractersticas de FLT son: Interfaces grficas sencillas para la definicin
\par}{\phpg\posx1701\pvpg\posy2626\absw7722\absh6414 \sl-239 \f10 \fs18 \cf0 de
variables LHS/RHS, edicin de funciones de pertenencia, descripcin de reglas y
\par}{\phpg\posx1701\pvpg\posy2626\absw7722\absh6414 \sl-239 \f10 \fs18 \cf0 vis
ualizacin de las reglas activadas.

\par}{\phpg\posx1701\pvpg\posy2626\absw7722\absh6414 \sl-242 \f10 \fs18 \cf0 \fi

297 Adems, la FLT puede utilizarse de manera independiente o junto al entorno de
\par}{\phpg\posx1701\pvpg\posy2626\absw7722\absh6414 \sl-239 \f10 \fs18 \cf0 des
arrollo Simulink (tambin para MATLAB), orientado a la simulacin de sistemas
\par}{\phpg\posx1701\pvpg\posy2626\absw7722\absh6414 \sl-239 \f10 \fs18 \cf0 dinm
icos. En la seccin 14.5.2 puede verse un ejemplo de la realizacin de un sistema
\par}{\phpg\posx1701\pvpg\posy2626\absw7722\absh6414 \sl-237 \f10 \fs18 \cf0 de
control borroso completo con esta herramienta.
\par}{\phpg\posx1701\pvpg\posy2626\absw7722\absh6414 \sl-273 \par\f10 \fs18 \cf0
Xfuzzy
\par}{\phpg\posx1701\pvpg\posy2626\absw7722\absh6414 \sl-188 \par\f10 \fs18 \cf0
\fi297 El entorno Xfuzzy{\up006 \fs12 10} es un desarrollo del Centro Nacional
de Microelectrnica del
\par}{\phpg\posx1701\pvpg\posy2626\absw7722\absh6414 \sl-239 \f10 \fs18 \cf0 CSI
C (Centro Superior de Investigaciones Cientficas) en Espaa. Xfuzzy es un en\par}{\phpg\posx1701\pvpg\posy2626\absw7722\absh6414 \sl-239 \f10 \fs18 \cf0 tor
no de desarrollo para sistemas de inferencia basados en lgica borrosa. Est for\par}{\phpg\posx1701\pvpg\posy2626\absw7722\absh6414 \sl-237 \f10 \fs18 \cf0 mad
o por un conjunto de herramientas que facilitan las distintas etapas del proceso
\par}{\phpg\posx1701\pvpg\posy2626\absw7722\absh6414 \sl-239 \f10 \fs18 \cf0 de
diseo, desde su descripcin inicial hasta la implementacin final. En la actualidad
\par}{\phpg\posx1701\pvpg\posy2626\absw7722\absh6414 \sl-237 \f10 \fs18 \cf0 se
encuentra disponible la versin Xfuzzy 3.0, desarrollada en Java.
\par}{\phpg\posx1701\pvpg\posy2626\absw7722\absh6414 \sl-244 \f10 \fs18 \cf0 \fi
297 Xfuzzy propone una metodologa de desarrollo de sistemas borrosos basada en cu
a\par}{\phpg\posx1701\pvpg\posy2626\absw7722\absh6414 \sl-239 \f10 \fs18 \cf0 tro
etapas: descripcin, verificacin, ajuste y sntesis. La etapa de descripcin ofrece
\par}{\phpg\posx1701\pvpg\posy2626\absw7722\absh6414 \sl-239 \f10 \fs18 \cf0 her
ramientas visuales para la definicin del sistema borroso. La etapa de verificacin
\par}{\phpg\posx1701\pvpg\posy2626\absw7722\absh6414 \sl-237 \f10 \fs18 \cf0 per
mite la simulacin del sistema. La etapa de ajuste permite la utilizacin
de al\par}{\phpg\posx1701\pvpg\posy2626\absw7722\absh6414 \sl-239 \f10 \fs18 \cf0 gor
itmos de aprendizaje para configurar variables. Por ltimo, la etapa de
sntesis
\par}{\phpg\posx1701\pvpg\posy2626\absw7722\absh6414 \sl-237 \f10 \fs18 \cf0 inc
luye herramientas para generar descripciones en lenguajes de alto nivel para im\par}{\phpg\posx1701\pvpg\posy2626\absw7722\absh6414 \sl-239 \f10 \fs18 \cf0 ple
mentaciones software o hardware. Xfuzzy est basado en el lenguaje XFL3, que
\par}{\phpg\posx1701\pvpg\posy2626\absw7722\absh6414 \sl-239 \f10 \fs18 \cf0 per
mite definir bases de reglas jerrquicas, modificadores lingsticos, funciones
de
\par}{\phpg\posx1701\pvpg\posy2626\absw7722\absh6414 \sl-237 \f10 \fs18 \cf0 per
tenencia y mtodos de defuzzificacin. Una de las caractersticas ms destacables
\par}{\phpg\posx1701\pvpg\posy2626\absw7722\absh6414 \sl-239 \f10 \fs18 \cf0 es
el amplio abanico de tcnicas y mtodos disponibles en este lenguaje. \par
}
{\phpg\posx1701\pvpg\posy10134\absw754\absh192 \f10 \fs21 \cf0 \f10 \fs21 \cf0 1
4.5.2 \par
}
{\phpg\posx2655\pvpg\posy10134\absw5717\absh192 \f10 \fs21 \cf0 \f10 \fs21 \cf0
Ejemplo de desarrollo de un controlador borroso \par
}
{\phpg\posx1701\pvpg\posy10571\absw7418\absh2456 \f10 \fs18 \cf0 \f10 \fs18 \cf0
El tanque de agua

\par}{\phpg\posx1701\pvpg\posy10571\absw7418\absh2456 \sl-188 \par\f10 \fs18 \cf

0 \fi297 Se desea disear un controlador borroso para mantener constante el nivel
de agua
\par}{\phpg\posx1701\pvpg\posy10571\absw7418\absh2456 \sl-239 \f10 \fs18 \cf0 de
un tanque (vase la Figura 14.22). Para ello, se puede ajustar la cantidad de agu
a
\par}{\phpg\posx1701\pvpg\posy10571\absw7418\absh2456 \sl-237 \f10 \fs18 \cf0 qu
e entra en el contenedor mediante una vlvula. En la base del tanque existe una
\par}{\phpg\posx1701\pvpg\posy10571\absw7418\absh2456 \sl-239 \f10 \fs18 \cf0 tu
bera que drena, de forma continua, el agua contenida. En [Hines, 1997] se propone
\par}{\phpg\posx1701\pvpg\posy10571\absw7418\absh2456 \sl-191 \par\f10 \fs18 \cf
0 \fi220 {\fs10 7}{\fs14 http://www.mathworks.com/products/fuzzylogic/ }
\par}{\phpg\posx1701\pvpg\posy10571\absw7418\absh2456 \sl-189 \f10 \fs18 \cf0 \f
i220 {\fs10 8}{\fs14 http://www.mathworks.com }
\par}{\phpg\posx1701\pvpg\posy10571\absw7418\absh2456 \sl-189 \f10 \fs18 \cf0 \f
i220 {\fs10 9}{\fs14 http://www.mathworks.com/products/matlab/ }
\par}{\phpg\posx1701\pvpg\posy10571\absw7418\absh2456 \sl-189 \f10 \fs18 \cf0 \f
i148 {\fs10 10}{\fs14 http://www.imse.cnm.es/Xfuzzy }
\par}{\phpg\posx1701\pvpg\posy10571\absw7418\absh2456 \sl-252 \par\f10 \fs18 \cf
0 \fi3535 616 \par
}
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ffd9
}}\par}{\phpg\posx6746\pvpg\posy1429\absw2320\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Arquitecturas y herramientas \par
}
{\phpg\posx1701\pvpg\posy2047\absw7513\absh590 \f10 \fs18 \cf0 \f10 \fs18 \cf0 u
n conjunto sencillo de reglas que permite controlar, de forma bastante eficaz, e
l nivel
\par}{\phpg\posx1701\pvpg\posy2047\absw7513\absh590 \sl-237 \f10 \fs18 \cf0 de lq
uido en un problema similar. En esta seccin, se extiende dicho ejemplo y
se
\par}{\phpg\posx1701\pvpg\posy2047\absw7513\absh590 \sl-239 \f10 \fs18 \cf0 mues
tra su implementacin utilizando Simulink de MATLAB. \par
}
{\phpg\posx3532\pvpg\posy6640\absw3709\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 F
igura 14.22: Ejemplo del tanque de agua. \par
}
{\phpg\posx1701\pvpg\posy7603\absw7465\absh3233 \f10 \fs18 \cf0 \f10 \fs18 \cf0
Identificacin de elementos principales
\par}{\phpg\posx1701\pvpg\posy7603\absw7465\absh3233 \sl-183 \par\f10 \fs18 \cf0
\fi297 En primer lugar hay que identificar las variables del sistema. La variab
le de salida
\par}{\phpg\posx1701\pvpg\posy7603\absw7465\absh3233 \sl-239 \f10 \fs18 \cf0 con
trolada es el nivel de lquido en el tanque. La entrada de referencia es el nivel
de
\par}{\phpg\posx1701\pvpg\posy7603\absw7465\absh3233 \sl-237 \f10 \fs18 \cf0 agu
a que se desea mantener. La seal de error es la diferencia entre el nivel actual
\par}{\phpg\posx1701\pvpg\posy7603\absw7465\absh3233 \sl-239 \f10 \fs18 \cf0 del
agua del contenedor y el nivel de referencia elegido. La seal de control regula
la
\par}{\phpg\posx1701\pvpg\posy7603\absw7465\absh3233 \sl-239 \f10 \fs18 \cf0 vlvu
la de salida del agua para abrirla o cerrarla, de forma gradual, y modificar as
\par}{\phpg\posx1701\pvpg\posy7603\absw7465\absh3233 \sl-237 \f10 \fs18 \cf0 el
nivel de agua del contenedor. La planta est formada por el contenedor de agua, la

\par}{\phpg\posx1701\pvpg\posy7603\absw7465\absh3233 \sl-239 \f10 \fs18 \cf0 tub

era drenante y la vlvula de entrada de agua.
\par}{\phpg\posx1701\pvpg\posy7603\absw7465\absh3233 \sl-254 \par\f10 \fs18 \cf0
Modelado de la planta
\par}{\phpg\posx1701\pvpg\posy7603\absw7465\absh3233 \sl-183 \par\f10 \fs18 \cf0
\fi297 Antes de disear el controlador borroso, es necesario modelar el comportam
iento de
\par}{\phpg\posx1701\pvpg\posy7603\absw7465\absh3233 \sl-237 \f10 \fs18 \cf0 la
planta. Dado que el tanque tiene forma cilndrica, el volumen de agua{\i \f50 V}
contenido
\par}{\phpg\posx1701\pvpg\posy7603\absw7465\absh3233 \sl-239 \f10 \fs18 \cf0 por
el tanque en un instante dado es igual al producto del rea de la base del tanque
\par}{\phpg\posx1701\pvpg\posy7603\absw7465\absh3233 \sl-268 \f10 \fs18 \cf0 {\i
\f50 A }{\i\dn006 \f50 \fs12 c} por la altura del lquido{\i \f50 h}: \par
}
{\phpg\posx4579\pvpg\posy11372\absw165\absh160 \i \f50 \fs18 \cf0 \i \f50 \fs18
\cf0 V \par
}
{\phpg\posx4795\pvpg\posy11338\absw1398\absh218 \f20 \fs18 \cf0 \f20 \fs18 \cf0
={\i \f50 A }{\i\dn006 \f50 \fs12 c}{\i \f50 h} ={\i \f50 {\field{\*\fldinst
SYMBOL 112 \\f Symbol }}}{\i \f50 R}{\up006 \fs12 2}{\i \f50 h }\par
}
{\phpg\posx8462\pvpg\posy11378\absw649\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 (
14.33) \par
}
{\phpg\posx1701\pvpg\posy11754\absw7374\absh381 \f10 \fs18 \cf0 \f10 \fs18 \cf0
donde{\i \f50 R} es el radio de la base del tanque.
\par}{\phpg\posx1701\pvpg\posy11754\absw7374\absh381 \sl-239 \f10 \fs18 \cf0 \fi
297 Por otra parte, el volumen de agua vara a lo largo del tiempo, y sus variacio
nes \par
}
{\phpg\posx1701\pvpg\posy12231\absw3673\absh222 \f10 \fs18 \cf0 \f10 \fs18 \cf0
dependen del {\f63 \u64258\'3f}ujo de entrada de agua{\i \f50 F}{\i\dn006 \f50
\fs12 in }\par
}
{\phpg\posx4718\pvpg\posy12562\absw241\absh205 \i \f50 \fs18 \cf0 \i \f50 \fs18
\cf0 V{\f63 \u729\'3f} \par
}
{\phpg\posx4934\pvpg\posy12613\absw492\absh188 \f20 \fs18 \cf0 \f20 \fs18 \cf0 =
{\i \f50 F}{\i\dn006 \f50 \fs12 in }\par
}
{\phpg\posx5452\pvpg\posy12231\absw2980\absh534 \f10 \fs18 \cf0 \f10 \fs18 \cf0
y del {\f63 \u64258\'3f}ujo de salida de agua{\i \f50 F}{\i\dn006 \f50 \fs12 o
ut}:
\par}{\phpg\posx5452\pvpg\posy12231\absw2980\absh534 \sl-190 \par\f10 \fs18 \cf0
\fi28 {\f40 {\field{\*\fldinst SYMBOL 45 \\f Symbol }}}{\i \f50 F}{\i\dn006 \f
50 \fs12 out }\par
}
{\phpg\posx8462\pvpg\posy12619\absw649\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 (
14.34) \par
}
{\phpg\posx5236\pvpg\posy13123\absw359\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 6
17 \par
}
\sect\sectd\pard\plain
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}
{\phpg\posx1701\pvpg\posy1990\absw7386\absh425 \f10 \fs18 \cf0 \f10 \fs18 \cf0 d
onde{\i \f50 V {\f63 \u729\'3f}}{\f20 r} epresenta la primera derivada del v
olumen respecto del tiempo. Por tanto,
\par}{\phpg\posx1701\pvpg\posy1990\absw7386\absh425 \sl-237 \f10 \fs18 \cf0 las
variaciones del nivel de lquido vendrn dadas por: \par
}
{\phpg\posx4504\pvpg\posy2665\absw188\absh207 \f20 \fs18 \cf0 \f20 \fs18 \cf0 {\
f63 \u729\'3f}{\i \f50 h }\par
}
{\phpg\posx4675\pvpg\posy2718\absw566\absh193 \f20 \fs18 \cf0 \f20 \fs18 \cf0 =
({\i \f50 F}{\i\dn006 \f50 \fs12 in }\par
}

{\phpg\posx5299\pvpg\posy2671\absw559\absh233 \f40 \fs18 \cf0 \f40 \fs18 \cf0 {\

field{\*\fldinst SYMBOL 45 \\f Symbol }}{\i \f50 F}{\i\dn006 \f50 \fs12 out }\p
ar
}
{\phpg\posx5870\pvpg\posy2718\absw385\absh188 \f20 \fs18 \cf0 \f20 \fs18 \cf0 ){
\i \f50 /A}{\i\dn006 \f50 \fs12 c }\par
}
{\phpg\posx8462\pvpg\posy2723\absw649\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 (1
4.35) \par
}
{\phpg\posx1999\pvpg\posy3163\absw6626\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 L
os {\f63 \u64258\'3f}ujos de entrada y salida pueden calcularse mediante las exp
resiones: \par
}
{\phpg\posx4396\pvpg\posy3615\absw369\absh182 \i \f50 \fs18 \cf0 \i \f50 \fs18 \
cf0 F{\dn006 \fs12 out }\par
}
{\phpg\posx4821\pvpg\posy3615\absw453\absh450 \f20 \fs18 \cf0 \f20 \fs18 \cf0 ={
\i \f50 k}{\dn006 \fs12 1 }
\par}{\phpg\posx4821\pvpg\posy3615\absw453\absh450 \sl-297 \f20 \fs18 \cf0 \fi17
2 {\i \f50 F}{\i\dn006 \f50 \fs12 in }\par
}
{\phpg\posx5227\pvpg\posy3384\absw739\absh423 \f10 \fs18 \cf0 \f10 \fs18 \cf0 ?
\par}{\phpg\posx5227\pvpg\posy3384\absw739\absh423 \sl-213 \f10 \fs18 \cf0 \fi19
9 {\i \f50 h}{\f20 +}{\i \f50 k}{\dn006 \f20 \fs12 2 }\par
}
{\phpg\posx5342\pvpg\posy3913\absw641\absh209 \f20 \fs18 \cf0 \f20 \fs18 \cf0 ={
\i \f50 k }{\dn006 \fs12 3}{\i \f50 V}{\i\dn006 \f50 \fs12 c }\par
}
{\phpg\posx8462\pvpg\posy3621\absw649\absh428 \f10 \fs18 \cf0 \f10 \fs18 \cf0 (1
4.36)
\par}{\phpg\posx8462\pvpg\posy3621\absw649\absh428 \sl-297 \f10 \fs18 \cf0 (14.3
7) \par
}
{\phpg\posx1701\pvpg\posy4352\absw7547\absh1457 \f10 \fs18 \cf0 \f10 \fs18 \cf0
donde{\i \f50 k }{\dn006 \f20 \fs12 1} es una constante que depende de las dim
ensiones del tanque,{\i \f50 k }{\dn006 \f20 \fs12 2} es la altura
\par}{\phpg\posx1701\pvpg\posy4352\absw7547\absh1457 \sl-237 \f10 \fs18 \cf0 de
la parte acodada del tubo de salida,{\i \f50 V }{\i\dn006 \f50 \fs12 c
} es una tensin elctrica que regula la
\par}{\phpg\posx1701\pvpg\posy4352\absw7547\absh1457 \sl-240 \f10 \fs18 \cf0 pos
icin de la vlvula de entrada, y{\i \f50 k }{\dn006 \f20 \fs12 3} es una consta
nte que establece una relacin
\par}{\phpg\posx1701\pvpg\posy4352\absw7547\absh1457 \sl-211 \f10 \fs18 \cf0 pro
porcional entre la tensin de control aplicada a la vlvula y el grado de apertura
\par}{\phpg\posx1701\pvpg\posy4352\absw7547\absh1457 \sl-237 \f10 \fs18 \cf0 que
provoca en la misma.
\par}{\phpg\posx1701\pvpg\posy4352\absw7547\absh1457 \sl-239 \f10 \fs18 \cf0 \fi
297 Finalmente, la ecuacin diferencial que gobierna el comportamiento de la plant
a
\par}{\phpg\posx1701\pvpg\posy4352\absw7547\absh1457 \sl-239 \f10 \fs18 \cf0 pue
de obtenerse a partir de las expresiones anteriores como: \par
}
{\phpg\posx4257\pvpg\posy6193\absw810\absh277 \i \f50 \fs18 \cf0 \i \f50 \fs18 \
cf0 A {\dn006 \fs12 c}{\i0 \f20 {\f63 \u729\'3f}}h{\i0 \f20 +} k{\i0\dn006 \
f20 \fs12 1 }\par
}
{\phpg\posx5073\pvpg\posy6014\absw1429\absh438 \f10 \fs18 \cf0 \f10 \fs18 \cf0 ?
\par}{\phpg\posx5073\pvpg\posy6014\absw1429\absh438 \sl-211 \f10 \fs18 \cf0 \fi1

99 {\i \f50 h}{\f20 +}{\i \f50 k }{\dn006 \f20 \fs12 2}{\f20 =}{\i \f50 k
}{\dn006 \f20 \fs12 3}{\i \f50 V}{\i \f50 \fs12 c }\par
}
{\phpg\posx8462\pvpg\posy6249\absw649\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 (1
4.38) \par
}
{\phpg\posx1701\pvpg\posy6688\absw7495\absh590 \f10 \fs18 \cf0 \fi297 \f10 \fs18
\cf0 Obsrvese que la dinmica de la planta es no lineal, debido a que las leyes hi
dro\par}{\phpg\posx1701\pvpg\posy6688\absw7495\absh590 \sl-239 \f10 \fs18 \cf0 dinmi
cas establecen que el {\f63 \u64258\'3f}ujo de salida es proporcional a la raz cu
adrada de la
\par}{\phpg\posx1701\pvpg\posy6688\absw7495\absh590 \sl-237 \f10 \fs18 \cf0 altu
ra de la columna de lquido. \par
}
{\phpg\posx2385\pvpg\posy11462\absw6000\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0
Figura 14.23: Planta a controlar realizada en Simulink de MATLAB. \par
}
{\phpg\posx1701\pvpg\posy12379\absw7441\absh830 \f10 \fs18 \cf0 \fi297 \f10 \fs1
8 \cf0 El siguiente paso consiste en construir un modelo de la planta en Simulin
k, que
\par}{\phpg\posx1701\pvpg\posy12379\absw7441\absh830 \sl-239 \f10 \fs18 \cf0 per
mitir simular dinmicamente su comportamiento. Para ello, se establecen la
s
\par}{\phpg\posx1701\pvpg\posy12379\absw7441\absh830 \sl-251 \par\f10 \fs18 \cf0
\fi3535 618 \par
}
\sect\sectd\pard\plain
\pgwsxn10771\pghsxn14740
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8a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a2
8a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a2
8a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a2
8a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a2
8a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a2
8a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a2
8a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a2

8a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a2
8a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a2
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8a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a2
8a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a2
8a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a2
8a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a2
8a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a2
8a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a2
8a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a2
8a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a2
8a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a2
8a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a2
8a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a2
8a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a2
8a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a2
8a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a2
8a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a2
8a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a2
8a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a2
8a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a2
8a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a2
8a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a2
8a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a2
8a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a2
8a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a2
8a0028a28a0028a28a0028a28a0028a28a00ffd9
}}\par}{\phpg\posx6746\pvpg\posy1429\absw2320\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Arquitecturas y herramientas \par
}
{\phpg\posx1701\pvpg\posy2041\absw2261\absh215 \f10 \fs18 \cf0 \f10 \fs18 \cf0 s
iguientes constantes:{\i \f50 k}{\dn006 \f20 \fs12 1 }\par
}
{\phpg\posx3969\pvpg\posy2041\absw155\absh160 \f20 \fs18 \cf0 \f20 \fs18 \cf0 =
\par
}
{\phpg\posx4219\pvpg\posy2041\absw159\absh160 \f20 \fs18 \cf0 \f20 \fs18 \cf0 2{
\i \f50 , }\par
}
{\phpg\posx4375\pvpg\posy2041\absw2006\absh261 \f20 \fs18 \cf0 \f20 \fs18 \cf0 7
{\f10 ,}{\i \f50 R} = 3{\f10 ,}{\i \f50 k }{\dn006 \fs12 2}{\f10 =11}{\f
10 y}{\i \f50 k}{\dn006 \fs12 3 }\par
}
{\phpg\posx6487\pvpg\posy2041\absw155\absh160 \f20 \fs18 \cf0 \f20 \fs18 \cf0 =
\par
}
{\phpg\posx6739\pvpg\posy2041\absw159\absh160 \f20 \fs18 \cf0 \f20 \fs18 \cf0 7{
\i \f50 , }\par
}
{\phpg\posx6892\pvpg\posy2041\absw2246\absh165 \f20 \fs18 \cf0 \f20 \fs18 \cf0 9
{\f10 .}{\f10 Con}{\f10 estos}{\f10 valores,}{\f10 las }\par
}
{\phpg\posx1701\pvpg\posy2284\absw4795\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 r
elaciones que se deben implementar en Simulink son: \par
}
{\phpg\posx4341\pvpg\posy2636\absw891\absh450 \i \f50 \fs18 \cf0 \fi592 \i \f50
\fs18 \cf0 F{\dn006 \fs12 in }
\par}{\phpg\posx4341\pvpg\posy2636\absw891\absh450 \sl-297 \i \f50 \fs18 \cf0 F{
\dn006 \fs12 out}{\i0 \f20 =}{\i0 \f20 2}{\i0 \f20 7 }\par
}

{\phpg\posx5282\pvpg\posy2590\absw862\absh233 \f20 \fs18 \cf0 \f20 \fs18 \cf0 ={

\i \f50 V }{\i\dn006 \f50 \fs12 v}{\f40 {\field{\*\fldinst SYMBOL 42 \\f Sym
bol }}} 7{\i \f50 ,}9 \par
}
{\phpg\posx5421\pvpg\posy2717\absw165\absh233 \f40 \fs18 \cf0 \f40 \fs18 \cf0 {\
field{\*\fldinst SYMBOL 214 \\f Symbol }} \par
}
{\phpg\posx5080\pvpg\posy2887\absw1066\absh233 \i \f50 \fs18 \cf0 \i \f50 \fs18
\cf0 ,{\i0 \f40
{\field{\*\fldinst SYMBOL 42 \\f Symbol }}}
h{\i0 \f20 +
}{\i0 \f20 11 }\par
}
{\phpg\posx4226\pvpg\posy3181\absw185\absh207 \f20 \fs18 \cf0 \f20 \fs18 \cf0 {\
f63 \u729\'3f}{\i \f50 h }\par
}
{\phpg\posx4396\pvpg\posy3234\absw568\absh193 \f20 \fs18 \cf0 \f20 \fs18 \cf0 =
({\i \f50 F}{\i\dn006 \f50 \fs12 in }\par
}
{\phpg\posx5023\pvpg\posy3187\absw646\absh233 \f40 \fs18 \cf0 \f40 \fs18 \cf0 {\
field{\*\fldinst SYMBOL 45 \\f Symbol }}{\i \f50 F}{\i\dn006 \f50 \fs12 out}{\f
20 ) }\par
}
{\phpg\posx5668\pvpg\posy3234\absw475\absh160 \i \f50 \fs18 \cf0 \i \f50 \fs18 \
cf0 /{\i0 \f20 (}{\field{\*\fldinst SYMBOL 112 \\f Symbol }}{\i0 \f20 9) }\par
}
{\phpg\posx8462\pvpg\posy2642\absw649\absh698 \f10 \fs18 \cf0 \f10 \fs18 \cf0 (1
4.39)
\par}{\phpg\posx8462\pvpg\posy2642\absw649\absh698 \sl-297 \f10 \fs18 \cf0 (14.4
0)
\par}{\phpg\posx8462\pvpg\posy2642\absw649\absh698 \sl-299 \f10 \fs18 \cf0 (14.4
1) \par
}
{\phpg\posx1701\pvpg\posy3595\absw7548\absh3173 \f10 \fs18 \cf0 \fi297 \f10 \fs1
8 \cf0 Adicionalmente, se supone que las especificaciones del fabricante
de la vlvula
\par}{\phpg\posx1701\pvpg\posy3595\absw7548\absh3173 \sl-268 \f10 \fs18 \cf0 est
ablecen que la tensin elctrica aplicada a la vlvula debe estar en el rango{\i \f50
V }{\i\dn006 \f50 \fs12 c}{\f20 = }
\par}{\phpg\posx1701\pvpg\posy3595\absw7548\absh3173 \sl-208 \f10 \fs18 \cf0 {\f
20 [}{\f40 {\field{\*\fldinst SYMBOL 45 \\f Symbol }}}{\f20 1}{\i \f50 ,}{\f20 2
;}{\f20 4}{\i \f50 ,}{\f20 3]}{\i \f50 V} . Esta tensin se va a obtener sumando
una tensin constante (ofset) de
\par}{\phpg\posx1701\pvpg\posy3595\absw7548\absh3173 \sl-134 \par\f10 \fs18 \cf0
{\f20 3}{\f20 3,}{\i \f50 V}{\i \f50 } a una tensin variable{\i \f50 V }{\
i\dn006 \f50 \fs12 v} en el rango{\f20 [}{\f40 {\field{\*\fldinst SYMBOL 45
\\f Symbol }}}{\f20 4}{\i \f50 ,}{\f20 5;}{\f20 1]}{\i \f50 V} . Es decir,{\i
\f50 V }{\i\dn006 \f50 \fs12 c}{\f20 =}{\i \f50 V }{\i \f50 \fs12 v}{\f2
0 +}{\f20 3}{\i \f50 ,}{\f20 3}{\i \f50 V}{\f40
{\field{\*\fldinst SYMBOL
206 \\f Symbol }} }
\par}{\phpg\posx1701\pvpg\posy3595\absw7548\absh3173 \sl-240 \f10 \fs18 \cf0 {\f
20 [}{\f40 {\field{\*\fldinst SYMBOL 45 \\f Symbol }}}{\f20 4}{\i \f50 ,}{\f20 5
;}{\f20 1]}{\f20 +}{\f20 3}{\i \f50 ,}{\f20 3}{\i \f50 V}{\f20 =}{\f20 [}{
\f40 {\field{\*\fldinst SYMBOL 45 \\f Symbol }}}{\f20 1}{\i \f50 ,}{\f20 2;}{\f2
0 4}{\i \f50 ,}{\f20 3]}{\i \f50 V} . La variable{\i \f50 V }{\i\dn006 \f50 \
fs12 v} ser la seal de control.
\par}{\phpg\posx1701\pvpg\posy3595\absw7548\absh3173 \sl-208 \f10 \fs18 \cf0 \fi
297 En la Figura 14.23 se muestra un modelo de la planta implementado en Simulin
k,
\par}{\phpg\posx1701\pvpg\posy3595\absw7548\absh3173 \sl-239 \f10 \fs18 \cf0 que
tiene en cuenta todas estas consideraciones.
\par}{\phpg\posx1701\pvpg\posy3595\absw7548\absh3173 \sl-237 \f10 \fs18 \cf0 \fi

297 Las grficas de la Figura 14.24 muestran varias simulaciones del comportamient
o
\par}{\phpg\posx1701\pvpg\posy3595\absw7548\absh3173 \sl-239 \f10 \fs18 \cf0 de
la planta durante 100 segundos, obtenidas aplicando distintas tensiones de contr
ol
\par}{\phpg\posx1701\pvpg\posy3595\absw7548\absh3173 \sl-268 \f10 \fs18 \cf0 {\i
\f50 V}{\i\dn006 \f50 \fs12 v} . Cuando{\i \f50 V }{\i\dn006 \f50 \fs12 v}{\
f20 =}{\f20 0} puede observarse cmo el {\f63 \u64258\'3f}ujo de salida va
aumentando hasta
\par}{\phpg\posx1701\pvpg\posy3595\absw7548\absh3173 \sl-208 \f10 \fs18 \cf0 lle
gar a la saturacin (desbordamiento del tanque) al llegar a los 90 segundos. Cuand
o
\par}{\phpg\posx1701\pvpg\posy3595\absw7548\absh3173 \sl-268 \f10 \fs18 \cf0 la
vlvula est en apertura mxima, es decir{\i \f50 V }{\i\dn006 \f50 \fs12 v}{\f20
=}{\f20 1}, el tanque llega a la saturacin
\par}{\phpg\posx1701\pvpg\posy3595\absw7548\absh3173 \sl-211 \f10 \fs18 \cf0 muc
ho antes (a los 45 segundos aproximadamente). Cuando la vlvula se encuentra
\par}{\phpg\posx1701\pvpg\posy3595\absw7548\absh3173 \sl-266 \f10 \fs18 \cf0 bas
tante cerrada ({\i \f50 V }{\i\dn006 \f50 \fs12 v}{\f20 =}{\f40 {\field{\*\
fldinst SYMBOL 45 \\f Symbol }}}{\f20 1}{\i \f50 ,}{\f20 5}) se consigue que el
tanque no se desborde durante el
\par}{\phpg\posx1701\pvpg\posy3595\absw7548\absh3173 \sl-211 \f10 \fs18 \cf0 tie
mpo de simulacin. \par
}
{\phpg\posx1701\pvpg\posy11929\absw7370\absh453 \f10 \fs18 \cf0 \f10 \fs18 \cf0
Figura 14.24: Salidas de la simulacin del comportamiento de la planta con{\i \f50
V }{\i\dn006 \f50 \fs12 v}{\f20 =}{\f20 0},
\par}{\phpg\posx1701\pvpg\posy11929\absw7370\absh453 \sl-237 \f10 \fs18 \cf0 {\i
\f50 V}{\i\dn006 \f50 \fs12 v}{\f20 =}{\f20 1} ,{\i \f50 V }{\i\dn006 \f50
\fs12 v}{\f20 =}{\f40 {\field{\*\fldinst SYMBOL 45 \\f Symbol }}}{\f20 1}{\
i \f50 ,}{\f20 5} y{\i \f50 V }{\i\dn006 \f50 \fs12 v}{\f20 =}{\f40 {\fiel
d{\*\fldinst SYMBOL 45 \\f Symbol }}}{\f20 4}{\i \f50 ,}{\f20 5}. \par
}
{\phpg\posx5236\pvpg\posy13123\absw359\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 6
19 \par
}
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}}\par}{\phpg\posx1701\pvpg\posy1429\absw596\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Control \par
}
{\phpg\posx1701\pvpg\posy2047\absw7515\absh5342 \f10 \fs18 \cf0 \fi297 \f10 \fs1
8 \cf0 Para facilitar el modelado del sistema de control, todos los componentes
del mo\par}{\phpg\posx1701\pvpg\posy2047\absw7515\absh5342 \sl-237 \f10 \fs18 \cf0 del
o de la planta se agruparn como un subsistema Simulink al que se den
omina
\par}{\phpg\posx1701\pvpg\posy2047\absw7515\absh5342 \sl-239 \f10 \fs18 \cf0 Con
tenedor.
\par}{\phpg\posx1701\pvpg\posy2047\absw7515\absh5342 \sl-280 \par\f10 \fs18 \cf0
Diseo del controlador borroso
\par}{\phpg\posx1701\pvpg\posy2047\absw7515\absh5342 \sl-190 \par\f10 \fs18 \cf0
\fi297 Dado que la dinmica de la planta es no lineal, resulta apropiado utilizar
tcnicas
\par}{\phpg\posx1701\pvpg\posy2047\absw7515\absh5342 \sl-239 \f10 \fs18 \cf0 de
control borroso para desarrollar el sistema de control.
\par}{\phpg\posx1701\pvpg\posy2047\absw7515\absh5342 \sl-247 \f10 \fs18 \cf0 \fi
297 En primer lugar se establecer cules son las entradas y salidas del controlador
y
\par}{\phpg\posx1701\pvpg\posy2047\absw7515\absh5342 \sl-239 \f10 \fs18 \cf0 se
definir la arquitectura general del sistema que va a controlar la planta. Como ya
\par}{\phpg\posx1701\pvpg\posy2047\absw7515\absh5342 \sl-237 \f10 \fs18 \cf0 se
coment anteriormente, la seal de error que debe utilizar el controlador borroso
\par}{\phpg\posx1701\pvpg\posy2047\absw7515\absh5342 \sl-239 \f10 \fs18 \cf0 es
la diferencia entre el nivel de agua deseado y el nivel de agua del tanque en ca
da
\par}{\phpg\posx1701\pvpg\posy2047\absw7515\absh5342 \sl-237 \f10 \fs18 \cf0 ins
tante, es decir, el error producido. Sin embargo, en este problema tambin resulta
\par}{\phpg\posx1701\pvpg\posy2047\absw7515\absh5342 \sl-239 \f10 \fs18 \cf0 con
veniente considerar el grado de crecimiento o decrecimiento del nivel del agua e
n
\par}{\phpg\posx1701\pvpg\posy2047\absw7515\absh5342 \sl-239 \f10 \fs18 \cf0 cad
a instante de tiempo. La velocidad con la que el nivel del agua sube o baja tien
e un
\par}{\phpg\posx1701\pvpg\posy2047\absw7515\absh5342 \sl-237 \f10 \fs18 \cf0 val
or informativo muy importante para poder controlar mejor el tanque, ya que para
\par}{\phpg\posx1701\pvpg\posy2047\absw7515\absh5342 \sl-239 \f10 \fs18 \cf0 vel
ocidades muy grandes de crecida sera necesario que el controlador reaccionara con
\par}{\phpg\posx1701\pvpg\posy2047\absw7515\absh5342 \sl-239 \f10 \fs18 \cf0 una
apertura brusca de la vlvula y anlogamente para una bajada repentina. Por lo
\par}{\phpg\posx1701\pvpg\posy2047\absw7515\absh5342 \sl-237 \f10 \fs18 \cf0 tan
to, el controlador borroso tendr dos entradas:
\par}{\phpg\posx1701\pvpg\posy2047\absw7515\absh5342 \sl-247 \f10 \fs18 \cf0 \fi
297 (1) error: El error entre el nivel de agua esperado y el nivel del tanque y
\par}{\phpg\posx1701\pvpg\posy2047\absw7515\absh5342 \sl-247 \f10 \fs18 \cf0 \fi

297 (2) velocidad-h: La velocidad de crecimiento del nivel del tanque, e

s decir, la
\par}{\phpg\posx1701\pvpg\posy2047\absw7515\absh5342 \sl-239 \f10 \fs18 \cf0 der
ivada del nivel respecto al tiempo.
\par}{\phpg\posx1701\pvpg\posy2047\absw7515\absh5342 \sl-275 \f10 \fs18 \cf0 \fi
297 La salida del controlador (V-vlvula) ser la tensin{\i \f50 V }{\i\dn006 \f50
\fs12 v} que controla la vlvula
\par}{\phpg\posx1701\pvpg\posy2047\absw7515\absh5342 \sl-211 \f10 \fs18 \cf0 de
entrada del tanque de agua. As, el sistema de control de la planta
ofrece una
\par}{\phpg\posx1701\pvpg\posy2047\absw7515\absh5342 \sl-237 \f10 \fs18 \cf0 top
ologa de controlador de lazo cerrado (vase la Figura 14.25). \par
}
{\phpg\posx2848\pvpg\posy12580\absw5078\absh648 \f10 \fs18 \cf0 \f10 \fs18 \cf0
Figura 14.25: Arquitectura del sistema de control borroso.
\par}{\phpg\posx2848\pvpg\posy12580\absw5078\absh648 \sl-271 \par\f10 \fs18 \cf0
\fi2387 620 \par
}
\sect\sectd\pard\plain
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145007ffd9
}}\par}{\phpg\posx6746\pvpg\posy1429\absw2320\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Arquitecturas y herramientas \par
}
{\phpg\posx1701\pvpg\posy2438\absw7619\absh4793 \f10 \fs18 \cf0 \fi297 \f10 \fs1
8 \cf0 En segundo lugar se disear un controlador borroso, dadas las entradas y sal
idas
\par}{\phpg\posx1701\pvpg\posy2438\absw7619\absh4793 \sl-239 \f10 \fs18 \cf0 des

critas. Para ello se utilizar la Fuzzy Logic Toolbox que ofrece MATLAB
. Con
\par}{\phpg\posx1701\pvpg\posy2438\absw7619\absh4793 \sl-237 \f10 \fs18 \cf0 la
ayuda de un experto se definirn los valores de las variables LHS / RHS que se
\par}{\phpg\posx1701\pvpg\posy2438\absw7619\absh4793 \sl-239 \f10 \fs18 \cf0 usa
rn en las reglas borrosas del controlador. Por tanto, hay que establecer conjunto
s
\par}{\phpg\posx1701\pvpg\posy2438\absw7619\absh4793 \sl-237 \f10 \fs18 \cf0 bor
rosos (etiquetas lingsticas), tanto para las seales de entrada del contro
lador
\par}{\phpg\posx1701\pvpg\posy2438\absw7619\absh4793 \sl-239 \f10 \fs18 \cf0 (la
diferencia de nivel y la velocidad de cambio del nivel), como para
la de salida
\par}{\phpg\posx1701\pvpg\posy2438\absw7619\absh4793 \sl-239 \f10 \fs18 \cf0 (te
nsin de control de la vlvula). El rango de variacin de la seal de diferencia de
\par}{\phpg\posx1701\pvpg\posy2438\absw7619\absh4793 \sl-237 \f10 \fs18 \cf0 niv
el se establece en [-36,36], y se eligen las siguientes funciones de pertenencia
para
\par}{\phpg\posx1701\pvpg\posy2438\absw7619\absh4793 \sl-239 \f10 \fs18 \cf0 los
conjuntos borrosos que definen sus valores:
\par}{\phpg\posx1701\pvpg\posy2438\absw7619\absh4793 \sl-195 \par\f10 \fs18 \cf0
\fi1171 negativo grande{\f20 :}{\i \f50 ng}{\f20 [}{\f40 {\field{\*\fldinst S
YMBOL 45 \\f Symbol }}}{\f20 36}{\i \f50 ,}{\f40 {\field{\*\fldinst SYMBOL 45 \
\f Symbol }}}{\f20 36}{\i \f50 ,}{\f40 {\field{\*\fldinst SYMBOL 45 \\f Symbol
}}}{\f20 10}{\i \f50 ,}{\f40 {\field{\*\fldinst SYMBOL 45 \\f Symbol }}}{\f20 5
](}{\i \f50 trapezoidal}{\f20 ) }
\par}{\phpg\posx1701\pvpg\posy2438\absw7619\absh4793 \sl-299 \f10 \fs18 \cf0 \fi
1958 negativo peque.{\f20 :}{\i \f50 np}{\f20 [}{\f40 {\field{\*\fldinst SYMBO
L 45 \\f Symbol }}}{\f20 10}{\i \f50 ,}{\f40 {\field{\*\fldinst SYMBOL 45 \\f S
ymbol }}}{\f20 2}{\i \f50 ,}{\f20 0](}{\i \f50 triangular}{\f20 ) }
\par}{\phpg\posx1701\pvpg\posy2438\absw7619\absh4793 \sl-297 \f10 \fs18 \cf0 \fi
3352 cero{\f20 :}{\i \f50 c}{\f20 [}{\f40 {\field{\*\fldinst SYMBOL 45 \\f Sym
bol }}}{\f20 1}{\i \f50 ,}{\f20 0}{\i \f50 ,}{\f20 1](}{\i \f50 triangular}{\f
20 ) }
\par}{\phpg\posx1701\pvpg\posy2438\absw7619\absh4793 \sl-299 \f10 \fs18 \cf0 \fi
2335 positivo peque.{\f20 :}{\i \f50 pp}{\f20 [0}{\i \f50 ,}{\f20 2}{\i \f50
,}{\f20 10](}{\i \f50 triangular}{\f20 ) }
\par}{\phpg\posx1701\pvpg\posy2438\absw7619\absh4793 \sl-297 \f10 \fs18 \cf0 \fi
1860 positivo grande{\f20 :}{\i \f50 pg}{\f20 [5}{\i \f50 ,}{\f20 10}{\i \f50
,}{\f20 36}{\i \f50 ,}{\f20 36](}{\i \f50 trapezoidal}{\f20 ) }
\par}{\phpg\posx1701\pvpg\posy2438\absw7619\absh4793 \sl-196 \par\f10 \fs18 \cf0
La seal de velocidad de cambio del nivel de agua (velocidad-h) se esta
blece en el
\par}{\phpg\posx1701\pvpg\posy2438\absw7619\absh4793 \sl-237 \f10 \fs18 \cf0 dom
inio [-40,40] y se eligen las siguientes etiquetas lingsticas:
\par}{\phpg\posx1701\pvpg\posy2438\absw7619\absh4793 \sl-195 \par\f10 \fs18 \cf0
\fi2695 positivo{\f20 :}{\i \f50 p}{\f20 [0}{\i \f50 ,}{\f20 2}{\i \f50 ,}{\
f20 40}{\i \f50 ,}{\f20 40] }
\par}{\phpg\posx1701\pvpg\posy2438\absw7619\absh4793 \sl-299 \f10 \fs18 \cf0 \fi
3268 cero{\f20 :}{\i \f50 c}{\f20 [}{\f40 {\field{\*\fldinst SYMBOL 45 \\f Sym
bol }}}{\f20 1}{\i \f50 ,}{\f20 0}{\i \f50 ,}{\f20 1] }
\par}{\phpg\posx1701\pvpg\posy2438\absw7619\absh4793 \sl-297 \f10 \fs18 \cf0 \fi
2352 negativo{\f20 :}{\i \f50 n}{\f20 [}{\f40 {\field{\*\fldinst SYMBOL 45 \\f
Symbol }}}{\f20 40}{\i \f50 ,}{\f40 {\field{\*\fldinst SYMBOL 45 \\f Symbol }}
}{\f20 40}{\i \f50 ,}{\f40 {\field{\*\fldinst SYMBOL 45 \\f Symbol }}}{\f20 2]
}\par
}
{\phpg\posx1701\pvpg\posy8242\absw7723\absh4552 \f10 \fs18 \cf0 \f10 \fs18 \cf0
En cuanto a la seal de salida (tensin de control de la vlvula{\i \f50 V }{\i\dn00
6 \f50 \fs12 v}), se define en el

\par}{\phpg\posx1701\pvpg\posy8242\absw7723\absh4552 \sl-211 \f10 \fs18 \cf0 ran

go [-4.5,1], estableciendo las siguientes etiquetas lingsticas:
\par}{\phpg\posx1701\pvpg\posy8242\absw7723\absh4552 \sl-195 \par\f10 \fs18 \cf0
\fi2179 muy baja{\f20 :}{\i \f50 mb}{\f20 [}{\f40 {\field{\*\fldinst SYMBOL 4
5 \\f Symbol }}}{\f20 4}{\i \f50 ,}{\f20 5}{\i \f50 ,}{\f40 {\field{\*\fldinst
SYMBOL 45 \\f Symbol }}}{\f20 4}{\i \f50 ,}{\f20 5}{\i \f50 ,}{\f40 {\field{\*\
fldinst SYMBOL 45 \\f Symbol }}}{\f20 4] }
\par}{\phpg\posx1701\pvpg\posy8242\absw7723\absh4552 \sl-299 \f10 \fs18 \cf0 \fi
3105 baja{\f20 :}{\i \f50 b}{\f20 [}{\f40 {\field{\*\fldinst SYMBOL 45 \\f Sym
bol }}}{\f20 3}{\i \f50 ,}{\f40 {\field{\*\fldinst SYMBOL 45 \\f Symbol }}}{\f2
0 4}{\i \f50 ,}{\f40 {\field{\*\fldinst SYMBOL 45 \\f Symbol }}}{\f20 3] }
\par}{\phpg\posx1701\pvpg\posy8242\absw7723\absh4552 \sl-297 \f10 \fs18 \cf0 \fi
2877 media{\f20 :}{\i \f50 m}{\f20 [}{\f40 {\field{\*\fldinst SYMBOL 45 \\f Sy
mbol }}}{\f20 3}{\i \f50 ,}{\f40 {\field{\*\fldinst SYMBOL 45 \\f Symbol }}}{\f
20 2}{\i \f50 ,}{\f40 {\field{\*\fldinst SYMBOL 45 \\f Symbol }}}{\f20 1] }
\par}{\phpg\posx1701\pvpg\posy8242\absw7723\absh4552 \sl-299 \f10 \fs18 \cf0 \fi
3446 alta{\f20 :}{\i \f50 a}{\f20 [}{\f40 {\field{\*\fldinst SYMBOL 45 \\f Sym
bol }}}{\f20 1}{\i \f50 ,}{\f20 0}{\i \f50 ,}{\f20 1] }
\par}{\phpg\posx1701\pvpg\posy8242\absw7723\absh4552 \sl-297 \f10 \fs18 \cf0 \fi
2983 muy alta{\f20 :}{\i \f50 ma}{\f20 [0}{\i \f50 ,}{\f20 1}{\i \f50 ,}{\f20
1] }
\par}{\phpg\posx1701\pvpg\posy8242\absw7723\absh4552 \sl-195 \par\f10 \fs18 \cf0
\fi297 Estos valores se definen mediante los editores de la herramienta de impl
ementacin
\par}{\phpg\posx1701\pvpg\posy8242\absw7723\absh4552 \sl-239 \f10 \fs18 \cf0 (vas
e las Figuras 14.26 y 14.27), seleccionando en cada caso el tipo de funcin de
\par}{\phpg\posx1701\pvpg\posy8242\absw7723\absh4552 \sl-239 \f10 \fs18 \cf0 per
tenencia (triangular o trapezoidal), as como los parmetros generales del contro\par}{\phpg\posx1701\pvpg\posy8242\absw7723\absh4552 \sl-237 \f10 \fs18 \cf0 lad
or (tanto operadores de implicacin y agregacin, como mtodos de fuzzificacin
\par}{\phpg\posx1701\pvpg\posy8242\absw7723\absh4552 \sl-239 \f10 \fs18 \cf0 y d
efuzzificacin).
\par}{\phpg\posx1701\pvpg\posy8242\absw7723\absh4552 \sl-237 \f10 \fs18 \cf0 \fi
297 Uno de los factores fundamentales para el buen funcionamiento del cont
rolador
\par}{\phpg\posx1701\pvpg\posy8242\absw7723\absh4552 \sl-239 \f10 \fs18 \cf0 bor
roso es la correcta especificacin de las reglas borrosas a utilizar. As, es necesa
rio
\par}{\phpg\posx1701\pvpg\posy8242\absw7723\absh4552 \sl-239 \f10 \fs18 \cf0 que
el experto del dominio establezca las reglas de forma apropiada. En este ejerci
cio se
\par}{\phpg\posx1701\pvpg\posy8242\absw7723\absh4552 \sl-237 \f10 \fs18 \cf0 imp
lementar el conjunto de reglas definido por [Hines, 1997] (Tabla 14.4), utilizand
o
\par}{\phpg\posx1701\pvpg\posy8242\absw7723\absh4552 \sl-239 \f10 \fs18 \cf0 el
editor de reglas de la Fuzzy Logic Toolbox de MATLAB (vase la Figura 14.28).
\par}{\phpg\posx1701\pvpg\posy8242\absw7723\absh4552 \sl-252 \par\f10 \fs18 \cf0
\fi3535 621 \par
}
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28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a
28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a
28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a
28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a
28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a
28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a
28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a0028a28a00fff
d9
}}\par}{\phpg\posx1701\pvpg\posy1429\absw596\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Control \par
}
{\phpg\posx1701\pvpg\posy4154\absw7424\absh374 \f10 \fs18 \cf0 \f10 \fs18 \cf0 F
igura 14.26: Edicin de las funciones de pertenencia utilizando la Fuzzy Logic Too

l\par}{\phpg\posx1701\pvpg\posy4154\absw7424\absh374 \sl-237 \f10 \fs18 \cf0 box.

\par
}
{\phpg\posx3295\pvpg\posy4836\absw692\absh2791 \f10 \fs14 \cf0 \f10 \fs14 \cf0 I
F error
\par}{\phpg\posx3295\pvpg\posy4836\absw692\absh2791 \sl-196 \f10 \fs14 \cf0 \fi2
56 ng
\par}{\phpg\posx3295\pvpg\posy4836\absw692\absh2791 \sl-199 \f10 \fs14 \cf0 \fi2
56 ng
\par}{\phpg\posx3295\pvpg\posy4836\absw692\absh2791 \sl-196 \f10 \fs14 \cf0 \fi2
56 ng
\par}{\phpg\posx3295\pvpg\posy4836\absw692\absh2791 \sl-196 \f10 \fs14 \cf0 \fi2
52 np
\par}{\phpg\posx3295\pvpg\posy4836\absw692\absh2791 \sl-196 \f10 \fs14 \cf0 \fi2
52 np
\par}{\phpg\posx3295\pvpg\posy4836\absw692\absh2791 \sl-196 \f10 \fs14 \cf0 \fi2
52 np
\par}{\phpg\posx3295\pvpg\posy4836\absw692\absh2791 \sl-199 \f10 \fs14 \cf0 \fi3
07 c
\par}{\phpg\posx3295\pvpg\posy4836\absw692\absh2791 \sl-196 \f10 \fs14 \cf0 \fi3
07 c
\par}{\phpg\posx3295\pvpg\posy4836\absw692\absh2791 \sl-196 \f10 \fs14 \cf0 \fi3
07 c
\par}{\phpg\posx3295\pvpg\posy4836\absw692\absh2791 \sl-196 \f10 \fs14 \cf0 \fi2
52 pp
\par}{\phpg\posx3295\pvpg\posy4836\absw692\absh2791 \sl-196 \f10 \fs14 \cf0 \fi2
52 pp
\par}{\phpg\posx3295\pvpg\posy4836\absw692\absh2791 \sl-196 \f10 \fs14 \cf0 \fi2
52 pp
\par}{\phpg\posx3295\pvpg\posy4836\absw692\absh2791 \sl-199 \f10 \fs14 \cf0 \fi2
56 pg
\par}{\phpg\posx3295\pvpg\posy4836\absw692\absh2791 \sl-196 \f10 \fs14 \cf0 \fi2
56 pg
\par}{\phpg\posx3295\pvpg\posy4836\absw692\absh2791 \sl-196 \f10 \fs14 \cf0 \fi2
56 pg \par
}
{\phpg\posx4233\pvpg\posy4836\absw1485\absh2791 \f10 \fs14 \cf0 \f10 \fs14 \cf0
AND velocidad-h
\par}{\phpg\posx4233\pvpg\posy4836\absw1485\absh2791 \sl-196 \f10 \fs14 \cf0 \fi
693 p
\par}{\phpg\posx4233\pvpg\posy4836\absw1485\absh2791 \sl-199 \f10 \fs14 \cf0 \fi
703 z
\par}{\phpg\posx4233\pvpg\posy4836\absw1485\absh2791 \sl-196 \f10 \fs14 \cf0 \fi
693 n
\par}{\phpg\posx4233\pvpg\posy4836\absw1485\absh2791 \sl-196 \f10 \fs14 \cf0 \fi
693 p
\par}{\phpg\posx4233\pvpg\posy4836\absw1485\absh2791 \sl-196 \f10 \fs14 \cf0 \fi
703 c
\par}{\phpg\posx4233\pvpg\posy4836\absw1485\absh2791 \sl-196 \f10 \fs14 \cf0 \fi
693 n
\par}{\phpg\posx4233\pvpg\posy4836\absw1485\absh2791 \sl-199 \f10 \fs14 \cf0 \fi
693 p
\par}{\phpg\posx4233\pvpg\posy4836\absw1485\absh2791 \sl-196 \f10 \fs14 \cf0 \fi
703 c
\par}{\phpg\posx4233\pvpg\posy4836\absw1485\absh2791 \sl-196 \f10 \fs14 \cf0 \fi
693 n
\par}{\phpg\posx4233\pvpg\posy4836\absw1485\absh2791 \sl-196 \f10 \fs14 \cf0 \fi
693 p
\par}{\phpg\posx4233\pvpg\posy4836\absw1485\absh2791 \sl-196 \f10 \fs14 \cf0 \fi

703 c
\par}{\phpg\posx4233\pvpg\posy4836\absw1485\absh2791 \sl-196 \f10 \fs14 \cf0 \fi
693 n
\par}{\phpg\posx4233\pvpg\posy4836\absw1485\absh2791 \sl-199 \f10 \fs14 \cf0 \fi
693 p
\par}{\phpg\posx4233\pvpg\posy4836\absw1485\absh2791 \sl-196 \f10 \fs14 \cf0 \fi
703 c
\par}{\phpg\posx4233\pvpg\posy4836\absw1485\absh2791 \sl-196 \f10 \fs14 \cf0 \fi
693 n \par
}
{\phpg\posx6028\pvpg\posy4836\absw1448\absh2791 \f10 \fs14 \cf0 \f10 \fs14 \cf0
THEN V-vlvula
\par}{\phpg\posx6028\pvpg\posy4836\absw1448\absh2791 \sl-196 \f10 \fs14 \cf0 \fi
576 mb
\par}{\phpg\posx6028\pvpg\posy4836\absw1448\absh2791 \sl-199 \f10 \fs14 \cf0 \fi
576 mb
\par}{\phpg\posx6028\pvpg\posy4836\absw1448\absh2791 \sl-196 \f10 \fs14 \cf0 \fi
643 b
\par}{\phpg\posx6028\pvpg\posy4836\absw1448\absh2791 \sl-196 \f10 \fs14 \cf0 \fi
643 b
\par}{\phpg\posx6028\pvpg\posy4836\absw1448\absh2791 \sl-196 \f10 \fs14 \cf0 \fi
643 b
\par}{\phpg\posx6028\pvpg\posy4836\absw1448\absh2791 \sl-196 \f10 \fs14 \cf0 \fi
621 m
\par}{\phpg\posx6028\pvpg\posy4836\absw1448\absh2791 \sl-199 \f10 \fs14 \cf0 \fi
621 m
\par}{\phpg\posx6028\pvpg\posy4836\absw1448\absh2791 \sl-196 \f10 \fs14 \cf0 \fi
621 m
\par}{\phpg\posx6028\pvpg\posy4836\absw1448\absh2791 \sl-196 \f10 \fs14 \cf0 \fi
621 m
\par}{\phpg\posx6028\pvpg\posy4836\absw1448\absh2791 \sl-196 \f10 \fs14 \cf0 \fi
621 m
\par}{\phpg\posx6028\pvpg\posy4836\absw1448\absh2791 \sl-196 \f10 \fs14 \cf0 \fi
648 a
\par}{\phpg\posx6028\pvpg\posy4836\absw1448\absh2791 \sl-196 \f10 \fs14 \cf0 \fi
648 a
\par}{\phpg\posx6028\pvpg\posy4836\absw1448\absh2791 \sl-199 \f10 \fs14 \cf0 \fi
648 a
\par}{\phpg\posx6028\pvpg\posy4836\absw1448\absh2791 \sl-196 \f10 \fs14 \cf0 \fi
578 ma
\par}{\phpg\posx6028\pvpg\posy4836\absw1448\absh2791 \sl-196 \f10 \fs14 \cf0 \fi
578 ma \par
}
{\phpg\posx3508\pvpg\posy8390\absw3759\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 T
abla 14.4: Reglas del controlador borroso. \par
}
{\phpg\posx2258\pvpg\posy11944\absw6253\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0
Figura 14.27: Ventana principal de la Fuzzy Logic Toolboxde MATLAB. \par
}
{\phpg\posx5236\pvpg\posy13123\absw359\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 6
22 \par
}
\sect\sectd\pard\plain
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a00fffd9
}}\par}{\phpg\posx6746\pvpg\posy1429\absw2320\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Arquitecturas y herramientas \par
}
{\phpg\posx1701\pvpg\posy6971\absw7384\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 F
igura 14.28: Edicin de reglas borrosas utilizando Fuzzy Logic Toolbox de MATLAB.
\par
}
{\phpg\posx1701\pvpg\posy7898\absw7539\absh4033 \f10 \fs18 \cf0 \fi297 \f10 \fs1
8 \cf0 Finalmente, se integra el controlador generado por la herramienta
Fuzzy Logic
\par}{\phpg\posx1701\pvpg\posy7898\absw7539\absh4033 \sl-237 \f10 \fs18 \cf0 Too
lbox en Simulink, encapsulndolo en un bloque denominado ControladorBorroso,
\par}{\phpg\posx1701\pvpg\posy7898\absw7539\absh4033 \sl-239 \f10 \fs18 \cf0 cuy
a salida se conectar directamente a la planta (bloque Contenedor), como muestra
\par}{\phpg\posx1701\pvpg\posy7898\absw7539\absh4033 \sl-239 \f10 \fs18 \cf0 la
Figura 14.25.
\par}{\phpg\posx1701\pvpg\posy7898\absw7539\absh4033 \sl-237 \f10 \fs18 \cf0 \fi
297 Para la simulacin, se establece inicialmente una seal de referencia (nivel de
agua
\par}{\phpg\posx1701\pvpg\posy7898\absw7539\absh4033 \sl-239 \f10 \fs18 \cf0 esp
erado) con un valor de 24.3, saltando despus a un segundo nivel de ref
erencia
\par}{\phpg\posx1701\pvpg\posy7898\absw7539\absh4033 \sl-239 \f10 \fs18 \cf0 fij
ado en 14.3. En Simulink, esto se implementa utilizando un bloque de
tipo Step
\par}{\phpg\posx1701\pvpg\posy7898\absw7539\absh4033 \sl-237 \f10 \fs18 \cf0 (Pa
so), que mantendr un valor de 0 hasta llegar al segundo 50, pasando a tener un
\par}{\phpg\posx1701\pvpg\posy7898\absw7539\absh4033 \sl-239 \f10 \fs18 \cf0 val
or de 10 que se restar a la constante del nivel de referencia (24.3). Los resulta
dos
\par}{\phpg\posx1701\pvpg\posy7898\absw7539\absh4033 \sl-237 \f10 \fs18 \cf0 de

la simulacin (vase la Figura 14.29 izquierda) muestran cmo se adapta el nivel

\par}{\phpg\posx1701\pvpg\posy7898\absw7539\absh4033 \sl-239 \f10 \fs18 \cf0 de
agua del tanque a los valores de referencia establecidos, gracias a
la accin del
\par}{\phpg\posx1701\pvpg\posy7898\absw7539\absh4033 \sl-239 \f10 \fs18 \cf0 con
trolador borroso sobre la vlvula de entrada de agua. Como puede observ
arse,
\par}{\phpg\posx1701\pvpg\posy7898\absw7539\absh4033 \sl-237 \f10 \fs18 \cf0 tra
nscurre un cierto tiempo tras el cambio brusco del nivel de referencia hasta qu
e
\par}{\phpg\posx1701\pvpg\posy7898\absw7539\absh4033 \sl-239 \f10 \fs18 \cf0 el
nivel real se aproxima al esperado. En cuanto a la seal de control, se mantiene
\par}{\phpg\posx1701\pvpg\posy7898\absw7539\absh4033 \sl-239 \f10 \fs18 \cf0 prct
icamente estable hasta llegar al instante 50, en el que el controlador aplica un
a
\par}{\phpg\posx1701\pvpg\posy7898\absw7539\absh4033 \sl-237 \f10 \fs18 \cf0 seal
de apertura mxima de la vlvula. Tras unos pocos segundos, cuando el nivel
\par}{\phpg\posx1701\pvpg\posy7898\absw7539\absh4033 \sl-239 \f10 \fs18 \cf0 rea
l comienza a acercarse al nuevo nivel de referencia, el controlador cierra de nu
evo
\par}{\phpg\posx1701\pvpg\posy7898\absw7539\absh4033 \sl-237 \f10 \fs18 \cf0 la
vlvula gradualmente, y despus la mantiene estable pero ligeramente ms cerrada
\par}{\phpg\posx1701\pvpg\posy7898\absw7539\absh4033 \sl-239 \f10 \fs18 \cf0 que
al principio (vase la Figura 14.29 derecha). \par
}
{\phpg\posx5236\pvpg\posy13123\absw359\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 6
23 \par
}
\sect\sectd\pard\plain
\pgwsxn10771\pghsxn14740
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}}\par}{\phpg\posx1701\pvpg\posy1429\absw596\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Control \par
}
{\phpg\posx1701\pvpg\posy4670\absw7369\absh374 \f10 \fs18 \cf0 \f10 \fs18 \cf0 F
igura 14.29: Durante la simulacin: (izquierda) Niveles de agua esperado (rosa)
y
\par}{\phpg\posx1701\pvpg\posy4670\absw7369\absh374 \sl-237 \f10 \fs18 \cf0 actu
al (amarillo).Valores de la seal de control (derecha). \par
}
{\phpg\posx1701\pvpg\posy5603\absw706\absh231 \f10 \fs25 \cf0 \f10 \fs25 \cf0 14
.6 \par
}
{\phpg\posx2577\pvpg\posy5603\absw3412\absh231 \f10 \fs25 \cf0 \f10 \fs25 \cf0 A
rquitecturas de pizarra \par
}
{\phpg\posx1701\pvpg\posy6177\absw7616\absh2553 \f10 \fs18 \cf0 \fi297 \f10 \fs1
8 \cf0 Las arquitecturas de pizarra son arquitecturas genricas, es decir independ
ientes
\par}{\phpg\posx1701\pvpg\posy6177\absw7616\absh2553 \sl-239 \f10 \fs18 \cf0 de
la tarea y de la aplicacin. Prescriben la integracin de mltiples mdulos
de
\par}{\phpg\posx1701\pvpg\posy6177\absw7616\absh2553 \sl-237 \f10 \fs18 \cf0 res
olucin de problemas, que se comunican entre s a travs de un repositorio
de
\par}{\phpg\posx1701\pvpg\posy6177\absw7616\absh2553 \sl-239 \f10 \fs18 \cf0 dat
os globalmente accesible [Hunt, 2002]. Los mdulos de resolucin de problemas se
\par}{\phpg\posx1701\pvpg\posy6177\absw7616\absh2553 \sl-239 \f10 \fs18 \cf0 den
ominan fuentes de conocimiento y la base de datos central se denomina pizarra.
\par}{\phpg\posx1701\pvpg\posy6177\absw7616\absh2553 \sl-237 \f10 \fs18 \cf0 En
esencia, se trata de una arquitectura para la resolucin distribuida de problemas
\par}{\phpg\posx1701\pvpg\posy6177\absw7616\absh2553 \sl-239 \f10 \fs18 \cf0 com
plejos.
\par}{\phpg\posx1701\pvpg\posy6177\absw7616\absh2553 \sl-266 \f10 \fs18 \cf0 \fi
297 Una de las principales caractersticas de este tipo de arquitectura software e
s su
\par}{\phpg\posx1701\pvpg\posy6177\absw7616\absh2553 \sl-239 \f10 \fs18 \cf0 cap
acidad para soportar esquemas de razonamiento reactivo que permiten responder
\par}{\phpg\posx1701\pvpg\posy6177\absw7616\absh2553 \sl-237 \f10 \fs18 \cf0 rpid
amente a eventos ocurridos en el mundo exterior. Esto las hace idneas
para
\par}{\phpg\posx1701\pvpg\posy6177\absw7616\absh2553 \sl-239 \f10 \fs18 \cf0 tar
eas en las que es necesario realizar interpretacin de seales, y especialmente en
\par}{\phpg\posx1701\pvpg\posy6177\absw7616\absh2553 \sl-239 \f10 \fs18 \cf0 apl
icaciones al control y supervisin de procesos. \par
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.6.1 \par
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{\phpg\posx2656\pvpg\posy9514\absw2640\absh192 \f10 \fs21 \cf0 \f10 \fs21 \cf0 M
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{\phpg\posx1701\pvpg\posy9959\absw7613\absh3007 \f10 \fs18 \cf0 \fi297 \f10 \fs1
8 \cf0 Las arquitecturas de pizarra se basan en una idea propuesta ori
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\par}{\phpg\posx1701\pvpg\posy9959\absw7613\absh3007 \sl-239 \f10 \fs18 \cf0 New
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o un papel relevante en la historia de la IA y han servido de fuente de inspirac
in
\par}{\phpg\posx1701\pvpg\posy9959\absw7613\absh3007 \sl-239 \f10 \fs18 \cf0 par
a otras arquitecturas ms novedosas, que han recogido y actualizado sus ideas b\par}{\phpg\posx1701\pvpg\posy9959\absw7613\absh3007 \sl-239 \f10 \fs18 \cf0 sic
as. En la actualidad, existen otras arquitecturas para la resolucin distribuida d
e
\par}{\phpg\posx1701\pvpg\posy9959\absw7613\absh3007 \sl-237 \f10 \fs18 \cf0 pro
blemas que gozan de mayor popularidad, como es el caso de los sistemas multi\par}{\phpg\posx1701\pvpg\posy9959\absw7613\absh3007 \sl-239 \f10 \fs18 \cf0 age
nte. No obstante, existen diferencias esenciales entre ambas aproximaciones, que
\par}{\phpg\posx1701\pvpg\posy9959\absw7613\absh3007 \sl-237 \f10 \fs18 \cf0 del
imitan el mbito de aplicacin preferencial de cada tipo de arquitectura.
\par}{\phpg\posx1701\pvpg\posy9959\absw7613\absh3007 \sl-268 \f10 \fs18 \cf0 \fi
297 La idea original de Newell consista en un modelo idealizado de la resolucin de
\par}{\phpg\posx1701\pvpg\posy9959\absw7613\absh3007 \sl-237 \f10 \fs18 \cf0 pro
blemas en grupo, y se puede formalizar en los siguientes trminos [Corkill, 1991;
\par}{\phpg\posx1701\pvpg\posy9959\absw7613\absh3007 \sl-239 \f10 \fs18 \cf0 New
ell, 1962]:
\par}{\phpg\posx1701\pvpg\posy9959\absw7613\absh3007 \sl-251 \par\f10 \fs18 \cf0
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}}\par}{\phpg\posx1701\pvpg\posy1429\absw596\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Control \par
}
{\phpg\posx1943\pvpg\posy2047\absw7262\absh2217 \f10 \fs18 \cf0 \fi254 \f10 \fs1
8 \cf0 aplicado a los hechos almacenados en la pizarra, produciendo nuevos datos
que

\par}{\phpg\posx1943\pvpg\posy2047\absw7262\absh2217 \sl-237 \f10 \fs18 \cf0 \fi

254 quedarn tambin registrados en la pizarra. El trmino fuente de conocimiento
\par}{\phpg\posx1943\pvpg\posy2047\absw7262\absh2217 \sl-239 \f10 \fs18 \cf0 \fi
254 suele abreviarse como KS (Knowledge Source en ingls).
\par}{\phpg\posx1943\pvpg\posy2047\absw7262\absh2217 \sl-186 \par\f10 \fs18 \cf0
3. Un Mecanismo de Control: Es un nico mdulo central que examina el estado
\par}{\phpg\posx1943\pvpg\posy2047\absw7262\absh2217 \sl-239 \f10 \fs18 \cf0 \fi
254 de la solucin en la pizarra e inicia la ejecucin de las KS ms apropiadas para
\par}{\phpg\posx1943\pvpg\posy2047\absw7262\absh2217 \sl-239 \f10 \fs18 \cf0 \fi
254 avanzar en la resolucin del problema. El mecanismo de control tiene informa\par}{\phpg\posx1943\pvpg\posy2047\absw7262\absh2217 \sl-237 \f10 \fs18 \cf0 \fi
254 cin sobre el tipo de conocimiento contenido en cada fuente. En funcin de ello,
\par}{\phpg\posx1943\pvpg\posy2047\absw7262\absh2217 \sl-239 \f10 \fs18 \cf0 \fi
254 y de los cambios producidos en la pizarra, establece prioridades entre las K
S y
\par}{\phpg\posx1943\pvpg\posy2047\absw7262\absh2217 \sl-239 \f10 \fs18 \cf0 \fi
254 decide cual se aplicar a continuacin. Implementa, por tanto, la estrategia de
\par}{\phpg\posx1943\pvpg\posy2047\absw7262\absh2217 \sl-237 \f10 \fs18 \cf0 \fi
254 resolucin del problema. \par
}
{\phpg\posx2460\pvpg\posy9338\absw5873\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 F
igura 14.30: Componentes bsicos de una arquitectura de pizarra. \par
}
{\phpg\posx1701\pvpg\posy10071\absw754\absh192 \f10 \fs21 \cf0 \f10 \fs21 \cf0 1
4.6.3 \par
}
{\phpg\posx2656\pvpg\posy10071\absw1867\absh192 \f10 \fs21 \cf0 \f10 \fs21 \cf0
Ciclo de control \par
}
{\phpg\posx1701\pvpg\posy10466\absw7578\absh2551 \f10 \fs18 \cf0 \fi297 \f10 \fs
18 \cf0 Un principio bsico de las arquitecturas de pizarra es que las KS son inde
pendientes
\par}{\phpg\posx1701\pvpg\posy10466\absw7578\absh2551 \sl-239 \f10 \fs18 \cf0 y
autoactivables. Son independientes porque su ejecucin no depende explcitamente
\par}{\phpg\posx1701\pvpg\posy10466\absw7578\absh2551 \sl-239 \f10 \fs18 \cf0 de
la ejecucin de otras KS y la nica comunicacin con otras KS es a travs de la
\par}{\phpg\posx1701\pvpg\posy10466\absw7578\absh2551 \sl-237 \f10 \fs18 \cf0 pi
zarra. Son autoactivables porque la activacin de una KS se determina slo a partir
\par}{\phpg\posx1701\pvpg\posy10466\absw7578\absh2551 \sl-239 \f10 \fs18 \cf0 de
l estado actual de la pizarra.
\par}{\phpg\posx1701\pvpg\posy10466\absw7578\absh2551 \sl-237 \f10 \fs18 \cf0 \f
i297 En principio, por tanto, no hara falta un mecanismo de control central. Sin
em\par}{\phpg\posx1701\pvpg\posy10466\absw7578\absh2551 \sl-239 \f10 \fs18 \cf0 ba
rgo, y en ausencia de la posibilidad de un intercambio de mensajes directo entre
\par}{\phpg\posx1701\pvpg\posy10466\absw7578\absh2551 \sl-239 \f10 \fs18 \cf0 di
stintas KS, es preferible coordinar globalmente el orden de ejecucin de las KS pa
ra
\par}{\phpg\posx1701\pvpg\posy10466\absw7578\absh2551 \sl-237 \f10 \fs18 \cf0 ga
rantizar que, en cada momento, se elijan las acciones ms prometedoras. D
e es\par}{\phpg\posx1701\pvpg\posy10466\absw7578\absh2551 \sl-239 \f10 \fs18 \cf0 ta
forma, se evita perseguir lneas de razonamiento que tienen poca probabilidad de
\par}{\phpg\posx1701\pvpg\posy10466\absw7578\absh2551 \sl-252 \par\f10 \fs18 \cf
0 \fi3535 626 \par
}
\sect\sectd\pard\plain
\pgwsxn10771\pghsxn14740

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145007ffd9
}}\par}{\phpg\posx7142\pvpg\posy1429\absw1926\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Arquitecturas de pizarra \par
}
{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \f10 \fs18 \cf0 \f10 \fs18 \cf0
contribuir a la solucin. Adems, se facilita el cambio dinmico del foco de razona\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-237 \f10 \fs18 \cf0 mi
ento. As, cuando llegan datos del mundo exterior que requieren mayor prioridad de
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-239 \f10 \fs18 \cf0 at
encin, o que puedan explotarse para avanzar ms rpidamente en la construccin
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-239 \f10 \fs18 \cf0 de
la solucin, un mecanismo de control central puede reaccionar inmediatamen
te,
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-237 \f10 \fs18 \cf0 ca
mbiando el foco de razonamiento para sacar mayor partido de la nueva situacin.
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i297 En las arquitecturas de pizarra se introduce un mecanismo de control centra
l que
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-239 \f10 \fs18 \cf0 ap
lica conocimiento para focalizar el proceso de razonamiento sobre el problema. E
l
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-237 \f10 \fs18 \cf0 ci
clo de control bsico implementado por este mecanismo consta de tres fases:
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-184 \par\f10 \fs18 \cf
0 \fi242 1. Comparar: Determina las KS que deben ser disparadas y activadas.
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-191 \par\f10 \fs18 \cf
0 \fi242 2. Deliberar: Elige una KS para ser ejecutada, decidiendo cul es la ms a

propiada
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 para la situacin actual.
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-191 \par\f10 \fs18 \cf
0 \fi242 3. Actuar: Se aplica la accin de la KS elegida.
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-184 \par\f10 \fs18 \cf
0 \fi297 La arquitectura bsica de HEARSAY-II introdujo un mecanismo de control b
a\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-239 \f10 \fs18 \cf0 sa
do en agenda. Esto significa que utiliza una estructura de datos, la agenda
, para
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-237 \f10 \fs18 \cf0 al
macenar las posibles actividades a realizar, y que en cada ciclo, las actividade
s son
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-239 \f10 \fs18 \cf0 pr
iorizadas, seleccionndose la de mayor prioridad.
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-237 \f10 \fs18 \cf0 \f
i297 Los componentes fundamentales de un mecanismo de control basado en agenda
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-239 \f10 \fs18 \cf0 so
n (vase la Figura 14.31):
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-184 \par\f10 \fs18 \cf
0 \fi297 {\f0\fs23 \bullet }{\f40 } Monitor de Pizarra: Identifica las KS que d
eben ser disparadas y activadas, a
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 partir de los eventos producidos en la fase final del ciclo anterior. Si el
evento es
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-237 \f10 \fs18 \cf0 \f
i496 relevante para el conocimiento de una KS, se dice que la KS ha sido dispara
da.
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 Si la KS es aplicable, es decir, si el estado global de la pizarra es tal q
ue la KS
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 puede desarrollar su funcin, se dice que la KS ha sido activada.
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-191 \par\f10 \fs18 \cf
0 \fi297 {\f0\fs23 \bullet }{\f40 } Agenda: Almacena las KS activadas.
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-191 \par\f10 \fs18 \cf
0 \fi297 {\f0\fs23 \bullet }{\f40 } Base de Datos del Foco del Control: Almacen
a informacin para determinar las
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-237 \f10 \fs18 \cf0 \f
i496 "reas ms prometedoras" de la pizarra.
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-191 \par\f10 \fs18 \cf
0 \fi297 {\f0\fs23 \bullet }{\f40 } Planificador: Establece unas prioridades en
tre las KS disponibles en la Agenda,
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 en funcin del rea de pizarra sobre la que es capaz de actuar cada KS activada
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 y de la informacin suministrada por la base de datos del foco de
l control.
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-237 \f10 \fs18 \cf0 \f
i496 Despus, selecciona una KS de alta prioridad y ejecuta su parte de accin.
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-184 \par\f10 \fs18 \cf
0 \fi297 En la Figura 14.32 se muestra un esquema del ciclo de control bsico. Cad
a recua\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-239 \f10 \fs18 \cf0 dr
o representa el componente que se ejecuta en cada fase del ciclo. Las etiquetas
de
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-239 \f10 \fs18 \cf0 lo
s arcos indican qu informacin se produce tras la aplicacin de cada componente.

\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-237 \f10 \fs18 \cf0 \f

i297 La fase inicial consiste en identificar las KS disparadas, y la implementa
el monitor
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-239 \f10 \fs18 \cf0 de
pizarra. Cada KS tiene asociada una lista de los tipos de eventos en los que es
t
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-237 \f10 \fs18 \cf0 in
teresada.
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i297 Cuando ocurre un cambio en la pizarra, ste se notifica al monitor
de pizarra,
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-239 \f10 \fs18 \cf0 qu
e identifica el tipo de evento a que corresponde. El monitor de pizarra localiza
las
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-237 \f10 \fs18 \cf0 KS
que deben ser disparadas a partir de las asociaciones entre KS y tipos de event
o
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-239 \f10 \fs18 \cf0 de
finidas al disear cada KS.
\par}{\phpg\posx1701\pvpg\posy2047\absw7587\absh10129 \sl-252 \par\f10 \fs18 \cf
0 \fi3535 627 \par
}
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}}\par}{\phpg\posx1701\pvpg\posy1429\absw596\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Control \par
}

{\phpg\posx1701\pvpg\posy6633\absw7427\absh374 \f10 \fs18 \cf0 \f10 \fs18 \cf0 F

igura 14.31: Componentes del mecanismo de control de una arquitectura bsica de
\par}{\phpg\posx1701\pvpg\posy6633\absw7427\absh374 \sl-237 \f10 \fs18 \cf0 piza
rra. \par
}
{\phpg\posx2001\pvpg\posy11371\absw6827\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0
Figura 14.32: Fases del ciclo de control de una arquitectura bsica de pizarra. \p
ar
}
{\phpg\posx1701\pvpg\posy12141\absw7382\absh1044 \f10 \fs18 \cf0 \fi297 \f10 \fs
18 \cf0 A continuacin, el monitor de pizarra invoca las precondiciones de cada KS
dispa\par}{\phpg\posx1701\pvpg\posy12141\absw7382\absh1044 \sl-237 \f10 \fs18 \cf0 ra
da, con el objetivo de determinar si debe quedar activada. La precondicin de una
\par}{\phpg\posx1701\pvpg\posy12141\absw7382\absh1044 \sl-239 \f10 \fs18 \cf0 KS
es una pieza de cdigo que retorna:
\par}{\phpg\posx1701\pvpg\posy12141\absw7382\absh1044 \sl-251 \par\f10 \fs18 \cf
0 \fi3535 628 \par
}
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145007ffd9
}}\par}{\phpg\posx1701\pvpg\posy1429\absw596\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Control \par
}
{\phpg\posx1701\pvpg\posy2019\absw754\absh192 \f10 \fs21 \cf0 \f10 \fs21 \cf0 14
.6.4 \par
}
{\phpg\posx2655\pvpg\posy2019\absw5418\absh192 \f10 \fs21 \cf0 \f10 \fs21 \cf0 C
aractersticas de las arquitecturas de pizarra \par
}
{\phpg\posx1701\pvpg\posy2431\absw7612\absh5539 \f10 \fs18 \cf0 \fi297 \f10 \fs1
8 \cf0 Las caractersticas principales de los sistemas de pizarra se pueden resumi
r en los
\par}{\phpg\posx1701\pvpg\posy2431\absw7612\absh5539 \sl-237 \f10 \fs18 \cf0 sig
uientes puntos [Corkill, 1991]:
\par}{\phpg\posx1701\pvpg\posy2431\absw7612\absh5539 \sl-236 \par\f10 \fs18 \cf0
\fi242 1. Modularizacin y heterogeneidad de la experiencia: Cada KS es especia\par}{\phpg\posx1701\pvpg\posy2431\absw7612\absh5539 \sl-239 \f10 \fs18 \cf0 \fi
496 lista en resolver ciertas partes del problema, independientemente de las dems
.
\par}{\phpg\posx1701\pvpg\posy2431\absw7612\absh5539 \sl-237 \f10 \fs18 \cf0 \fi
496 Slo precisa que la pizarra contenga la informacin estrictamente necesaria para
\par}{\phpg\posx1701\pvpg\posy2431\absw7612\absh5539 \sl-239 \f10 \fs18 \cf0 \fi
496 resolver su parcela del problema, sin comunicacin directa entre otros especia
\par}{\phpg\posx1701\pvpg\posy2431\absw7612\absh5539 \sl-237 \f10 \fs18 \cf0 \fi
496 listas. Sus mtodos de resolucin de problemas pueden ser diferentes a los de
\par}{\phpg\posx1701\pvpg\posy2431\absw7612\absh5539 \sl-239 \f10 \fs18 \cf0 \fi
496 otras KS. Esto facilita la implementacin de sistemas hbridos que integren, por
\par}{\phpg\posx1701\pvpg\posy2431\absw7612\absh5539 \sl-239 \f10 \fs18 \cf0 \fi
496 ejemplo, redes neuronales y sistemas basados en conocimiento.
\par}{\phpg\posx1701\pvpg\posy2431\absw7612\absh5539 \sl-215 \par\f10 \fs18 \cf0
\fi242 2. Lenguaje de interaccin comn: La informacin contenida en la pizarra debe
\par}{\phpg\posx1701\pvpg\posy2431\absw7612\absh5539 \sl-239 \f10 \fs18 \cf0 \fi
496 proporcionarse en un lenguaje de representacin comn, para que sea inteligible
\par}{\phpg\posx1701\pvpg\posy2431\absw7612\absh5539 \sl-237 \f10 \fs18 \cf0 \fi
496 para las otras KS. El lenguaje debe ser lo suficientemente {\f63 \u64258\'3f
}exible para acomodar
\par}{\phpg\posx1701\pvpg\posy2431\absw7612\absh5539 \sl-239 \f10 \fs18 \cf0 \fi
496 las contribuciones de los distintos especialistas.
\par}{\phpg\posx1701\pvpg\posy2431\absw7612\absh5539 \sl-215 \par\f10 \fs18 \cf0
\fi242 3. Niveles de abstraccin: En un problema complejo es importante subdiv
idir
\par}{\phpg\posx1701\pvpg\posy2431\absw7612\absh5539 \sl-239 \f10 \fs18 \cf0 \fi
496 la informacin, de forma que la pizarra quede organizada en regiones, cada una
\par}{\phpg\posx1701\pvpg\posy2431\absw7612\absh5539 \sl-237 \f10 \fs18 \cf0 \fi
496 de ellas asociada a un tipo de informacin. De esta forma, a cada es
pecialis\par}{\phpg\posx1701\pvpg\posy2431\absw7612\absh5539 \sl-239 \f10 \fs18 \cf0 \fi
496 ta le resulta ms fcil localizar rpidamente la informacin relativa a su rea
\par}{\phpg\posx1701\pvpg\posy2431\absw7612\absh5539 \sl-237 \f10 \fs18 \cf0 \fi

496 de experiencia. Aunque la metfora de Newell no lo planteaba directa

mente,
\par}{\phpg\posx1701\pvpg\posy2431\absw7612\absh5539 \sl-239 \f10 \fs18 \cf0 \fi
496 las primeras implementaciones de sistemas de pizarra optaron por organizar l
a
\par}{\phpg\posx1701\pvpg\posy2431\absw7612\absh5539 \sl-239 \f10 \fs18 \cf0 \fi
496 pizarra en niveles de abstraccin.
\par}{\phpg\posx1701\pvpg\posy2431\absw7612\absh5539 \sl-335 \f10 \fs18 \cf0 \fi
496 Esta organizacin por niveles de abstraccin puede convivir con otras organi\par}{\phpg\posx1701\pvpg\posy2431\absw7612\absh5539 \sl-237 \f10 \fs18 \cf0 \fi
496 zaciones basadas en distintas dimensiones (tiempo, espacio, tipos enumerados
,
\par}{\phpg\posx1701\pvpg\posy2431\absw7612\absh5539 \sl-239 \f10 \fs18 \cf0 \fi
496 etc.) \par
}
{\phpg\posx1943\pvpg\posy8839\absw193\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 4.
\par
}
{\phpg\posx2198\pvpg\posy8839\absw7034\absh1236 \f10 \fs18 \cf0 \fi93 \f10 \fs18
\cf0 Construccin incremental de la solucin: Las soluciones completas son
\par}{\phpg\posx2198\pvpg\posy8839\absw7034\absh1236 \sl-239 \f10 \fs18 \cf0 con
struidas pieza a pieza, y en diferentes niveles de abstraccin, combinand
o
\par}{\phpg\posx2198\pvpg\posy8839\absw7034\absh1236 \sl-237 \f10 \fs18 \cf0 gra
dualmente las contribuciones de los distintos especialistas. El sistema pue\par}{\phpg\posx2198\pvpg\posy8839\absw7034\absh1236 \sl-239 \f10 \fs18 \cf0 de
conmutar dinmicamente entre distintos niveles de abstraccin, persiguiendo
\par}{\phpg\posx2198\pvpg\posy8839\absw7034\absh1236 \sl-239 \f10 \fs18 \cf0 lnea
s de razonamiento que pueden ser independientes, cooperativas o competi\par}{\phpg\posx2198\pvpg\posy8839\absw7034\absh1236 \sl-237 \f10 \fs18 \cf0 tiv
as. \par
}
{\phpg\posx1943\pvpg\posy10466\absw7354\absh2551 \f10 \fs18 \cf0 \f10 \fs18 \cf0
5. Reactividad: Se dice que un sistema implementa un control reactivo cuando e
s
\par}{\phpg\posx1943\pvpg\posy10466\absw7354\absh2551 \sl-239 \f10 \fs18 \cf0 \f
i254 capaz de reaccionar a los cambios que ocurran en el entorno exterior en un
plazo
\par}{\phpg\posx1943\pvpg\posy10466\absw7354\absh2551 \sl-239 \f10 \fs18 \cf0 \f
i254 de tiempo aceptable. Las arquitecturas de pizarra son inherentemente reacti
vas:
\par}{\phpg\posx1943\pvpg\posy10466\absw7354\absh2551 \sl-237 \f10 \fs18 \cf0 \f
i254 la entrada de nuevos datos externos en la pizarra provoca eventos que dispa
ran
\par}{\phpg\posx1943\pvpg\posy10466\absw7354\absh2551 \sl-239 \f10 \fs18 \cf0 \f
i254 y activan KS capaces de responder a ellos. Esto es eficiente porque, en lug
ar de
\par}{\phpg\posx1943\pvpg\posy10466\absw7354\absh2551 \sl-237 \f10 \fs18 \cf0 \f
i254 tener que explorar toda la pizarra para localizar qu informacin nueva se ha
\par}{\phpg\posx1943\pvpg\posy10466\absw7354\absh2551 \sl-239 \f10 \fs18 \cf0 \f
i254 introducido, es la pizarra la que informa de la ocurrencia de eventos de un
tipo
\par}{\phpg\posx1943\pvpg\posy10466\absw7354\absh2551 \sl-239 \f10 \fs18 \cf0 \f
i254 determinado y el sistema activa a los especialistas interesados en la ocurr
encia de
\par}{\phpg\posx1943\pvpg\posy10466\absw7354\absh2551 \sl-237 \f10 \fs18 \cf0 \f
i254 ese tipo de eventos. La respuesta a los cambios externos es rpida: en cada n
uevo
\par}{\phpg\posx1943\pvpg\posy10466\absw7354\absh2551 \sl-239 \f10 \fs18 \cf0 \f
i254 ciclo de control se determinan las nuevas KSI generadas por los nuevosevent

os,
\par}{\phpg\posx1943\pvpg\posy10466\absw7354\absh2551 \sl-251 \par\f10 \fs18 \cf
0 \fi3292 630 \par
}
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}}\par}{\phpg\posx7142\pvpg\posy1429\absw1926\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Arquitecturas de pizarra \par
}
{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \f10 \fs18 \cf0 \fi496 \f10 \fs
18 \cf0 y entran a formar parte de las KSI elegibles. No hay que espera
r a terminar
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-237 \f10 \fs18 \cf0 \f
i496 un plan en curso para responder a la nueva informacin, como ocurrira en un
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 sistema con razonamiento dirigido por objetivos.
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-260 \par\f10 \fs18 \cf
0 \fi242 6. Oportunismo: Control oportunista significa que el sistema es capaz
de deter\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 minar y escoger como siguiente accin aquella que le permitir avanzar mejor
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 hacia la solucin, dado el estado actual de la pizarra. El oportunismo implic
a la
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-237 \f10 \fs18 \cf0 \f
i496 existencia de un mecanismo de refocalizacin: el sistema cambia el foco de at
en-

\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-239 \f10 \fs18 \cf0 \f

i496 cin para sacar partido de una nueva situacin, entendiendo por nueva situacin
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-237 \f10 \fs18 \cf0 \f
i496 la disponibilidad de nuevos datos o de nuevas hiptesis ms prometedoras que
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 las previas. Las arquitecturas de pizarra son oportunistas porque en cada n
ue\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 vo ciclo de control reevalan todas las KSI disponibles en trminos del estado
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-237 \f10 \fs18 \cf0 \f
i496 actual (vuelven a calcular la prioridad, que puede haber cambiado al cambia
r
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 el estado de la pizarra). Para que un sistema sea oportunista debe ser forz
osa\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 mente reactivo. Si el sistema no fuese reactivo a los cambios en el entorno
, las
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-237 \f10 \fs18 \cf0 \f
i496 KSI capaces de responder no seran identificadas inmediatamente, y el sistema
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 no podra decidir refocalizar su atencin hacia ellos. El inverso no es cierto.
Un
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-237 \f10 \fs18 \cf0 \f
i496 sistema reactivo no es necesariamente oportunista. Adems de determinar las
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 posibles respuestas a los cambios en el entorno, debe deliberar y escoger l
a mejor
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 respuesta a la situacin global.
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-279 \par\f10 \fs18 \cf
0 \fi297 En contrapartida, las arquitecturas de pizarra presentan algunos inconv
enientes.
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-239 \f10 \fs18 \cf0 Lo
s dos principales son los siguientes:
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-280 \par\f10 \fs18 \cf
0 \fi242 1. El oportunismo introduce una sobrecarga en el control: En
cada nuevo ciclo
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 de control hay que volver a calcular las prioridades de las KSI
antiguas que
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-237 \f10 \fs18 \cf0 \f
i496 permanecen en la agenda. El oportunismo obliga a identificar la m
ejor KSI
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 en funcin del nuevo estado de la pizarra. Adems, en cada nuevo ci
clo de
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-237 \f10 \fs18 \cf0 \f
i496 control hay que determinar si las KSI antiguas, que permanecen en la agenda
,
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 son todava aplicables. Los cambios en la pizarra pueden hacer que
dejen de
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 verificarse sus precondiciones.
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-260 \par\f10 \fs18 \cf
0 \fi242 2. El control oportunista se contrapone al control dirigido po
r objetivos. En el
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-239 \f10 \fs18 \cf0 \f

i496 segundo caso, el sistema elige un objetivo, construye un plan para alcanzar
el
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-237 \f10 \fs18 \cf0 \f
i496 objetivo, y aplica secuencialmente los elementos del plan. Ello implica una
des\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 composicin de tareas en subtareas. Las arquitecturas de pizarra no
aplican
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-237 \f10 \fs18 \cf0 \f
i496 control dirigido por objetivos y su comportamiento puede llegar a parecer e
rr\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 tico, si las KS no estn bien diseadas. Para algunas tareas, como por ejemplo
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 el diagnstico, el control dirigido por objetivos puede ser ms apropia
do que
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-237 \f10 \fs18 \cf0 \f
i496 un control reactivo. Sin una gestin explcita de las metas el sistema no puede
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 identificar correctamente las secuencias de acciones crticas para alcanzar l
os ob\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 jetivos. Existen soluciones de compromiso, pero ste sigue siendo un problema
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-237 \f10 \fs18 \cf0 \f
i496 abierto en sistemas para razonamiento: Cmo conseguir arquitecturas capaces
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 de operar de forma dirigida a objetivos sin sacrificar el oportunismo?
\par}{\phpg\posx1701\pvpg\posy2047\absw7616\absh10129 \sl-271 \par\f10 \fs18 \cf
0 \fi3535 631 \par
}
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}}\par}{\phpg\posx1701\pvpg\posy1429\absw596\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Control \par
}
{\phpg\posx1701\pvpg\posy2037\absw706\absh231 \f10 \fs25 \cf0 \f10 \fs25 \cf0 14
.7 \par
}
{\phpg\posx1701\pvpg\posy3037\absw754\absh192 \f10 \fs21 \cf0 \f10 \fs21 \cf0 14
.7.1 \par
}
{\phpg\posx2577\pvpg\posy2037\absw5166\absh1092 \f10 \fs25 \cf0 \f10 \fs25 \cf0
Sistemas en tiempo real basados en
\par}{\phpg\posx2577\pvpg\posy2037\absw5166\absh1092 \sl-360 \f10 \fs25 \cf0 con
ocimiento
\par}{\phpg\posx2577\pvpg\posy2037\absw5166\absh1092 \sl-303 \par\f10 \fs25 \cf0
\fi77 {\fs21 Sistemas}{\fs21 en}{\fs21 tiempo}{\fs21 real }\par
}
{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \f10 \fs17 \cf0 \fi297 \f10 \fs1
7 \cf0 Antes de introducir el concepto de Sistema en Tiempo Real Basado en Co
noci\par}{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \sl-237 \f10 \fs17 \cf0 mie
nto (STRBC), es necesario definir el concepto de Sistema en Tiempo Real (STR).
\par}{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \sl-239 \f10 \fs17 \cf0 Com
o se indica en Burns y Wellings [Burns y Wellings, 1997] existen diferentes in\par}{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \sl-239 \f10 \fs17 \cf0 ter
pretaciones sobre la naturaleza exacta del trmino Sistema en Tiempo Real; si
n
\par}{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \sl-237 \f10 \fs17 \cf0 emb
argo, todas tienen en comn la idea de respuesta en el tiempo, es decir, el tiempo
\par}{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \sl-239 \f10 \fs17 \cf0 que
tarda el sistema en generar una salida a partir de las entradas correspondiente
s.
\par}{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \sl-285 \f10 \fs17 \cf0 \fi
297 En el Oxford Dictionary of Computing se puede leer la siguiente definicin de
un
\par}{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \sl-239 \f10 \fs17 \cf0 STR
: Cualquier sistema en el que el tiempo en producir la respuesta es significativ
o.
\par}{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \sl-237 \f10 \fs17 \cf0 Est
o es debido a que generalmente dichas respuestas se corresponden con algn cambio
\par}{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \sl-239 \f10 \fs17 \cf0 en
el mundo real y las salidas que se producen estn directamente relacionada
s con
\par}{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \sl-237 \f10 \fs17 \cf0 dic
hos cambios. La diferencia de tiempo entre la salida y la entrada ti
ene que ser
\par}{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \sl-239 \f10 \fs17 \cf0 lo
suficientemente pequea para ser aceptable. El termino suficientemente pe
quea
\par}{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \sl-239 \f10 \fs17 \cf0 dep
ende del contexto. Para algunos sistemas puede ser del orden de milisegundos y
\par}{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \sl-237 \f10 \fs17 \cf0 par
a otros puede ser del orden de segundos.

\par}{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \sl-287 \f10 \fs17 \cf0 \fi

297 En Randell et al. [Randell y otros, 1995] se puede leer la sigui
ente definicin:
\par}{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \sl-237 \f10 \fs17 \cf0 "Un
STR es un sistema al que se le requiere que reaccione a estmulos del entorno
\par}{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \sl-239 \f10 \fs17 \cf0 (in
cluido el paso del tiempo fsico) dentro de intervalos de tiempos impue
stos por
\par}{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \sl-237 \f10 \fs17 \cf0 dic
ho entorno".
\par}{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \sl-287 \f10 \fs17 \cf0 \fi
297 Como se puede apreciar, estas definiciones cubren una gran variedad de siste
mas.
\par}{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \sl-237 \f10 \fs17 \cf0 Si
bien, a la mayor parte de los sistemas computacionales se les exige una respuest
a
\par}{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \sl-239 \f10 \fs17 \cf0 en
un tiempo finito, no se puede afirmar que el resultado sea errneo si la salida no
\par}{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \sl-239 \f10 \fs17 \cf0 se
produce dentro de un intervalo de tiempo prefijado. Esta caracterstica puede ser
\par}{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \sl-237 \f10 \fs17 \cf0 con
siderada como la diferencia principal entre un STR y un sistema convencional. Po
r
\par}{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \sl-239 \f10 \fs17 \cf0 lo
tanto, la correccin de un STR no slo depende del resultado lgico la computacin,
\par}{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \sl-237 \f10 \fs17 \cf0 sin
o tambin del tiempo que se tarda en producirlo.
\par}{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \sl-287 \f10 \fs17 \cf0 \fi
297 Dependiendo de lo estricto que se sea en la aplicacin de esta ltima afirmacin,
\par}{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \sl-237 \f10 \fs17 \cf0 pod
emos distinguir entre Sistemas en Tiempo Real Duros (STRD) y Sistemas
en
\par}{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \sl-239 \f10 \fs17 \cf0 Tie
mpo Real Suaves (STRS). Un STRD es un STR donde es absolutamente necesario
\par}{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \sl-239 \f10 \fs17 \cf0 que
las respuestas ocurran antes del tiempo indicado (tiempo lmite), mientras que
\par}{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \sl-237 \f10 \fs17 \cf0 en
los STRS se permite que algunas respuestas puedan sobrepasar el tiempo lmite.
\par}{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \sl-239 \f10 \fs17 \cf0 Por
supuesto, en un mismo sistema podrn coexistir subsistemas de ambos tipos.
\par}{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \sl-285 \f10 \fs17 \cf0 \fi
297 Como se puede apreciar, a partir de las definiciones anteriores, las caracte
rsticas
\par}{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \sl-239 \f10 \fs17 \cf0 pri
ncipales de un STR son:
\par}{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \sl-313 \par\f10 \fs17 \cf0
\fi297 {\f0\fs23 \bullet }{\f40 } La existencia de limitaciones temporales en
el tiempo de respuesta.
\par}{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \sl-292 \par\f10 \fs17 \cf0
\fi297 {\f0\fs23 \bullet }{\f40 } La necesidad de interaccionar con el mundo r
eal.
\par}{\phpg\posx1701\pvpg\posy3520\absw7763\absh8802 \sl-252 \par\f10 \fs17 \cf0
\fi3535 632 \par
}
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}}\par}{\phpg\posx5131\pvpg\posy1429\absw3940\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Sistemas en tiempo real basados en conocimiento \par
}
{\phpg\posx1701\pvpg\posy2019\absw754\absh192 \f10 \fs21 \cf0 \f10 \fs21 \cf0 14
.7.2 \par
}
{\phpg\posx2654\pvpg\posy2019\absw6411\absh443 \f10 \fs21 \cf0 \f10 \fs21 \cf0 C
oncepto de sistema en tiempo real basado en conoci\par}{\phpg\posx2654\pvpg\posy2019\absw6411\absh443 \sl-278 \f10 \fs21 \cf0 mien
to \par
}
{\phpg\posx1701\pvpg\posy2755\absw7687\absh6489 \f10 \fs17 \cf0 \fi297 \f10 \fs1
7 \cf0 Los STR son parte integral de muchas aplicaciones existentes hoy en da. Es
tas
\par}{\phpg\posx1701\pvpg\posy2755\absw7687\absh6489 \sl-237 \f10 \fs17 \cf0 apl
icaciones van desde los pequeos y sencillos controladores utilizados en gran part
e
\par}{\phpg\posx1701\pvpg\posy2755\absw7687\absh6489 \sl-239 \f10 \fs17 \cf0 de
los electrodomsticos ms comunes, hasta sistemas grandes y complejos utilizados
\par}{\phpg\posx1701\pvpg\posy2755\absw7687\absh6489 \sl-237 \f10 \fs17 \cf0 en
la industria y en entornos militares.
\par}{\phpg\posx1701\pvpg\posy2755\absw7687\absh6489 \sl-273 \f10 \fs17 \cf0 \fi
297 El aumento en la complejidad de las aplicaciones ha propiciado que aparezca
un
\par}{\phpg\posx1701\pvpg\posy2755\absw7687\absh6489 \sl-237 \f10 \fs17 \cf0 cre
ciente inters en el uso de tcnicas basadas en conocimiento en aplicacio
nes de
\par}{\phpg\posx1701\pvpg\posy2755\absw7687\absh6489 \sl-239 \f10 \fs17 \cf0 tie
mpo real. Ello permite al ordenador emplear heursticas y mtodos para resolver

\par}{\phpg\posx1701\pvpg\posy2755\absw7687\absh6489 \sl-239 \f10 \fs17 \cf0 pro

blemas complejos, o definidos pobremente, que pueden ser impracticables con las
\par}{\phpg\posx1701\pvpg\posy2755\absw7687\absh6489 \sl-237 \f10 \fs17 \cf0 tcni
cas convencionales. De esta forma, se pueden encontrar sistemas expertos apli\par}{\phpg\posx1701\pvpg\posy2755\absw7687\absh6489 \sl-239 \f10 \fs17 \cf0 cad
os a problemas en tiempo real que van desde los sistemas de bajo ni
vel que se
\par}{\phpg\posx1701\pvpg\posy2755\absw7687\absh6489 \sl-237 \f10 \fs17 \cf0 uti
lizan para problemas de control hasta los de ms alto nivel, como pueden ser la
\par}{\phpg\posx1701\pvpg\posy2755\absw7687\absh6489 \sl-239 \f10 \fs17 \cf0 ges
tin de alarmas, prediccin y diagnstico de fallos, y la supervisin y coordinacin
\par}{\phpg\posx1701\pvpg\posy2755\absw7687\absh6489 \sl-239 \f10 \fs17 \cf0 de
grupos de controladores. A este nivel se pueden agregar funciones de apoyo a est
os
\par}{\phpg\posx1701\pvpg\posy2755\absw7687\absh6489 \sl-237 \f10 \fs17 \cf0 sis
temas, de tal forma que aparte de indicar las situaciones de alerta, se pueden i
ncluir
\par}{\phpg\posx1701\pvpg\posy2755\absw7687\absh6489 \sl-239 \f10 \fs17 \cf0 mdul
os que aconsejen al operador el modo de tratar dichas alarmas.
\par}{\phpg\posx1701\pvpg\posy2755\absw7687\absh6489 \sl-271 \f10 \fs17 \cf0 \fi
297 Una razn adicional para la introduccin de sistemas expertos en tiempo real es
\par}{\phpg\posx1701\pvpg\posy2755\absw7687\absh6489 \sl-239 \f10 \fs17 \cf0 la
necesidad de reducir la carga cognitiva de los usuarios en ciertos dominios, pa
ra
\par}{\phpg\posx1701\pvpg\posy2755\absw7687\absh6489 \sl-237 \f10 \fs17 \cf0 pos
ibilitar un incremento en la productividad y evitar la produccin de fallos huma\par}{\phpg\posx1701\pvpg\posy2755\absw7687\absh6489 \sl-239 \f10 \fs17 \cf0 nos
. Dentro de estas situaciones se pueden destacar aquellas en la que los humanos
\par}{\phpg\posx1701\pvpg\posy2755\absw7687\absh6489 \sl-239 \f10 \fs17 \cf0 no
pueden manipular simultneamente toda la informacin relevante para alcanzar
\par}{\phpg\posx1701\pvpg\posy2755\absw7687\absh6489 \sl-237 \f10 \fs17 \cf0 sol
uciones ptimas o en las que no se puede dar una solucin con la suficiente rapidez.
\par}{\phpg\posx1701\pvpg\posy2755\absw7687\absh6489 \sl-273 \f10 \fs17 \cf0 \fi
297 Un STRBC es un sistema basado en conocimiento que necesita responder a
un
\par}{\phpg\posx1701\pvpg\posy2755\absw7687\absh6489 \sl-237 \f10 \fs17 \cf0 ent
orno cambiante, en el cual puede aparecer un {\f63 \u64258\'3f}ujo asncrono de ev
entos, y que ne\par}{\phpg\posx1701\pvpg\posy2755\absw7687\absh6489 \sl-239 \f10 \fs17 \cf0 ces
ita adaptarse a cambios en los requerimientos debidos a limitaciones temporales,
\par}{\phpg\posx1701\pvpg\posy2755\absw7687\absh6489 \sl-237 \f10 \fs17 \cf0 lim
itaciones hardware y limitaciones de recursos de cualquier tipo. Por lo tanto, e
ste
\par}{\phpg\posx1701\pvpg\posy2755\absw7687\absh6489 \sl-239 \f10 \fs17 \cf0 tip
o de sistemas requerir una arquitectura software {\f63 \u64258\'3f}exible que pro
porcione capaci\par}{\phpg\posx1701\pvpg\posy2755\absw7687\absh6489 \sl-239 \f10 \fs17 \cf0 dad
es de razonamiento sobre datos que cambian con cierta rapidez. El sistema estar
\par}{\phpg\posx1701\pvpg\posy2755\absw7687\absh6489 \sl-237 \f10 \fs17 \cf0 suj
eto a limitaciones en el tiempo de respuesta, y debe proporcionar capacidades de
\par}{\phpg\posx1701\pvpg\posy2755\absw7687\absh6489 \sl-239 \f10 \fs17 \cf0 raz
onamiento temporal, no monotonicidad, manejo de interrupciones y mtodos para
\par}{\phpg\posx1701\pvpg\posy2755\absw7687\absh6489 \sl-239 \f10 \fs17 \cf0 tra
tar con entradas con ruido. \par
}
{\phpg\posx1701\pvpg\posy10489\absw754\absh192 \f10 \fs21 \cf0 \f10 \fs21 \cf0 1
4.7.3 \par

}
{\phpg\posx2654\pvpg\posy10489\absw3518\absh192 \f10 \fs21 \cf0 \f10 \fs21 \cf0
Caractersticas de los STRBC \par
}
{\phpg\posx1701\pvpg\posy10946\absw7824\absh2119 \f10 \fs17 \cf0 \fi297 \f10 \fs
17 \cf0 Tradicionalmente, las tcnicas de resolucin de problemas basadas en conocim
iento
\par}{\phpg\posx1701\pvpg\posy10946\absw7824\absh2119 \sl-237 \f10 \fs17 \cf0 ha
n sido aplicadas a dominios en los que los datos son estticos y donde no se requi
eren
\par}{\phpg\posx1701\pvpg\posy10946\absw7824\absh2119 \sl-239 \f10 \fs17 \cf0 ti
empos de respuestas fijos. Estas caractersticas pueden ser apreciadas en
muchos
\par}{\phpg\posx1701\pvpg\posy10946\absw7824\absh2119 \sl-237 \f10 \fs17 \cf0 si
stemas convencionales para diagnosis, clasificacin, planificacin, etc... Hay que t
ener
\par}{\phpg\posx1701\pvpg\posy10946\absw7824\absh2119 \sl-239 \f10 \fs17 \cf0 en
cuenta que el uso de sistemas expertos en problemas de tiempo real es relativam
ente
\par}{\phpg\posx1701\pvpg\posy10946\absw7824\absh2119 \sl-239 \f10 \fs17 \cf0 re
ciente, y que no se han definido de forma clara los requerimientos que hay que e
xigir a
\par}{\phpg\posx1701\pvpg\posy10946\absw7824\absh2119 \sl-237 \f10 \fs17 \cf0 es
tos sistemas. En los siguientes apartados, se describirn algunas de las caracterst
icas
\par}{\phpg\posx1701\pvpg\posy10946\absw7824\absh2119 \sl-239 \f10 \fs17 \cf0 pr
opias de los STRBC, sobre cuya necesidad existe amplio consenso.
\par}{\phpg\posx1701\pvpg\posy10946\absw7824\absh2119 \sl-252 \par\f10 \fs17 \cf
0 \fi3535 633 \par
}
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145007ffd9
}}\par}{\phpg\posx1701\pvpg\posy1429\absw596\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Control \par
}
{\phpg\posx1701\pvpg\posy2019\absw754\absh192 \f10 \fs21 \cf0 \f10 \fs21 \cf0 14
.7.4 \par
}
{\phpg\posx2655\pvpg\posy2019\absw2222\absh192 \f10 \fs21 \cf0 \f10 \fs21 \cf0 E
ventos asncronos \par
}
{\phpg\posx1701\pvpg\posy2438\absw7566\absh2968 \f10 \fs18 \cf0 \fi297 \f10 \fs1
8 \cf0 Un sistema experto que vaya a ser usado en un entorno de tiempo real debe
ser
\par}{\phpg\posx1701\pvpg\posy2438\absw7566\absh2968 \sl-237 \f10 \fs18 \cf0 cap
az de responder a entradas asncronas o peridicas. Adems, debe posibilitar la
\par}{\phpg\posx1701\pvpg\posy2438\absw7566\absh2968 \sl-239 \f10 \fs18 \cf0 int
errupcin de sus funciones para aceptar entradas de eventos no previstos. Algunos
\par}{\phpg\posx1701\pvpg\posy2438\absw7566\absh2968 \sl-237 \f10 \fs18 \cf0 eve
ntos pueden ser ms importantes que otros, por lo que el sistema debe posponer
\par}{\phpg\posx1701\pvpg\posy2438\absw7566\absh2968 \sl-239 \f10 \fs18 \cf0 la
atencin a los eventos menos importantes para atender otros de mayor prioridad.
\par}{\phpg\posx1701\pvpg\posy2438\absw7566\absh2968 \sl-239 \f10 \fs18 \cf0 Com
o ya se ha indicado, la capacidad de reaccionar inmediatamente ante s
ucesos
\par}{\phpg\posx1701\pvpg\posy2438\absw7566\absh2968 \sl-237 \f10 \fs18 \cf0 asnc
ronos se denomina razonamiento reactivo. Hay que tener en cuenta que
este
\par}{\phpg\posx1701\pvpg\posy2438\absw7566\absh2968 \sl-239 \f10 \fs18 \cf0 tip
o de razonamiento implica la existencia de un mecanismo de control que atienda
\par}{\phpg\posx1701\pvpg\posy2438\absw7566\absh2968 \sl-239 \f10 \fs18 \cf0 per
idicamente la ocurrencia de eventos o que pueda aceptar interrupciones.
\par}{\phpg\posx1701\pvpg\posy2438\absw7566\absh2968 \sl-249 \f10 \fs18 \cf0 \fi
297 Una caracterstica subyacente a la capacidad de proporcionar razonamiento reac
\par}{\phpg\posx1701\pvpg\posy2438\absw7566\absh2968 \sl-239 \f10 \fs18 \cf0 tiv
o es la necesidad de que el STRBC perciba los posibles cambios que se produzcan
\par}{\phpg\posx1701\pvpg\posy2438\absw7566\absh2968 \sl-239 \f10 \fs18 \cf0 en
el entorno. Esto se consigue mediante la utilizacin de sensores que continuamente
\par}{\phpg\posx1701\pvpg\posy2438\absw7566\absh2968 \sl-237 \f10 \fs18 \cf0 apo
rtan al sistema informacin sobre la situacin del entorno, permitindole reaccio\par}{\phpg\posx1701\pvpg\posy2438\absw7566\absh2968 \sl-239 \f10 \fs18 \cf0 nar
ante cambios no deseados del mismo. \par
}
{\phpg\posx1701\pvpg\posy6152\absw754\absh192 \f10 \fs21 \cf0 \f10 \fs21 \cf0 14
.7.5 \par
}
{\phpg\posx2655\pvpg\posy6152\absw3294\absh192 \f10 \fs21 \cf0 \f10 \fs21 \cf0 R
azonamiento no montono \par
}
{\phpg\posx1701\pvpg\posy6571\absw7545\absh2098 \f10 \fs18 \cf0 \fi297 \f10 \fs1
8 \cf0 En un STRBC los datos, que pueden provenir de los sensores ext
ernos o bien
\par}{\phpg\posx1701\pvpg\posy6571\absw7545\absh2098 \sl-239 \f10 \fs18 \cf0 de
modificaciones internas, no permanecen estticos durante toda la ejecucin
del

\par}{\phpg\posx1701\pvpg\posy6571\absw7545\absh2098 \sl-239 \f10 \fs18 \cf0 sis

tema. Por tanto, los datos no son perdurables y tienden a perder su validez con
el
\par}{\phpg\posx1701\pvpg\posy6571\absw7545\absh2098 \sl-237 \f10 \fs18 \cf0 pas
o del tiempo. Esto puede dar lugar a que las conclusiones hechas en un determina
do
\par}{\phpg\posx1701\pvpg\posy6571\absw7545\absh2098 \sl-239 \f10 \fs18 \cf0 mom
ento dejen de ser vlidas posteriormente, bien porque la situacin haya cambiado,
\par}{\phpg\posx1701\pvpg\posy6571\absw7545\absh2098 \sl-237 \f10 \fs18 \cf0 bie
n porque se dispone de nueva informacin que permite corregir la conclusin. Ello
\par}{\phpg\posx1701\pvpg\posy6571\absw7545\absh2098 \sl-239 \f10 \fs18 \cf0 hac
e necesario emplear tcnicas de razonamiento no montono. Es decir, hay q
ue
\par}{\phpg\posx1701\pvpg\posy6571\absw7545\absh2098 \sl-239 \f10 \fs18 \cf0 apl
icar algn mtodo que permita la retractacin de conclusiones, o algn mecanismo,
\par}{\phpg\posx1701\pvpg\posy6571\absw7545\absh2098 \sl-237 \f10 \fs18 \cf0 bas
ado en tcnicas de mantenimiento de la verdad, que mantenga la coherencia de
\par}{\phpg\posx1701\pvpg\posy6571\absw7545\absh2098 \sl-239 \f10 \fs18 \cf0 tod
as las conclusiones a medida que se van obteniendo nuevos datos. \par
}
{\phpg\posx1701\pvpg\posy9320\absw754\absh192 \f10 \fs21 \cf0 \f10 \fs21 \cf0 14
.7.6 \par
}
{\phpg\posx2655\pvpg\posy9320\absw3632\absh192 \f10 \fs21 \cf0 \f10 \fs21 \cf0 M
odo de operacin continuado \par
}
{\phpg\posx1701\pvpg\posy9736\absw7617\absh3208 \f10 \fs18 \cf0 \fi297 \f10 \fs1
8 \cf0 La mayora de STR operan de forma continua hasta que son detenidos por el o
pe\par}{\phpg\posx1701\pvpg\posy9736\absw7617\absh3208 \sl-239 \f10 \fs18 \cf0 rad
or o por algn evento externo catastrfico. Esto implica que el descubrimiento de
\par}{\phpg\posx1701\pvpg\posy9736\absw7617\absh3208 \sl-239 \f10 \fs18 \cf0 un
fallo total o parcial en alguno de los componentes del sistema no tiene que supo
ner
\par}{\phpg\posx1701\pvpg\posy9736\absw7617\absh3208 \sl-237 \f10 \fs18 \cf0 la
parada del mismo. En aplicaciones de monitorizacin y control, el sistema
tiene
\par}{\phpg\posx1701\pvpg\posy9736\absw7617\absh3208 \sl-239 \f10 \fs18 \cf0 que
estar continuamente funcionando, con lo que se tiene que prestar mucha atencin
\par}{\phpg\posx1701\pvpg\posy9736\absw7617\absh3208 \sl-237 \f10 \fs18 \cf0 a m
ecanismos como el de la recoleccin de basura (del ingls garbage collection) que
\par}{\phpg\posx1701\pvpg\posy9736\absw7617\absh3208 \sl-239 \f10 \fs18 \cf0 lib
eren informacin de la memoria conforme sta ya no se necesite. Adems, hay que
\par}{\phpg\posx1701\pvpg\posy9736\absw7617\absh3208 \sl-239 \f10 \fs18 \cf0 imp
lementar tcnicas que garanticen la tolerancia a fallos (como por ejemplo el uso
\par}{\phpg\posx1701\pvpg\posy9736\absw7617\absh3208 \sl-237 \f10 \fs18 \cf0 de
arquitecturas distribuidas y de mltiples sensores).
\par}{\phpg\posx1701\pvpg\posy9736\absw7617\absh3208 \sl-251 \f10 \fs18 \cf0 \fi
297 Adems, es muy importante que se puedan realizar operaciones de mantenimiento
\par}{\phpg\posx1701\pvpg\posy9736\absw7617\absh3208 \sl-239 \f10 \fs18 \cf0 online, tales como la incorporacin de nuevos mdulos, correccin de errores en el
\par}{\phpg\posx1701\pvpg\posy9736\absw7617\absh3208 \sl-237 \f10 \fs18 \cf0 sof
tware, actualizacin de versiones, etc... En determinadas aplicaciones, como
por
\par}{\phpg\posx1701\pvpg\posy9736\absw7617\absh3208 \sl-239 \f10 \fs18 \cf0 eje
mplo el control de un horno de cemento, de una central nuclear o de un alto horn
o,
\par}{\phpg\posx1701\pvpg\posy9736\absw7617\absh3208 \sl-252 \par\f10 \fs18 \cf0
\fi3535 634 \par
}

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}}\par}{\phpg\posx5131\pvpg\posy1429\absw3940\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Sistemas en tiempo real basados en conocimiento \par
}
{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \f10 \fs18 \cf0 \f10 \fs18 \cf0
una parada del sistema puede tener consecuencias catastrficas e inutilizar la pl
anta,
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-237 \f10 \fs18 \cf0 oc
asionado un grave perjuicio econmico y generando altos riesgos ambientales.
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-296 \par\f10 \fs18 \cf
0 {\fs21 14.7.7}{\fs21
Datos}{\fs21 inciertos}{\fs21 o}{\fs21 imprecisos
}
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-190 \par\f10 \fs18 \cf
0 \fi297 Como ya se ha dicho, la validez de los datos tiende a decae
r con el paso del
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-237 \f10 \fs18 \cf0 ti
empo. Adems, su validez puede ser cuestionable debido a una degradacin en el
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-239 \f10 \fs18 \cf0 fu
ncionamiento de los sensores, como puede ser el caso de un entorno con elevado r
uido
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-239 \f10 \fs18 \cf0 o
en el que los sensores estn expuestos a alteraciones por condiciones meteorolgicas
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-237 \f10 \fs18 \cf0 ad
versas o por acumulacin de suciedad. Este problema hace necesario que un STRBC

\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-239 \f10 \fs18 \cf0 se

a capaz de detectar y tratar de manera apropiada los datos inciertos.
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-244 \f10 \fs18 \cf0 \f
i297 La imprecisin de los datos es otro problema a tener en cuenta. Sensores de b
aja
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-239 \f10 \fs18 \cf0 ca
lidad o que se han degradado con el paso del tiempo, pueden proporcionar medidas
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-237 \f10 \fs18 \cf0 su
jetas a un intervalo de error. Su informacin debe ser tratada como imprecisa y no
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-239 \f10 \fs18 \cf0 co
mo informacin exacta.
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-244 \f10 \fs18 \cf0 \f
i297 Es necesario modelar explcitamente la imprecisin e incertidumbre asociada a l
os
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-239 \f10 \fs18 \cf0 da
tos mediante tcnicas apropiadas: probabilidades, lgica difusa, etc. Las tcnicas de
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-239 \f10 \fs18 \cf0 fu
sin de datos son otra valiosa herramienta para mejorar la fiabilidad y la precisin
.
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-237 \f10 \fs18 \cf0 As,
por ejemplo, si en una aplicacin de monitorizacin en medicina perdemos
la
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-239 \f10 \fs18 \cf0 in
formacin de frecuencia respiratoria proporcionada por el correspondiente sensor,
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-237 \f10 \fs18 \cf0 po
demos extraer esta misma informacin de otra fuente, procesando la seal electro\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-239 \f10 \fs18 \cf0 ca
rdiogrfica recogida por otros sensores. Esta seal est sometida a una modulacin
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-239 \f10 \fs18 \cf0 de
baja frecuencia producida por el movimiento de los msculos que intervienen en
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-237 \f10 \fs18 \cf0 la
respiracin, y mediante un sencillo procesamiento permite calcular la fr
ecuencia
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-239 \f10 \fs18 \cf0 re
spiratoria a partir de esta fuente de datos alternativa.
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-244 \f10 \fs18 \cf0 \f
i297 Por otra parte, el sistema tiene que ser capaz de desempear su funcin aunque
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-239 \f10 \fs18 \cf0 en
un momento dado no tenga disponible todos los datos que necesita. Esto obliga
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-239 \f10 \fs18 \cf0 a
la implementacin de mecanismos de razonamiento que sean capaces de alcanzar
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-237 \f10 \fs18 \cf0 co
nclusiones en ausencia de algunos datos y sin tener que preguntar al usuario por
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-239 \f10 \fs18 \cf0 el
los, teniendo en cuenta que los razonamientos seran ms precisos en presencia de
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-237 \f10 \fs18 \cf0 di
chos datos. En [Palma y otros, 1998] se presenta un sistema de diagnstico abduc\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-239 \f10 \fs18 \cf0 ti
vo en tiempo real, que es capaz de producir respuestas aun en ausencia de alguno
s
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-239 \f10 \fs18 \cf0 da
tos importantes. Cuando el sistema necesita un dato cuyo valor es desconocido, l
as
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-237 \f10 \fs18 \cf0 re
spuestas que da son ms imprecisas, pudiendo ser refinada dicha respuesta una vez
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-239 \f10 \fs18 \cf0 qu
e los valores desconocidos se introducen en el sistema. Esto se consigue gracias

a
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-239 \f10 \fs18 \cf0 qu
e el mecanismo de razonamiento abductivo implementado en ese sistema es capaz
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-237 \f10 \fs18 \cf0 de
incorporar informacin de forma retrospectiva.
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-296 \par\f10 \fs18 \cf
0 {\fs21 14.7.8}{\fs21
Razonamiento}{\fs21 temporal }
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-189 \par\f10 \fs18 \cf
0 \fi297 El tiempo es la variable ms importante en un STRBC. Los datos
con los que
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-239 \f10 \fs18 \cf0 tr
abaja un STRBC cambian continuamente en el tiempo. En muchas de sus
apli\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-239 \f10 \fs18 \cf0 ca
ciones, es necesario tener en cuenta los valores pasados de los datos
para poder
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-237 \f10 \fs18 \cf0 es
tablecer conclusiones en el tiempo actual. En ocasiones, tambin es necesario hace
r
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-239 \f10 \fs18 \cf0 pr
edicciones en tiempo futuro, comprobando posteriormente si se satisfacen.
\par}{\phpg\posx1701\pvpg\posy2047\absw7696\absh10129 \sl-252 \par\f10 \fs18 \cf
0 \fi3535 635 \par
}
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\cf0 Control \par

}
{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \f10 \fs18 \cf0 \fi297 \f10 \fs
18 \cf0 Las herramientas para desarrollo de STRBC suelen incluir alguna tcnica de
razo\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-237 \f10 \fs18 \cf0 na
miento temporal, en general bastante simple. Estas tcnicas proporcionan la posibi
\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-239 \f10 \fs18 \cf0 li
dad de representar hechos temporales, en donde cada valor est asociado a su tiemp
o
\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-239 \f10 \fs18 \cf0 de
creacin. Proporcionan adems la posibilidad de representar y aplicar conocimiento
\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-237 \f10 \fs18 \cf0 te
mporal. Para ello, el lenguaje de representacin de la herramienta permite expresa
r
\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-239 \f10 \fs18 \cf0 co
ndiciones sobre valores previos y aplicar operadores temporales, como promedios,
\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-239 \f10 \fs18 \cf0 te
ndencias, etc.
\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-284 \par\f10 \fs18 \cf
0 {\fs21 14.7.9}{\fs21
Tiempo}{\fs21 de}{\fs21 respuesta}{\fs21 garantiza
do }
\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-186 \par\f10 \fs18 \cf
0 \fi297 Un STRBC debe ser capaz de responder dentro de un perodo de tiempo prede
ter\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-237 \f10 \fs18 \cf0 mi
nado, es decir, el sistema debe producir una respuesta lo ms satisfactoria posibl
e
\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-239 \f10 \fs18 \cf0 an
tes de que se cumplan los tiempos de respuesta lmites. Esto es lgico si se tiene e
n
\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-237 \f10 \fs18 \cf0 cu
enta que los STRBC operan en entornos dinmicos, y por tanto, las decisiones que
\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-239 \f10 \fs18 \cf0 se
tomen tienen que ser aplicadas antes de que cambien las condiciones que dieron
\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-239 \f10 \fs18 \cf0 lu
gar a ellas.
\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i297 Se emplean tcnicas de Razonamiento en Tiempo Crtico. A continuacin se ci\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-239 \f10 \fs18 \cf0 ta
n algunas de las tcnicas para este tipo de razonamiento, aunque un anlisis ms
\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-237 \f10 \fs18 \cf0 de
tallado se puede encontrar en [Vivancos y otros, 1997] y [Garvey y Lesser, 1994]
.
\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-224 \par\f10 \fs18 \cf
0 \fi297 {\f0\fs23 \bullet }{\f40 } Razonamiento Progresivo: La Base de Conocim
iento se organiza en capas suce\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-237 \f10 \fs18 \cf0 \f
i496 sivas, donde cada capa contiene un conocimiento ms completo que la anterior,
\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 y por lo tanto permite una respuesta ms precisa. De esta forma, el mecanismo
\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-237 \f10 \fs18 \cf0 \f
i496 de inferencias se concentra en la primera capa y obtiene una respuesta apro
xi\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-239 \f10 \fs18 \cf0 \f

i496 mada. Si el tiempo consumido es menor que el tiempo lmite, el mecanismo de

\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 inferencia aplica la segunda capa, refinando de esta forma la respuesta obt
enida.
\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-237 \f10 \fs18 \cf0 \f
i496 El sistema contina aplicando capas hasta que el tiempo disponible se agote.
\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-204 \par\f10 \fs18 \cf
0 \fi297 {\f0\fs23 \bullet }{\f40 } Red de Inferencias con Restricciones Tempor
ales: Se basa en la definicin de una
\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 estrategia de inferencia diseada para trabajar en entornos de trabajo limita
dos
\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-237 \f10 \fs18 \cf0 \f
i496 en tiempo. La estrategia de inferencia considera primero el conocimiento ms
\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 relevante. Los datos menos significativos sern tenidos en cuenta dependiendo
de
\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-237 \f10 \fs18 \cf0 \f
i496 la disponibilidad de tiempo para su procesamiento. Se utiliza una red semnti
ca
\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 para representar el conocimiento sobre el dominio y restricciones
temporales
\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 para guiar la bsqueda.
\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-202 \par\f10 \fs18 \cf
0 \fi297 {\f0\fs23 \bullet }{\f40 } Lgica de Precisin Variable: La lgica de pr
ecisin variable permite resolver
\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 problemas de razonamiento con informacin incompleta y restricciones en los
\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 recursos. Adems, ofrece mecanismos para alcanzar un compromiso entre
la
\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-237 \f10 \fs18 \cf0 \f
i496 precisin de las inferencias y la eficiencia computacional en su obtencin. Los
\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 dos aspectos que se consideran en la solucin son la especificidad de la resp
uesta
\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-237 \f10 \fs18 \cf0 \f
i496 y la credibilidad de la misma. Este mtodo se basa en la presentacin de unas
\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 reglas de produccin censuradas, que son reglas que incluyen una parte que slo
\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 se evala si hay tiempo suficiente. De esta forma, el sistema puede encon
trar
\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-237 \f10 \fs18 \cf0 \f
i496 una solucin de compromiso entre la precisin de la respuesta y el tiempo que
\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-239 \f10 \fs18 \cf0 \f
i496 se tarda en obtenerla.
\par}{\phpg\posx1701\pvpg\posy2047\absw7721\absh10129 \sl-251 \par\f10 \fs18 \cf
0 \fi3535 636 \par
}
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}{\f10 m- }
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199 {\f10 todos}{\f10 como}{\f10 la}{\f10 Computacin}{\f10 Imprecisa,}{\f10
donde}{\f10 se}{\f10 incluye}{\f10 en}{\f10 cada}{\f10 tarea}{\f10 una}{\f
10 parte }
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199 {\f10 obligatoria}{\f10 que}{\f10 tiene}{\f10 que}{\f10 ejecutarse}{\f10

de}{\f10 forma}{\f10 ininterrumpida}{\f10 para}{\f10 garantizar}{\f10 la
}
\par}{\phpg\posx1999\pvpg\posy1994\absw7254\absh1929 \sl-239 \f40 \fs18 \cf0 \fi
199 {\f10 validez}{\f10 de}{\f10 la}{\f10 respuesta. }\par
}
{\phpg\posx1701\pvpg\posy4561\absw893\absh192 \f10 \fs21 \cf0 \f10 \fs21 \cf0 14
.7.10 \par
}
{\phpg\posx2790\pvpg\posy4561\absw1977\absh192 \f10 \fs21 \cf0 \f10 \fs21 \cf0 F
oco de atencin \par
}
{\phpg\posx1701\pvpg\posy4979\absw7767\absh2757 \f10 \fs18 \cf0 \fi297 \f10 \fs1
8 \cf0 Cuando aparece un evento que reviste cierta importancia, un STRBC debe po
der
\par}{\phpg\posx1701\pvpg\posy4979\absw7767\absh2757 \sl-239 \f10 \fs18 \cf0 con
centrar los recursos necesarios en la obtencin de una respuesta al mismo. Este
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bio de foco de atencin puede implicar la activacin de un nuevo mdulo d
e
\par}{\phpg\posx1701\pvpg\posy4979\absw7767\absh2757 \sl-237 \f10 \fs18 \cf0 con
ocimiento que se encargue de modificar el conjunto de sensores a los
que est
\par}{\phpg\posx1701\pvpg\posy4979\absw7767\absh2757 \sl-239 \f10 \fs18 \cf0 ate
ndiendo el sistema, y posiblemente la frecuencia de muestreo aplicada
a dichos
\par}{\phpg\posx1701\pvpg\posy4979\absw7767\absh2757 \sl-239 \f10 \fs18 \cf0 sen
sores. Esto se puede conseguir mediante la definicin de una serie de contextos en
\par}{\phpg\posx1701\pvpg\posy4979\absw7767\absh2757 \sl-237 \f10 \fs18 \cf0 los
que se pueden aplicar determinados mdulos de conocimiento, de tal forma que
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hos contextos se activan a medida que los eventos van llegando.
\par}{\phpg\posx1701\pvpg\posy4979\absw7767\absh2757 \sl-251 \f10 \fs18 \cf0 \fi
297 Esa caracterstica tambin implica la necesidad de un razonamiento de tipo opor\par}{\phpg\posx1701\pvpg\posy4979\absw7767\absh2757 \sl-239 \f10 \fs18 \cf0 tun
ista que sea capaz de elegir la mejor accin en respuesta a una situacin concreta.
\par}{\phpg\posx1701\pvpg\posy4979\absw7767\absh2757 \sl-237 \f10 \fs18 \cf0 Ell
o requiere un mecanismo de control de tipo deliberativo, capaz de evaluar las pr
io\par}{\phpg\posx1701\pvpg\posy4979\absw7767\absh2757 \sl-239 \f10 \fs18 \cf0 rid
ades de atencin asociadas a la nueva informacin y la utilidad de las
posibles
\par}{\phpg\posx1701\pvpg\posy4979\absw7767\absh2757 \sl-239 \f10 \fs18 \cf0 acc
iones que se pueden aplicar. \par
}
{\phpg\posx1701\pvpg\posy8466\absw893\absh567 \f10 \fs21 \cf0 \f10 \fs21 \cf0 14
.7.11
\par}{\phpg\posx1701\pvpg\posy8466\absw893\absh567 \sl-212 \par\f10 \fs21 \cf0 {
\fs18 14.7.11.1 }\par
}
{\phpg\posx2789\pvpg\posy8466\absw6276\absh567 \f10 \fs21 \cf0 \f10 \fs21 \cf0 H
erramientas para Sistemas Expertos en Tiempo Real
\par}{\phpg\posx2789\pvpg\posy8466\absw6276\absh567 \sl-212 \par\f10 \fs21 \cf0
{\fs18 Introduccin}{\fs18 a}{\fs18 G2 }\par
}
{\phpg\posx1701\pvpg\posy9309\absw7637\absh3592 \f10 \fs18 \cf0 \fi297 \f10 \fs1
8 \cf0 G2 de la compaa Gensym Corp. (www.gensym.com) es una herramienta para el
\par}{\phpg\posx1701\pvpg\posy9309\absw7637\absh3592 \sl-239 \f10 \fs18 \cf0 des

arrollo rpido de prototipos e implementacin de STRBC. Dispone de un entorno

\par}{\phpg\posx1701\pvpg\posy9309\absw7637\absh3592 \sl-237 \f10 \fs18 \cf0 de
desarrollo grfico y orientado a objetos, con todas las caractersticas deseables pa
ra
\par}{\phpg\posx1701\pvpg\posy9309\absw7637\absh3592 \sl-239 \f10 \fs18 \cf0 un
entorno de desarrollo y ejecucin de STRBC [Hangos y otros, 2001]. Los compo\par}{\phpg\posx1701\pvpg\posy9309\absw7637\absh3592 \sl-239 \f10 \fs18 \cf0 nen
tes bsicos de G2 son: el Mecanismo de Inferencias (MI), la Base de Conocimiento
\par}{\phpg\posx1701\pvpg\posy9309\absw7637\absh3592 \sl-237 \f10 \fs18 \cf0 (BC
), la Base de Datos Temporal (BDT), y la Interfaz de Usuario (IU).
Adems,
\par}{\phpg\posx1701\pvpg\posy9309\absw7637\absh3592 \sl-239 \f10 \fs18 \cf0 pro
porciona numerosas extensiones, como:
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\fi297 {\f0\fs23 \bullet }{\f40 } Telewindows, permite la ejecucin en ms de un p
uesto de trabajo.
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\fi297 {\f0\fs23 \bullet }{\f40 } G2 Gateway standard interface (GSI) , p
ermite la comunicacin con sistemas
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496 externos como bases de datos, aplicaciones C/C++, y software de simulacin
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496 externo.
\par}{\phpg\posx1701\pvpg\posy9309\absw7637\absh3592 \sl-225 \par\f10 \fs18 \cf0
\fi297 {\f0\fs23 \bullet }{\f40 } NeurOn-Line, para desarrollo de redes neuron
ales.
\par}{\phpg\posx1701\pvpg\posy9309\absw7637\absh3592 \sl-251 \par\f10 \fs18 \cf0
\fi3535 637 \par
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\fi297 {\f0\fs23 \bullet }{\f40 } Perodo de Ejecucin de una Regla (Scan Interval
).
\par}{\phpg\posx1701\pvpg\posy2414\absw7764\absh7550 \sl-197 \par\f10 \fs18 \cf0
\fi297 {\f0\fs23 \bullet }{\f40 } Agrupacin de reglas.
\par}{\phpg\posx1701\pvpg\posy2414\absw7764\absh7550 \sl-199 \par\f10 \fs18 \cf0
\fi297 {\f0\fs23 \bullet }{\f40 } Objetos y Clases focales (Focal Objects/Clas
ses).
\par}{\phpg\posx1701\pvpg\posy2414\absw7764\absh7550 \sl-197 \par\f10 \fs18 \cf0
\fi297 El perodo de ejecucin de una regla (Scan Interval) es un valor
que se puede
\par}{\phpg\posx1701\pvpg\posy2414\absw7764\absh7550 \sl-239 \f10 \fs18 \cf0 aso
ciar a una regla para indicar cada cuanto tiempo el motor de inferen
cia debe
\par}{\phpg\posx1701\pvpg\posy2414\absw7764\absh7550 \sl-237 \f10 \fs18 \cf0 apl
icar la regla.
\par}{\phpg\posx1701\pvpg\posy2414\absw7764\absh7550 \sl-239 \f10 \fs18 \cf0 \fi
297 G2 permite modularizar la base de conocimiento en conjuntos de reglas dedica
das
\par}{\phpg\posx1701\pvpg\posy2414\absw7764\absh7550 \sl-237 \f10 \fs18 \cf0 a
tareas especficas, por ejemplo gestin de alarmas, accin sobre los efectores,
ac\par}{\phpg\posx1701\pvpg\posy2414\absw7764\absh7550 \sl-239 \f10 \fs18 \cf0 tua
lizacin de parmetros de control, generacin de consejos, etc... Cuando hay que
\par}{\phpg\posx1701\pvpg\posy2414\absw7764\absh7550 \sl-239 \f10 \fs18 \cf0 eje
cutar una de estas tarea, el motor de inferencia selecciona la categora correspon
\par}{\phpg\posx1701\pvpg\posy2414\absw7764\absh7550 \sl-237 \f10 \fs18 \cf0 die
nte y aplica slo las reglas incluidas en la categora, es decir, aquella
s que han
\par}{\phpg\posx1701\pvpg\posy2414\absw7764\absh7550 \sl-239 \f10 \fs18 \cf0 sid
o definidas asignando un valor al atributo categories de la regla, indicando en
qu
\par}{\phpg\posx1701\pvpg\posy2414\absw7764\absh7550 \sl-239 \f10 \fs18 \cf0 agr
upacin va a estar.
\par}{\phpg\posx1701\pvpg\posy2414\absw7764\absh7550 \sl-237 \f10 \fs18 \cf0 \fi
297 La definicin de objetos y clases focales (Focal Objects Classes) es otro mtodo
para
\par}{\phpg\posx1701\pvpg\posy2414\absw7764\absh7550 \sl-239 \f10 \fs18 \cf0 mod

ularizar la base de conocimiento: consiste en asociar cada elemento de la base d

e
\par}{\phpg\posx1701\pvpg\posy2414\absw7764\absh7550 \sl-237 \f10 \fs18 \cf0 dat
os temporal con un conjunto de reglas que el motor de inferencia chequear cuando
\par}{\phpg\posx1701\pvpg\posy2414\absw7764\absh7550 \sl-239 \f10 \fs18 \cf0 det
ecte alguna situacin de control referida a ese elemento.
\par}{\phpg\posx1701\pvpg\posy2414\absw7764\absh7550 \sl-259 \par\f10 \fs18 \cf0
14.7.11.4
Razonamiento temporal
\par}{\phpg\posx1701\pvpg\posy2414\absw7764\absh7550 \sl-183 \par\f10 \fs18 \cf0
\fi297 G2 permite referenciar los valores de las variables en un cierto tiempo
(actual o
\par}{\phpg\posx1701\pvpg\posy2414\absw7764\absh7550 \sl-239 \f10 \fs18 \cf0 pas
ado). Para obtener el tiempo actual del sistema se usa la expresin the c
urrent
\par}{\phpg\posx1701\pvpg\posy2414\absw7764\absh7550 \sl-237 \f10 \fs18 \cf0 tim
e. Para hacer referencia al valor de una variable en un cierto tiempo se utiliza
la
\par}{\phpg\posx1701\pvpg\posy2414\absw7764\absh7550 \sl-239 \f10 \fs18 \cf0 exp
resin:
\par}{\phpg\posx1701\pvpg\posy2414\absw7764\absh7550 \sl-237 \f10 \fs18 \cf0 \fi
297 the value of <variable>as of \{ <time-interval>|<number>datapoints \} ago
don\par}{\phpg\posx1701\pvpg\posy2414\absw7764\absh7550 \sl-239 \f10 \fs18 \cf0 de:
\par}{\phpg\posx1701\pvpg\posy2414\absw7764\absh7550 \sl-239 \f10 \fs18 \cf0 \fi
297 <time-interval>son las unidades temporales que retrocedemos desde el instan
te
\par}{\phpg\posx1701\pvpg\posy2414\absw7764\absh7550 \sl-237 \f10 \fs18 \cf0 act
ual.
\par}{\phpg\posx1701\pvpg\posy2414\absw7764\absh7550 \sl-239 \f10 \fs18 \cf0 \fi
297 <number>es nmero de valores que retrocedemos. \par
}
{\phpg\posx1701\pvpg\posy11221\absw706\absh231 \f10 \fs25 \cf0 \f10 \fs25 \cf0 1
4.8 \par
}
{\phpg\posx2576\pvpg\posy11221\absw3405\absh231 \f10 \fs25 \cf0 \f10 \fs25 \cf0
Lecturas recomendadas \par
}
{\phpg\posx1701\pvpg\posy11745\absw7459\absh1400 \f10 \fs18 \cf0 \fi297 \f10 \fs
18 \cf0 Este es un listado de algunas lecturas complementarias relativas al cont
rol inteli\par}{\phpg\posx1701\pvpg\posy11745\absw7459\absh1400 \sl-237 \f10 \fs18 \cf0 ge
nte.
\par}{\phpg\posx1701\pvpg\posy11745\absw7459\absh1400 \sl-197 \par\f10 \fs18 \cf
0 \fi297 {\f0\fs23 \bullet }{\f40 } von Altrock, C. (1995). Fuzzy Logic & Neuro
Fuzzy Applications Explained Es\par}{\phpg\posx1701\pvpg\posy11745\absw7459\absh1400 \sl-239 \f10 \fs18 \cf0 \f
i496 tados Unidos de Amrica: Prentice Hall.
\par}{\phpg\posx1701\pvpg\posy11745\absw7459\absh1400 \sl-252 \par\f10 \fs18 \cf
0 \fi3535 639 \par
}
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}
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\bullet }\f40 \fs18 \cf0 {\f10 Colomer}{\f10 J.,}{\f10 Melndez}{\f10 J.}
{\f10 y}{\f10 Ayza}{\f10 J.}{\f10 (2000).}{\f10 Sistemas}{\f10 de}{\
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0 M. }
\par}{\phpg\posx1701\pvpg\posy1994\absw7523\absh2905 \sl-239 \f40 \fs18 \cf0 \fi
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}\par
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{\phpg\posx1701\pvpg\posy5641\absw706\absh231 \f10 \fs25 \cf0 \f10 \fs25 \cf0 14
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{\phpg\posx2576\pvpg\posy5641\absw1429\absh231 \f10 \fs25 \cf0 \f10 \fs25 \cf0 R
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{\phpg\posx1701\pvpg\posy6163\absw7666\absh6424 \f10 \fs18 \cf0 \fi297 \f10 \fs1
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nsiva en
\par}{\phpg\posx1701\pvpg\posy6163\absw7666\absh6424 \sl-239 \f10 \fs18 \cf0 con
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\par}{\phpg\posx1701\pvpg\posy6163\absw7666\absh6424 \sl-237 \f10 \fs18 \cf0 con
ceptos bsicos de control desde el punto de vista de la ingeniera y un breve anlisis
\par}{\phpg\posx1701\pvpg\posy6163\absw7666\absh6424 \sl-239 \f10 \fs18 \cf0 de
los sistemas de control convencionales. Una vez presentado el problema, este cap\par}{\phpg\posx1701\pvpg\posy6163\absw7666\absh6424 \sl-239 \f10 \fs18 \cf0 tul
o aborda el control inteligente desde tres niveles diferenciados: Nivel Metodolgi
co,
\par}{\phpg\posx1701\pvpg\posy6163\absw7666\absh6424 \sl-237 \f10 \fs18 \cf0 Niv
el de Tcnicas y Nivel de Diseo.
\par}{\phpg\posx1701\pvpg\posy6163\absw7666\absh6424 \sl-239 \f10 \fs18 \cf0 \fi
297 En el Nivel Metodolgico se considera el control como una tarea genrica, en
el
\par}{\phpg\posx1701\pvpg\posy6163\absw7666\absh6424 \sl-237 \f10 \fs18 \cf0 sen
tido de la Ingeniera del Conocimiento, estableciendo por qu y cundo resu
lta
\par}{\phpg\posx1701\pvpg\posy6163\absw7666\absh6424 \sl-239 \f10 \fs18 \cf0 con
veniente la aplicacion de tcnicas de control inteligente frente a mtodos conven\par}{\phpg\posx1701\pvpg\posy6163\absw7666\absh6424 \sl-239 \f10 \fs18 \cf0 cio
nales de control. As, se describen algunas propuestas de mtodos de resolucin de
\par}{\phpg\posx1701\pvpg\posy6163\absw7666\absh6424 \sl-237 \f10 \fs18 \cf0 pro
blemas para tareas de control en el marco de la metodologa CommonKADS. En
\par}{\phpg\posx1701\pvpg\posy6163\absw7666\absh6424 \sl-239 \f10 \fs18 \cf0 pri
mer lugar se analiza la tarea de Control Supervisor, diferenciando entre las tar
eas
\par}{\phpg\posx1701\pvpg\posy6163\absw7666\absh6424 \sl-239 \f10 \fs18 \cf0 de
anlsis de valores fuera de los rangos esperados (monitorizacin) y la actuacin
\par}{\phpg\posx1701\pvpg\posy6163\absw7666\absh6424 \sl-237 \f10 \fs18 \cf0 med
iante rdenes para rectificar los valores inesperados (comandos de control). Fi\par}{\phpg\posx1701\pvpg\posy6163\absw7666\absh6424 \sl-239 \f10 \fs18 \cf0 nal
mente se proponen una serie de plantillas para la resolucin de las subtareas que
\par}{\phpg\posx1701\pvpg\posy6163\absw7666\absh6424 \sl-237 \f10 \fs18 \cf0 pue
den estar implicadas en un problema de control inteligente.
\par}{\phpg\posx1701\pvpg\posy6163\absw7666\absh6424 \sl-239 \f10 \fs18 \cf0 \fi
297 Para el Nivel de Tcnicas, se ha elegido el control borroso por su
alto impacto
\par}{\phpg\posx1701\pvpg\posy6163\absw7666\absh6424 \sl-239 \f10 \fs18 \cf0 en
soluciones para el mundo industrial y en dispositivos de electrnica do
mstica.
\par}{\phpg\posx1701\pvpg\posy6163\absw7666\absh6424 \sl-237 \f10 \fs18 \cf0 La

gran diferencia respecto al control convencional es la posibilidad de definir es

tas
\par}{\phpg\posx1701\pvpg\posy6163\absw7666\absh6424 \sl-239 \f10 \fs18 \cf0 fun
ciones de control mediante conjuntos de reglas de produccin, lo que permite mo\par}{\phpg\posx1701\pvpg\posy6163\absw7666\absh6424 \sl-239 \f10 \fs18 \cf0 del
ar de forma relativamente simple el conocimiento de los expertos en supervisin y
\par}{\phpg\posx1701\pvpg\posy6163\absw7666\absh6424 \sl-237 \f10 \fs18 \cf0 con
trol de procesos, algo particularmente til en aplicaciones complejas. Estas regla
s
\par}{\phpg\posx1701\pvpg\posy6163\absw7666\absh6424 \sl-239 \f10 \fs18 \cf0 de
actuacin son especificadas mediante descriptores lingsticos. As, se pueden usar
\par}{\phpg\posx1701\pvpg\posy6163\absw7666\absh6424 \sl-237 \f10 \fs18 \cf0 trmi
nos tales como muy caluroso o poco rpido que representan informacin cuali\par}{\phpg\posx1701\pvpg\posy6163\absw7666\absh6424 \sl-239 \f10 \fs18 \cf0 tat
iva poco precisa, pero que son un elemento sustancial del conocimiento humano.
\par}{\phpg\posx1701\pvpg\posy6163\absw7666\absh6424 \sl-239 \f10 \fs18 \cf0 Par
a el desarrollo de un controlador borroso es necesario especificar: las variable
s bo\par}{\phpg\posx1701\pvpg\posy6163\absw7666\absh6424 \sl-237 \f10 \fs18 \cf0 rro
sas de entrada y de salida, el mtodo de fuzzificacin, la base de reglas borrosas,
\par}{\phpg\posx1701\pvpg\posy6163\absw7666\absh6424 \sl-239 \f10 \fs18 \cf0 el
mecanismo de inferencias y el mtodo de defuzzificacin.
\par}{\phpg\posx1701\pvpg\posy6163\absw7666\absh6424 \sl-251 \par\f10 \fs18 \cf0
\fi3535 640 \par
}
\sect\sectd\pard\plain
\pgwsxn10771\pghsxn14740
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}}\par}{\phpg\posx7380\pvpg\posy1429\absw1687\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Ejercicios propuestos \par
}
{\phpg\posx1701\pvpg\posy2047\absw7562\absh3610 \f10 \fs18 \cf0 \fi297 \f10 \fs1
8 \cf0 En el Nivel de Diseo se han estudiado arquitecturas y herramientas que so
por\par}{\phpg\posx1701\pvpg\posy2047\absw7562\absh3610 \sl-237 \f10 \fs18 \cf0 tan
y facilitan esta ltima fase del desarrollo. Existen abundantes herramientas para
\par}{\phpg\posx1701\pvpg\posy2047\absw7562\absh3610 \sl-239 \f10 \fs18 \cf0 el
diseo e implementacin de sistemas de control borroso, incluyendo algunas que
\par}{\phpg\posx1701\pvpg\posy2047\absw7562\absh3610 \sl-239 \f10 \fs18 \cf0 fac
ilitan las implementaciones hardware. Por su generalidad, facilidad de uso y dis
\par}{\phpg\posx1701\pvpg\posy2047\absw7562\absh3610 \sl-237 \f10 \fs18 \cf0 pon
ibilidad, se ha elegido como soporte bsico MATLAB y sus libreras Simulink y
\par}{\phpg\posx1701\pvpg\posy2047\absw7562\absh3610 \sl-239 \f10 \fs18 \cf0 Fuz
zy Toolbox.
\par}{\phpg\posx1701\pvpg\posy2047\absw7562\absh3610 \sl-247 \f10 \fs18 \cf0 \fi
297 Como ltimo apartado este captulo incluye un anlisis de otros dos asp
ectos
\par}{\phpg\posx1701\pvpg\posy2047\absw7562\absh3610 \sl-237 \f10 \fs18 \cf0 ese
nciales en muchas aplicaciones de control inteligente: el razonamiento reactivo
y el
\par}{\phpg\posx1701\pvpg\posy2047\absw7562\absh3610 \sl-239 \f10 \fs18 \cf0 raz
onamiento en tiempo real. En el campo del razonamiento reactivo se han analizado
\par}{\phpg\posx1701\pvpg\posy2047\absw7562\absh3610 \sl-239 \f10 \fs18 \cf0 las
arquitecturas de pizarra, estudiando la metfora de la pizarra de Newell, sus com
\par}{\phpg\posx1701\pvpg\posy2047\absw7562\absh3610 \sl-237 \f10 \fs18 \cf0 pon
entes fundamentales y las fases del ciclo de control. Finalmente, en el campo de
l
\par}{\phpg\posx1701\pvpg\posy2047\absw7562\absh3610 \sl-239 \f10 \fs18 \cf0 raz
onamiento en tiempo real se han analizado algunas de los aspectos fundamentales:
\par}{\phpg\posx1701\pvpg\posy2047\absw7562\absh3610
eventos asncronos, el razonamiento no montono, el
\par}{\phpg\posx1701\pvpg\posy2047\absw7562\absh3610
el razonamiento temporal, el procesamiento de datos
\par}{\phpg\posx1701\pvpg\posy2047\absw7562\absh3610
puesta garantizado y el cambio del foco de atencin.

\sl-239 \f10 \fs18 \cf0 los

modo continuado de opera\sl-237 \f10 \fs18 \cf0 cin,
imprecisos, el tiempo de
\sl-239 \f10 \fs18 \cf0 res
Finalmente se hace una breve

\par}{\phpg\posx1701\pvpg\posy2047\absw7562\absh3610 \sl-237 \f10 \fs18 \cf0 int

roduccin a una herramienta para desarrollo de sistemas en tiempo real basados
\par}{\phpg\posx1701\pvpg\posy2047\absw7562\absh3610 \sl-239 \f10 \fs18 \cf0 en
conocimiento. \par
}
{\phpg\posx1701\pvpg\posy6520\absw895\absh231 \f10 \fs25 \cf0 \f10 \fs25 \cf0 14
.10 \par
}
{\phpg\posx2734\pvpg\posy6520\absw3045\absh231 \f10 \fs25 \cf0 \f10 \fs25 \cf0 E
jercicios propuestos \par
}
{\phpg\posx1701\pvpg\posy7055\absw7430\absh1668 \f10 \fs18 \cf0 \f10 \fs18 \cf0
14.1. Una gra gantry mvil es un tipo particular de gra puente que tiene una es\par}{\phpg\posx1701\pvpg\posy7055\absw7430\absh1668 \sl-239 \f10 \fs18 \cf0 tru
ctura horizontal sustentada por dos columnas verticales. Su objetivo es desplaza
r
\par}{\phpg\posx1701\pvpg\posy7055\absw7430\absh1668 \sl-239 \f10 \fs18 \cf0 un
objeto sobre el eje horizontal. El objeto se encuentra suspendido verticalmen
te,
\par}{\phpg\posx1701\pvpg\posy7055\absw7430\absh1668 \sl-237 \f10 \fs18 \cf0 suj
eto a un carro mvil que se desplaza horizontalmente a travs de una correa accio\par}{\phpg\posx1701\pvpg\posy7055\absw7430\absh1668 \sl-239 \f10 \fs18 \cf0 nad
a por un motor. El movimiento del carro desplaza al objeto de forma horizontal,
\par}{\phpg\posx1701\pvpg\posy7055\absw7430\absh1668 \sl-239 \f10 \fs18 \cf0 sin
embargo tambin producir un movimiento oscilatorio cuando el carro mvil cam\par}{\phpg\posx1701\pvpg\posy7055\absw7430\absh1668 \sl-237 \f10 \fs18 \cf0 bia
su velocidad, arranca o se detiene. El objeto se comporta como un pndulo cuyo
\par}{\phpg\posx1701\pvpg\posy7055\absw7430\absh1668 \sl-239 \f10 \fs18 \cf0 eje
se desplaza horizontalmente. \par
}
{\phpg\posx2824\pvpg\posy12124\absw5101\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0
Figura 14.33: Diagrama de fuerzas de la gra gantry mvil \par
}
{\phpg\posx5236\pvpg\posy13123\absw359\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 6
41 \par
}
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a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28
a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28
a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28
a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28
a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28
a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28
a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28
a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28
a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28
a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28
a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28
a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28
a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28
a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28
a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28
a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28
a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28
a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28
a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28a2800a28
a2800a28a2800a28a2800a28a2800a28a2803fffd9
}}\par}{\phpg\posx1701\pvpg\posy1429\absw596\absh144 \f20 \fs16 \cf0 \f20 \fs16
\cf0 Control \par
}
{\phpg\posx1701\pvpg\posy2047\absw7766\absh2875 \f10 \fs17 \cf0 \f10 \fs17 \cf0
El objetivo del ejercicio es disear un sistema controlador que haga que las oscil
aciones
\par}{\phpg\posx1701\pvpg\posy2047\absw7766\absh2875 \sl-237 \f10 \fs17 \cf0 que
se produzcan sean mnimas. Se supone que existen unos sensores capaces
de
\par}{\phpg\posx1701\pvpg\posy2047\absw7766\absh2875 \sl-239 \f10 \fs17 \cf0 ind
icar la posicin del carro y el ngulo de oscilacin en cada momento. La
seal
\par}{\phpg\posx1701\pvpg\posy2047\absw7766\absh2875 \sl-239 \f10 \fs17 \cf0 con
trolada ser la tensin elctrica aplicada al motor que desplaza el carro.
\par}{\phpg\posx1701\pvpg\posy2047\absw7766\absh2875 \sl-312 \f10 \fs17 \cf0 Con
el objeto de simplificar el problema, se describe a continuacin el modelo fsico
\par}{\phpg\posx1701\pvpg\posy2047\absw7766\absh2875 \sl-239 \f10 \fs17 \cf0 del
fenmeno{\up006 \fs12 11}. En primer lugar se describen de forma simplificada la
s fuerzas que
\par}{\phpg\posx1701\pvpg\posy2047\absw7766\absh2875 \sl-237 \f10 \fs17 \cf0 acta
n sobre el sistema (vase la Figura 14.33).
\par}{\phpg\posx1701\pvpg\posy2047\absw7766\absh2875 \sl-314 \f10 \fs17 \cf0 Se
asume que el carro se desplaza sobre el puente sin friccin y que la carga, al osc
ilar,
\par}{\phpg\posx1701\pvpg\posy2047\absw7766\absh2875 \sl-237 \f10 \fs17 \cf0 tam

poco presenta ningn tipo de resistencia. Denominamos{\up006 \fs12 12}{\i \f50 x

}{\f20 (c}{\i\dn006 \f50 \fs12 t}{\i \f50 )}{\f20 } a la posicin del
\par}{\phpg\posx1701\pvpg\posy2047\absw7766\absh2875 \sl-240 \f10 \fs17 \cf0 car
ro en el instante t,{\i \f50 {\field{\*\fldinst SYMBOL 113 \\f Symbol }}}{\f20
(}{\i \f50 t}{\f20 )} al ngulo de oscilacin, y{\i \f50 u}{\f20 (}{\i \f50 t}{\f
20 )} a la fuerza aplicada por el
\par}{\phpg\posx1701\pvpg\posy2047\absw7766\absh2875 \sl-268 \f10 \fs17 \cf0 mot
or elctrico. La fuerza de inercia del carro es{\i \f50 M}{\f20 }{\i\dn006 \f50 \
fs12 cx}{\i \f50 }{\f20 (}{\i \f50 t}{\f20 )}, mientras que, para la carga,
\par}{\phpg\posx1701\pvpg\posy2047\absw7766\absh2875 \sl-237 \f10 \fs17 \cf0 la
fuerza gravitatoria es{\i \f50 mg} y la de inercia es{\i \f50 m}{\i \f50
x}{\i\dn006 \f50 \fs12 c(}{\f20 }{\f20 (}{\i \f50 t}{\f20 )}{\f20 +}{\i \f50
l}{\f20 {\field{\*\fldinst SYMBOL 113 \\f Symbol }}}{\i \f50 (}{\f20 t}{\i \f50
)}{\f20 )}. La suma de fuerzas
\par}{\phpg\posx1701\pvpg\posy2047\absw7766\absh2875 \sl-211 \f10 \fs17 \cf0 hor
izontales y la suma de momentos debe ser nula, por lo que se satisface: \par
}
{\phpg\posx6143\pvpg\posy5544\absw386\absh591 \f10 \fs17 \cf0 \fi98 {\f0\fs23 \b
ullet }\f10 \fs17 \cf0
\par}{\phpg\posx6143\pvpg\posy5544\absw386\absh591 \sl-199 \par\f10 \fs17 \cf0 {
\f0\fs23 \bullet } \par
}
{\phpg\posx3463\pvpg\posy6178\absw1407\absh233 \i \f50 \fs17 \cf0 \i \f50 \fs17
\cf0 M{\i0 \f20 }{\dn006 \fs12 cx} {\i0 \f20 (}t{\i0 \f20 )}{\i0 \f20 +} m{\i
0 \f20 (}{\dn006 \fs12 c}{\i0 \f20 ( }\par
}
{\phpg\posx4595\pvpg\posy6126\absw1513\absh207 \i \f50 \fs17 \cf0 \i \f50 \fs17
\cf0 x
t{\i0 \f20 )}{\i0 \f20 +} l{\i0 \f20 {\field{\*\fldinst SYMBOL 113 \\f
Symbol }}}({\i0 \f20 t}){\i0 \f20 )}{\i0 \f20 =} u \par
}
{\phpg\posx6463\pvpg\posy5780\absw694\absh535 \i \f50 \fs17 \cf0 \fi100 \i \f50
\fs17 \cf0 F{\dn006 \fs12 x}{\i0 \f20 =}{\i0 \f20 0 }
\par}{\phpg\posx6463\pvpg\posy5780\absw694\absh535 \sl-199 \par\i \f50 \fs17 \cf
0 M{\fs12 Q}{\i0 \f20 =}{\i0 \f20 0 }\par
}
{\phpg\posx1701\pvpg\posy6502\absw7578\absh796 \i \f50 \fs17 \cf0 \fi1514 \i \f5
0 \fs17 \cf0 m x{\dn006 \fs12 c(}{\i0 \f20 }{\i0 \f20 (}t{\i0 \f20 )}{\i0 \f2
0 +} l{\i0 \f20 {\field{\*\fldinst SYMBOL 113 \\f Symbol }}}({\i0 \f20 t}){\i0 \
f20 )}lcos{\i0 \f20 (}{\field{\*\fldinst SYMBOL 113 \\f Symbol }}{\i0 \f20 (}t{\
i0 \f20 ))}{\i0 \f20 +} mglsen{\i0 \f20 (}{\field{\*\fldinst SYMBOL 113 \\f Sym
bol }}{\i0 \f20 (}t{\i0 \f20 ))}{\i0 \f20 =}{\i0 \f20 0 }
\par}{\phpg\posx1701\pvpg\posy6502\absw7578\absh796 \sl-190 \par\i \f50 \fs17 \c
f0 {\i0 \f10 Para}{\i0 \f10 simplificar,}{\i0 \f10 se}{\i0 \f10 puede}{\i0 \f
10 suponer}{\i0 \f10 que,}{\i0 \f10 cuando} {\field{\*\fldinst SYMBOL 113 \\f
Symbol }} <{\i0 \f20 1}{\i0 \f10 (pequeas}{\i0 \f10 oscilaciones),} cos{\i0 \
f20 (}{\field{\*\fldinst SYMBOL 113 \\f Symbol }}{\i0 \f20 (}t{\i0 \f20 ))}{\i0
\f20 = }
\par}{\phpg\posx1701\pvpg\posy6502\absw7578\absh796 \sl-239 \i \f50 \fs17 \cf0 {
\i0 \f20 0}{\i0 \f10 y} sen{\i0 \f20 (}{\field{\*\fldinst SYMBOL 113 \\f Symbo
l }}{\i0 \f20 (}t{\i0 \f20 ))}{\i0 \f20 =} {\field{\*\fldinst SYMBOL 113 \\f Sy
mbol }}{\i0 \f20 (}t{\i0 \f20 )}{\i0 \f10 ,}{\i0 \f10 por}{\i0 \f10 lo}{\i0 \f
10 que}{\i0 \f10 la}{\i0 \f10 ltima}{\i0 \f10 expresin}{\i0 \f10 puede}{\i0 \
f10 reducirse}{\i0 \f10 a: }\par
}
{\phpg\posx4077\pvpg\posy7561\absw2617\absh233 \i \f50 \fs17 \cf0 \i \f50 \fs17
\cf0 m{\i0 \f20 }{\dn006 \fs12 cx} {\i0 \f20 (}t{\i0 \f20 )}{\i0 \f20 +} ml{\i
0 \f20 {\field{\*\fldinst SYMBOL 113 \\f Symbol }}}({\i0 \f20 t}){\i0 \f20 }{\i0
\f20 +} mg{\field{\*\fldinst SYMBOL 113 \\f Symbol }}{\i0 \f20 (}t{\i0 \f20 )}
{\i0 \f20 =}{\i0 \f20 0 }\par
}

{\phpg\posx8462\pvpg\posy7617\absw649\absh160 \f10 \fs17 \cf0 \f10 \fs17 \cf0 (1

4.42) \par
}
{\phpg\posx1701\pvpg\posy8096\absw7372\absh381 \f10 \fs17 \cf0 \f10 \fs17 \cf0 A
mbas ecuaciones describen el comportamiento de{\i \f50 x }{\i\dn006 \f50 \fs12
c}{\f20 (}{\i \f50 t}{\f20 )} y{\i \f50 {\field{\*\fldinst SYMBOL 113 \\f Symb
ol }}}{\f20 (}{\i \f50 t}{\f20 )} y se pueden representar
\par}{\phpg\posx1701\pvpg\posy8096\absw7372\absh381 \sl-211 \f10 \fs17 \cf0 medi
ante la siguiente ecuacin matricial: \par
}
{\phpg\posx2997\pvpg\posy8534\absw183\absh233 \f10 \fs17 \cf0 \f10 \fs17 \cf0 8
\par
}
{\phpg\posx4372\pvpg\posy8534\absw351\absh233 \f10 \fs17 \cf0 \f10 \fs17 \cf0 98
\par
}
{\phpg\posx6239\pvpg\posy8534\absw351\absh233 \f10 \fs17 \cf0 \f10 \fs17 \cf0 98
\par
}
{\phpg\posx7667\pvpg\posy8534\absw183\absh233 \f10 \fs17 \cf0 \f10 \fs17 \cf0 9
\par
}
{\phpg\posx3203\pvpg\posy8742\absw633\absh374 \i \f50 \fs17 \cf0 \i \f50 \fs17 \
cf0 M{\i0 \f20 +} m
\par}{\phpg\posx3203\pvpg\posy8742\absw633\absh374 \sl-237 \i \f50 \fs17 \cf0 m
\par
}
{\phpg\posx4036\pvpg\posy8742\absw245\absh374 \i \f50 \fs17 \cf0 \i \f50 \fs17 \
cf0 ml
\par}{\phpg\posx4036\pvpg\posy8742\absw245\absh374 \sl-237 \i \f50 \fs17 \cf0 ml
\par
}
{\phpg\posx4715\pvpg\posy8732\absw184\absh391 \i \f50 \fs17 \cf0 \i \f50 \fs17 \
cf0 x{\dn006 \fs12 c }
\par}{\phpg\posx4715\pvpg\posy8732\absw184\absh391 \sl-228 \i \f50 \fs17 \cf0 {\
field{\*\fldinst SYMBOL 113 \\f Symbol }}{\i0 \f20 }\par
}
{\phpg\posx5011\pvpg\posy8534\absw622\absh454 \f10 \fs17 \cf0 \f10 \fs17 \cf0 9
8
\par}{\phpg\posx5011\pvpg\posy8534\absw622\absh454 \sl-280 \f10 \fs17 \cf0 \fi15
1 {\f20 + }\par
}
{\phpg\posx5565\pvpg\posy8742\absw110\absh374 \f20 \fs17 \cf0 \f20 \fs17 \cf0 0
\par}{\phpg\posx5565\pvpg\posy8742\absw110\absh374 \sl-237 \f20 \fs17 \cf0 0 \pa
r
}
{\phpg\posx5863\pvpg\posy8742\absw333\absh374 \f20 \fs17 \cf0 \f20 \fs17 \cf0 0
\par}{\phpg\posx5863\pvpg\posy8742\absw333\absh374 \sl-237 \f20 \fs17 \cf0 {\i \
f50 mg }\par
}
{\phpg\posx6583\pvpg\posy8742\absw191\absh374 \i \f50 \fs17 \cf0 \i \f50 \fs17 \
cf0 x{\fs12 c }
\par}{\phpg\posx6583\pvpg\posy8742\absw191\absh374 \sl-208 \i \f50 \fs17 \cf0 {\
field{\*\fldinst SYMBOL 113 \\f Symbol }} \par
}
{\phpg\posx6878\pvpg\posy8534\absw647\absh454 \f10 \fs17 \cf0 \f10 \fs17 \cf0 9
8
\par}{\phpg\posx6878\pvpg\posy8534\absw647\absh454 \sl-280 \f10 \fs17 \cf0 \fi16
0 {\f20 = }\par
}

{\phpg\posx7454\pvpg\posy8742\absw128\absh374 \i \f50 \fs17 \cf0 \i \f50 \fs17 \

cf0 u
\par}{\phpg\posx7454\pvpg\posy8742\absw128\absh374 \sl-237 \i \f50 \fs17 \cf0 {\
i0 \f20 0 }\par
}
{\phpg\posx1701\pvpg\posy9385\absw3885\absh247 \f10 \fs17 \cf0 \f10 \fs17 \cf0 D
espejando las incgnitas{\f20 }{\i\dn006 \f50 \fs12 cx}{\i \f50 } y{\f20 {\fi
eld{\*\fldinst SYMBOL 113 \\f Symbol }}}{\i \f50 ,} se obtiene: \par
}
{\phpg\posx2839\pvpg\posy9638\absw792\absh233 \f10 \fs17 \cf0 \f10 \fs17 \cf0 8
9 \par
}
{\phpg\posx3043\pvpg\posy9834\absw116\absh391 \i \f50 \fs17 \cf0 \i \f50 \fs17 \
cf0 x
\par}{\phpg\posx3043\pvpg\posy9834\absw116\absh391 \sl-256 \i \f50 \fs17 \cf0 {\
field{\*\fldinst SYMBOL 113 \\f Symbol }}{\i0 \f20 }\par
}
{\phpg\posx3155\pvpg\posy9910\absw91\absh108 \i \f50 \fs12 \cf0 \i \f50 \fs12 \c
f0 c \par
}
{\phpg\posx3055\pvpg\posy9834\absw99\absh160 \f20 \fs17 \cf0 \f20 \fs17 \cf0 \pa
r
}
{\phpg\posx5387\pvpg\posy9638\absw183\absh233 \f10 \fs17 \cf0 \f10 \fs17 \cf0 8
\par
}
{\phpg\posx3499\pvpg\posy9966\absw155\absh160 \f20 \fs17 \cf0 \f20 \fs17 \cf0 =
\par
}
{\phpg\posx3732\pvpg\posy9829\absw1595\absh437 \f20 \fs17 \cf0 \fi748 \f20 \fs17
\cf0 1
\par}{\phpg\posx3732\pvpg\posy9829\absw1595\absh437 \sl-273 \f20 \fs17 \cf0 {\i
\f50 ml}({\i \f50 M} +{\i \f50 m}){\f40 {\field{\*\fldinst SYMBOL 45 \\f Symb
ol }}}{\i \f50 m}{\dn006 \fs12 2}{\i \f50 l }\par
}
{\phpg\posx6122\pvpg\posy9797\absw633\absh418 \f40 \fs17 \cf0 \f40 \fs17 \cf0 {\
field{\*\fldinst SYMBOL 45 \\f Symbol }}{\i \f50 ml }
\par}{\phpg\posx6122\pvpg\posy9797\absw633\absh418 \sl-239 \f40 \fs17 \cf0 {\i \
f50 M}{\f20 +}{\i \f50 m }\par
}
{\phpg\posx6854\pvpg\posy9638\absw351\absh233 \f10 \fs17 \cf0 \f10 \fs17 \cf0 98
\par
}
{\phpg\posx7828\pvpg\posy9638\absw183\absh233 \f10 \fs17 \cf0 \f10 \fs17 \cf0 9
\par
}
{\phpg\posx5591\pvpg\posy9843\absw334\absh407 \i \f50 \fs17 \cf0 \i \f50 \fs17 \
cf0 ml
\par}{\phpg\posx5591\pvpg\posy9843\absw334\absh407 \sl-239 \i \f50 \fs17 \cf0 {\
i0 \f40 {\field{\*\fldinst SYMBOL 45 \\f Symbol }}}m \par
}
{\phpg\posx7197\pvpg\posy9843\absw527\absh407 \i \f50 \fs17 \cf0 \i \f50 \fs17 \
cf0 u
\par}{\phpg\posx7197\pvpg\posy9843\absw527\absh407 \sl-239 \i \f50 \fs17 \cf0 {\
i0 \f40 {\field{\*\fldinst SYMBOL 45 \\f Symbol }}}mg{\field{\*\fldinst SYMBOL 1
13 \\f Symbol }} \par
}
{\phpg\posx1701\pvpg\posy10497\absw7448\absh2523 \f10 \fs17 \cf0 \fi182 \f10 \fs
17 \cf0 1. Realice en Simulink de MATLAB una simulacin del sistema, a partir del
modelo

\par}{\phpg\posx1701\pvpg\posy10497\absw7448\absh2523 \sl-237 \f10 \fs17 \cf0 \f

i436 matemtico descrito anteriormente, dando valores concretos a{\i \f50 m
},{\i \f50 M},{\i \f50 l},{\i \f50 g} y{\i \f50 u},
\par}{\phpg\posx1701\pvpg\posy10497\absw7448\absh2523 \sl-239 \f10 \fs17 \cf0 \f
i436 siendo{\i \f50 m}{\i \f50 <}{\i \f50 M} y pudiendo aproximar{\i \f50
g} a 10.
\par}{\phpg\posx1701\pvpg\posy10497\absw7448\absh2523 \sl-307 \f10 \fs17 \cf0 \f
i182 2. Describa cules seran las entradas y salidas de un hipottico controlador bo
rroso,
\par}{\phpg\posx1701\pvpg\posy10497\absw7448\absh2523 \sl-239 \f10 \fs17 \cf0 \f
i436 indicando las etiquetas lingsticas que se usaran.
\par}{\phpg\posx1701\pvpg\posy10497\absw7448\absh2523 \sl-169 \par\f10 \fs17 \cf
0 \fi148 {\up006 \fs10 11}{\fs14 Este}{\fs14 estudio}{\fs14 es}{\fs14 un}{
\fs14 fragmento}{\fs14 del}{\fs14 trabajo}{\fs14 realizado}{\fs14 por}
{\fs14 Clark}{\fs14 R.}{\fs14 E.}{\fs14 y}{\fs14 Gavin}{\fs14 M.}{\f
s14 Sin}{\fs14 de}{\fs14 la}{\fs14 Uni- }
\par}{\phpg\posx1701\pvpg\posy10497\absw7448\absh2523 \sl-189 \f10 \fs17 \cf0 {\
fs14 veridad}{\fs14 de}{\fs14 Duke}{\fs14 titulado}{\f20 \fs14 Gantry}{\
f20 \fs14 Crane:}{\f20 \fs14 Analysis,}{\f20 \fs14 Visualization,}{\f20 \f
s14 Experimentation}{\f20 \fs14 and}{\f20 \fs14 Control}{\fs14 y }
\par}{\phpg\posx1701\pvpg\posy10497\absw7448\absh2523 \sl-189 \f10 \fs17 \cf0 {\
fs14 disponible}{\fs14 en}{\fs14 http://weave.duke.edu/weave/ }
\par}{\phpg\posx1701\pvpg\posy10497\absw7448\absh2523 \sl-189 \f10 \fs17 \cf0 \f
i148 {\up006 \fs10 12}{\fs14 En}{\fs14 esta}{\fs14 notacin,}{\fs14 dado}{\i
\f50 \fs14
z}{\f20 \fs14 (}{\i \f50 \fs14 t}{\f20 \fs14 )}{\fs14 variable}
{\fs14 respecto}{\fs14 al}{\fs14 tiempo,}{\i \f50 \fs14
z}{\f20 \fs14 }{
\fs14 es}{\fs14 la}{\fs14 segunda}{\fs14 derivada}{\fs14 respecto}{\fs
14 al }
\par}{\phpg\posx1701\pvpg\posy10497\absw7448\absh2523 \sl-189 \f10 \fs17 \cf0 {\
fs14 tiempo. }
\par}{\phpg\posx1701\pvpg\posy10497\absw7448\absh2523 \sl-251 \par\f10 \fs17 \cf
0 \fi3535 642 \par
}
\sect\sectd\pard\plain
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{\phpg\posx1884\pvpg\posy2047\absw7351\absh1165 \f10 \fs18 \cf0 \f10 \fs18 \cf0
3. Describa algunas reglas borrosas sencillas para el sistema de control.
\par}{\phpg\posx1884\pvpg\posy2047\absw7351\absh1165 \sl-319 \f10 \fs18 \cf0 4.
Implemente el sistema borroso descrito mediante la Fuzzy Logic Toolbox
de
\par}{\phpg\posx1884\pvpg\posy2047\absw7351\absh1165 \sl-237 \f10 \fs18 \cf0 \fi
254 MATLAB.
\par}{\phpg\posx1884\pvpg\posy2047\absw7351\absh1165 \sl-319 \f10 \fs18 \cf0 5.
Realice simulaciones del sistema controlado por el controlador implementado y
\par}{\phpg\posx1884\pvpg\posy2047\absw7351\absh1165 \sl-239 \f10 \fs18 \cf0 \fi
254 aada las reglas convenientes para mejorar el sistema de control. \par
}
{\phpg\posx5236\pvpg\posy13123\absw359\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 6
43 \par
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}}\par}{\phpg\posx1701\pvpg\posy1429\absw596\absh144 \f20 \fs16 \cf0 \f20 \fs16
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{\phpg\posx1701\pvpg\posy2037\absw7368\absh847 \f10 \fs25 \cf0 \f10 \fs25 \cf0 R
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\par}{\phpg\posx1701\pvpg\posy2037\absw7368\absh847 \sl-231 \par\f10 \fs25 \cf0
{\fs18 Antsaklis}{\fs18 ,}{\fs18 Panos}{\fs18 J.}{\fs18 y}{\fs18 Passino
}{\fs18 ,}{\fs18 Kevin}{\fs18 M.}{\fs18 :}{\fs18
An}{\fs18 Introduction
}{\fs18 to}{\fs18 Intelligent}{\fs18 and }
\par}{\phpg\posx1701\pvpg\posy2037\absw7368\absh847 \sl-239 \f10 \fs25 \cf0 \fi1
99 {\fs18 Autonomous}{\fs18 Control}{\fs18 .}{\fs18 Kluwer}{\fs18 Academic}{
\fs18 Publishers,}{\fs18 1992.}{\fs18 ISBN}{\fs18 0-7923-9267-1. }\par
}
{\phpg\posx1701\pvpg\posy3199\absw2705\absh376 \f10 \fs18 \cf0 \f10 \fs18 \cf0 B
urns, A. y Wellings, A.:
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99 Addison-Wesley, 1997. \par
}
{\phpg\posx1701\pvpg\posy3837\absw1168\absh160 \f10 \fs18 \cf0 \f10 \fs18 \cf0 C
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}
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eal-Time Systems and Programming Languages. \par
}
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Revisionist View of Blackboard Systems. \par
}
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}
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ciety Conferen\par}{\phpg\posx1701\pvpg\posy4077\absw7426\absh8301 \sl-239 \f10 \fs18 \cf0 \fi
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199 Future. En: Proceedings of the International Lisp Conference, New York, 2003
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199 Intelligence. Journal of Real-Time Systems, 1994, 6(3), pp. 317-347.
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Hangos, K.; Lakner, R. y Gerzson, M.: Intelligent Control Systems: An Intro\par}{\phpg\posx1701\pvpg\posy4077\absw7426\absh8301 \sl-239 \f10 \fs18 \cf0 \fi
199 duction with Examples. Kluwer Academic Publishers, Dordrecht, The Netherland
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199 2001.
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Hayes-Roth, B. y Hayes-Roth, F.: A Cognitive Model of Planning. Cognitive
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199 Science: A Multidisciplinary Journal, 1979, 3(4), pp. 275-310.
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Hines, J. Wesley: Matlab supplement to Fuzzy and Neuronal Approaches in Engi\par}{\phpg\posx1701\pvpg\posy4077\absw7426\absh8301 \sl-153 \par\f10 \fs18 \cf0
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199 2002.
\par}{\phpg\posx1701\pvpg\posy4077\absw7426\absh8301 \sl-251 \par\f10 \fs18 \cf0
\fi3535 644 \par
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}
{\phpg\posx1701\pvpg\posy2047\absw7462\absh10129 \f10 \fs18 \cf0 \f10 \fs18 \cf0
Koymans, R.: Specifying Real-Time Properties with Metric Temporal Logic. Jour\par}{\phpg\posx1701\pvpg\posy2047\absw7462\absh10129 \sl-237 \f10 \fs18 \cf0 \f
i199 nal of Real-Time Systems, 1990, 2(4), pp. 255-299.
\par}{\phpg\posx1701\pvpg\posy2047\absw7462\absh10129 \sl-199 \par\f10 \fs18 \cf
0 Laffey, T.; Cox, A.; Schmidt, J.; Kai, S. y Read, J.: Real-Time Knowledge\par}{\phpg\posx1701\pvpg\posy2047\absw7462\absh10129 \sl-237 \f10 \fs18 \cf0 \f
i199 Based Systems. AI Magazine, 1988, 9(1), pp. 27-45.
\par}{\phpg\posx1701\pvpg\posy2047\absw7462\absh10129 \sl-197 \par\f10 \fs18 \cf
0 Metzner, C.; Cortez, L. y Chacn, D.: Using a Blackboard Architecture
in
\par}{\phpg\posx1701\pvpg\posy2047\absw7462\absh10129 \sl-239 \f10 \fs18 \cf0 \f
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0 \fi3535 645 \par
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199 chnical report hpp-83-19, Stanford University, 1983.
\par}{\phpg\posx1701\pvpg\posy2047\absw7369\absh1737 \sl-199 \par\f10 \fs18 \cf0
Vivancos, E.; Hernndez, L. y Botti, V.: Tcnicas y Arquitecturas de Int
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\par}{\phpg\posx1701\pvpg\posy2047\absw7369\absh1737 \sl-239 \f10 \fs18 \cf0 \fi
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\par}{\phpg\posx1701\pvpg\posy2047\absw7369\absh1737 \sl-199 \par\f10 \fs18 \cf0
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\par}{\phpg\posx1701\pvpg\posy2047\absw7369\absh1737 \sl-237 \f10 \fs18 \cf0 \fi
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