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IEEE TRANSACTIONS ON CYBERNETICS
A Novel Approach to Implement
TakagiSugeno Fuzzy Models
Chia-Wen Chang, Member, IEEE, and Chin-Wang Tao, Senior Member, IEEE
AbstractThis paper proposes new algorithms based on the
fuzzy c-regressing model algorithm for TakagiSugeno (TS)
fuzzy modeling of the complex nonlinear systems. A fuzzy
c-regression state model (FCRSM) algorithm is a TS fuzzy model
in which the functional antecedent and the state-space-model-
type consequent are considered with the available inputoutput
data. The antecedent and consequent forms of the proposed
FCRSM consists mainly of two advantages: one is that the
FCRSM has low computation load due to only one input vari-
able is considered in the antecedent part; another is that the
unknown system can be modeled to not only the polynomial
form but also the state-space form. Moreover, the FCRSM can be
extended to FCRSM-ND and FCRSM-Free algorithms. An algo-
rithm FCRSM-ND is presented to find the TS fuzzy state-space
model of the nonlinear system when the inputoutput data cannot
be precollected and an assumed effective controller is available.
In the practical applications, the mathematical model of con-
troller may be hard to be obtained. In this case, an online tuning
algorithm, FCRSM-FREE, is designed such that the parame-
ters of a TS fuzzy controller and the TS fuzzy state model of
an unknown system can be online tuned simultaneously. Four
numerical simulations are given to demonstrate the effectiveness
of the proposed approach.
Index TermsFuzzy c-regression model (FCRM),
TakagiSugeno (TS) fuzzy model.
I. I NTRODUCTION
ODELING of a system is essential in practical appli-
M cations, such as controller design and fault detec-
tion systems [1][3]. However, traditional linear modeling
techniques are not applicable to build models for com-
plex nonlinear systems. In recent years, fuzzy modeling has
become a main technique to describe a complex system
with a fuzzy model in combining several linear systems.
The well-known fuzzy model is the TakagiSugeno (TS)
fuzzy model introduced by Takagi and Sugeno [4][6]
to adopt the functional-type consequences in fuzzy rules.
Manuscript received December 16, 2016; revised February 26, 2017;
accepted April 28, 2017. This work was supported by the Ministry
of Science and Technology of Republic of China under Grant MOST
105-2221-E-197-009-MY3 and Grant MOST 105-2221-E-130-002. This paper
was recommended by Associate Editor H.-X. Li. (Corresponding author:
Chin-Wang Tao.)
C.-W. Chang is with the Department of Information and
Telecommunications Engineering, Ming Chuan University, Taoyuan 333,
Taiwan.
C.-W. Tao is with the Department of Electrical Engineering, National I-Lan
Institute of Technology, I-Lan 260, Taiwan (e-mail: cwtao@niu.edu.tw).
Color versions of one or more of the figures in this paper are available
online at http://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/TCYB.2017.2701900
2168-2267 c 2017 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
1
The advantage of TS fuzzy model is due to its excellent
capability to describe a given unknown system. However,
how to obtain the appropriate parameters of the conse-
quent function is the main challenge in TS fuzzy model
algorithm.
To solve above problem, a data clustering algorithm is
utilized to cluster the inputoutput data for calculating the
parameters of consequent function. The fuzzy c-means (FCM)
method is the most known and widely used algorithm in
fuzzy clustering [7]. The main difference between the tra-
ditional clustering and fuzzy clustering method is that an
entity belongs only to one cluster in traditional clustering
but partially belongs to many clusters with different degrees
of membership in fuzzy clustering. The FCM algorithm is
based on the distances which are calculated from data to
cluster centers. Therefore, the FCM method is so called a
hyperspherical-shaped clustering algorithm. Since FCM is not
appropriate for the hyperplane-shaped clusters associated with
fuzzy rules [8][10], a hyperplane-shaped clustering algo-
rithm, fuzzy c-regressing models (FCRMs), is proposed to
modify the FCM and obtains the representatives of clusters
by calculating a hyperplane-shaped fit of the affiliated data.
Although the appropriate parameters for several linear func-
tions in the TS fuzzy model can be obtained by FCRM,
some difficulties might occur when the obtained inputoutput
data cannot lead to a single hyperplane in one fuzzily parti-
tioned region or the obtained inputoutput data share the same
regression function in different regions. Moreover, the nonlin-
ear system cannot be easily modeled to the TS fuzzy system
with the linear state equation based on the conventional FCRM
due to its complexity.
In this paper, a fuzzy c-regression state model (FCRSM)
algorithm is proposed for the nonlinear system represented in
the state equations with the available inputoutput data. When
the inputoutput data cannot be precollected, the proposed
FCRSM is extended to be an algorithm, FCRSM-ND, to find
the TS fuzzy state-space model for nonlinear system with an
assumed effective controller. Furthermore, based on a tuning
algorithm, FCRSM-FREE algorithm is designed to online tune
the parameters of the TS fuzzy controller and the TS fuzzy
state model. The contributions and novelties in this paper are
summarized as follows.
1) An FCRSM algorithm is proposed for the nonlinear
systems represented in the state equations with the
obtained inputoutput data.
2) When the inputoutput data cannot be precollected,
the proposed FCRSM-ND algorithm can find the TS
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2 IEEE TRANSACTIONS ON CYBERNETICS

state-space model of the nonlinear system with an
assumed effective controller.
3) The proposed algorithms, FCRSM-FREE, not only can
online find the TS fuzzy state-space model of the non-
linear system but also can online tune the parameters of
TS fuzzy controller.
4) The functional antecedent is adopted in the proposed
FCRSM algorithm to let the mechanism of FCRSM is
where d(Pik ) is the distance between the obtained output date
and the output of ith approximated linear subsystem, i.e.,
d(Pik ) = yk f i (xk , Pik ). The matrix of all membership values
is denoted as U = [ik ], i = 1, 2, . . . , c and k = 1, 2, . . . , N.
The parameters of each linear regression model can be cal-
culated by weighted recursive least square (WRLS) algorithm
with the precollected inputoutput data pairs. WRLS algorithm
is illustrated as the following recursive equations [7]:
simpler than the conventional FRCM algorithm due to  
only one input variable is considered in the antecedent Pik+1 = Pik + Kk yk+1 xTk+1 Pik (5)
part.
This paper is organized as follows. In Section II, the intro- where
duction of TS fuzzy model and FCRM algorithm are given. Sk xk+1
The FCRSM is developed with the functional antecedent and Kk = Sk+1 xk+1 = (6)
1
ik
+ xTk+1 Sk xk+1
state-model consequence in Section III. Besides, based on
the proposed FCRSM, the algorithms of FCRSM-ND and
FCRSM-Free are presented in Section IV. In Section V, sev-
eral numerical examples are provided. Finally, the conclusion
is presented.
II. P RELIMINARIES
A. Fuzzy C-Regression Model Clustering Algorithm
An FCRM clustering algorithm which develops hyperplane-
shaped clusters was proposed by Hathaway and Bezdek in
1993 [11]. FCRM is a modified version of fuzzy c-mean algo-
rithm (FCM) that is a conventional clustering algorithm to
develop hypersphere-shaped clusters. It notes that FCM can
be applied to cluster the data that is distributed on a spherical
share. However, to identify the fuzzy model, the inputoutput
data pairs are usually distributed on an ellipsoidal-like shape.
Therefore, the FCRM clustering algorithm is considered in this
paper due to that it can partition a number of inputoutput data
into different linear regression models.
Let be a set of N inputoutput data pairs, i.e., =
{(xk , yk )} and xk = (x1k , x2k , . . . , xnk ), k = 1, 2, . . . , N.
can be partitioned into c different hyperplane-shaped clusters
represented by
 
yi = f i x, Pi
= ai0 + ai1 x1 + + ain xn = xT Pi , i = 1, 2, . . . , c.
Defined an objective function J
 
Sk+1 = I Kk xTk+1 Sk (7)
in which xk+1 is the vector of (k + 1)th input data, yk+1 is
(k + 1)th output data, Pik is the parameter of ith fuzzy lin-
ear submodel with kth iteration, i = 1, 2, . . . , c and k =
1, 2, . . . , N.
B. Conventional TS Fuzzy Models
The TS fuzzy model was presented by Takagi and Sugeno
in 1985 [4]. TS fuzzy model is described by fuzzy IF-THEN
rules, which represents local linear inputoutput relations of
the nonlinear system. It notes that a nonlinear system is
approximated by the fuzzy combination of linear subsystems
when the TS fuzzy model is adopted. The TS fuzzy model
is illustrated as follows:
Ri : IF x1 is M1i and x2 is M2i and, . . . , and xn is Mni
THEN yi = ai0 + ai1 x1 + + ain xn = xT Pi (8)
where x = [1 x1 . . . xn ]T is the input vector and Pi =
[ai0 ai1 . . . ain ]T is the parameter vector, Ri (i = 1, 2, . . . , c) is
the ith fuzzy rule, c is the number of rules, xj ( j = 1, 2, . . . , n)
is the jth input variable, Mji is the antecedent fuzzy set, and yi
is the output of the ith linear subsystem in fuzzy model. The
(1) output of the fuzzy model with the product fuzzy inference
and the center average defuzzifier is inferred in the following:



c 
N
 i m   2 c
n
k yk f i xk , Pi  Mj (xj ) yi
i
J= (2)
i=1 j=1
i=1 k=1 y = 
. (9)
where m is the weighting exponential, the value of m is usually 
c
n
Mji (xj )
selected as 2, and ik [0 1] is membership degree which i=1 j=1
should satisfy the following condition:
Based on the FCRM, the parameters of consequence-part

c
ik = 1, k = 1, 2, . . . , N. (3) can directly be obtained from the cluster representatives in (1)
i=1 with Pi using WRLS. The membership function Mji (xj ) of the
antecedent fuzzy set Mji of TS fuzzy model can be obtained
The membership degree ik between ith fuzzy model and
from the clustered input data and the membership degree of
kth data pair be updated as follows:
fuzzy partition ik [9]
1
ik = 
2 (4) 

 i  m1 1 xj i 2
c d Pk Mji (xj ) = exp
j
(10)

j
d Pk 2 ji
j=1
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CHANG AND TAO: NOVEL APPROACH TO IMPLEMENT TS FUZZY MODELS 3

Algorithm 1 TS Fuzzy Modeling With a Conventional

FCRM Clustering Algorithm [7]
1: Define the number of weight exponent m, the error criteria
, the clusters c, and an objective function J in (2).
2: Initiate the number of membership function U, parameters
of WRLS algorithm, Pi0 = 0 and S = I, where is a
constant and I is an unit matrix.
3: repeat
4: Find the model parameter P by WRLS algorithm to
minimize the objective function in (5).
5: Compute of the new membership value ik by (4)
6: until ||U(l) U(l1) || < 
Fig. 1. Chart of fuzzy partition of input space and linear hyper-plane-shaped
model. (a) Inputoutput data share the same regression function. (b) Input
7: Build the T-S fuzzy model as (8) output data cannot lead to a single regression function.
8: Calculate the Mji (xj ) of T-S fuzzy models by (10)

where

  2
N  N
ik xjk  k=1 ik xjk ji
k=1
ji =  N
and ji =  N
k=1 k k=1 k
i i

are the mean and standard deviation of the bell-shaped mem-

bership function, respectively.
The conventional FCRM clustering algorithm and the TS Fig. 2. Distance from data point to hyperplanes function. (a) Conventional
modeling algorithm are summarized in Algorithm 1. method. (b) Proposed method.

III. F UZZY C-R EGRESSION S TATE M ODEL

A. Modified Fuzzy C-Regression Model
In general, FCRM develops c hyperplane-shaped clusters
which are represented as c linear polynomial equations. As From (1), the affine linear regression model can be rewritten
in [9], FCRM can be utilized to build the TS fuzzy model, as an equation of a hyperplane-shaped
that is, these linear polynomial equations, cluster representa- i
fph (x, y, i ) = bi0 y + ai0 + ai1 x1 + ai2 x2 + + ain xn
tives, can be adopted as the consequence part in a TS fuzzy
model [shown in (8)]. However, some difficulties might occur
when the FCRM is used for TS modeling. For example, as
in Fig. 1(a), the inputoutput data are distributed in different
regions. It can be observed that there are two linear regres-
sion functions, f 1 and f 2 , for these data. However, based on the
fuzzy partition of the data space in (8), three fuzzy rules (more
than the number of hyperplanes) are required to build the TS
fuzzy model for the data in Fig. 1(a) with two rules sharing the
same hyperplane. In another example, shown in Fig. 1(b), the
inputoutput data cannot lead to a single hyperplane in region
II. Thus, it can be seen that it is difficult to obtain the appro-
priate TS fuzzy model based on the conventional FCRM for
the TS fuzzy model (8) directly, especially when the dimen-
sion of the input space is increased. To the best of the authors
knowledge, few results are available on the problem of TS
modeling for the nonlinear systems represented in state equa-
tions, i.e., x = f (x, u), where f (x, u) is a nonlinear function of
state variables. The reason is that the FCRM modeling algo-
rithm needs fuzzy rules to represent a nonlinear system as a
TS fuzzy model with linear state-space submodels such that
the computation load would be increased obviously. Therefore,
in this section, the FCRSM would be proposed to overcome
the problem of the TS fuzzy modeling in the antecedent- and
consequence- part.
 
= y xT i = 0 (11)
with x = [1 x1 x2 . . . xn ]T and i = [bi0 (Pi )T ]T . The objec-
tive in this paper is that a nonlinear system can be modeled
to be the fuzzy combination of affine linear regression model
with the appropriate parameter i .
Let d1j and d2j be defined as the distances from jth data
pair (xj , yj ) to the hyperplane f 1 and f 2 , respectively. It can
be seen that the distances d12 and d22 in Fig. 2(a) are the same
for the second data pair (x2 , y2 ) by using the conventional dis-
tance definition. In other words, the second data pair has the
same membership degree corresponding with the f 1 and f 2 .
By intuition, the data pair (x2 , y2 ) should be belonged to f 2
more than f 1 . Therefore, to deal with this problem, the dis-
tance dij from the sampled data (xj , yj ) to the ith hyperplane
with the parameter i is modified to be the so called per-
pendicular distance in the proposed method [see Fig. 2(b)].
That is
  
 i T 
 P xj + bi0 yj 
dij =   . (12)
T
i i
With the proposed method, the distances from second data pair
to f 1 and f 2 are different such that the different membership
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4 IEEE TRANSACTIONS ON CYBERNETICS

degree corresponding to different affine regression model can Algorithm 2 FRCSM Algorithm
be calculated. 1: Definition of the parameters of m, , c, and a distance-
The distance-objective function in the proposed method is objective function J in (13).
accordingly designed as follows: 2: Initialization of the number of membership function U,

n 
parameters of WRLS algorithm, Pi0 = 0 and S = I.

c 
m 2 3: repeat
J= ij edij (13)
4: Computation of the model parameter P by WRLS
i=1 j=1
algorithm to minimize the distance-objective function in
where ij is the membership value which describes the degree (5)).
with which jth data pair belongs to ith hyperplane function. 5: Computation of the new membership value ik by (19)
From (12) and (13), a Lagrange multiplier equation can be 6: until ||U(l) U(l1) || < 
obtained as
n 
 c

c 
m d2 n 
L(U, ) = j e ij
i
j j 1
i
(14) the associated TS fuzzy model with state equation can be
i=1 j=1 j=1 i=1 proposed as follows:
where j denotes a Lagrange multiplier. To minimize L(U, ), Ri : IF (x, u, y) is Li
we would have the derivative of L(U, ) with respect to j be

x1 = x2
zero, L(U, )/j = 0. This leads to
x2 = x3
THEN ..

c
.
ij 1 = 0. (15)

xq = ai1 x1 + ai2 x2 + . . . + aiq xq + biq u = yi
i=1
(21)
Similarly, let the derivative of L(U, ) with respect to ij be
where (x, u, y) is the input of antecedent part and Li is the
zero, L(U, )/ij = 0, and we have
fuzzy set with the membership function Li (x, u, y) = ij
 m1 2 in (21). It can be seen that the hyperplane f i (x, u, y) in this
m ij edij j = 0. (16) model is
From (16), ij can be derived as f i (x, u, y) = y ai1 x1 ai2 x2 aiq xq biq u
 
  1 = y xT u i = 0
j dij2 m1  T
ij = e . (17) i = 1 ai1 ai2 aiq biq
m
 T
Substituting (17) into (15), we can obtain = 1 (Pi )T . (22)
  1
j m1 1 Unlike the conventional TS fuzzy system, only one input vari-
=  1 . (18) able is considered in the antecedent part of the proposed fuzzy
m 
c
dij2 m1
e model. It notes that the well-known complexity problems of
i=1 fuzzy systems can be relieved by using the simple input with
From (18), the membership value of jth data in the ith only one variable. Moreover, since the membership function
cluster, ij , can be found as of the fuzzy set in the antecedent part of the fuzzy state model
is the same with the membership function used for parame-
 2 m1 1
ter learning, the proposed fuzzy modeling approach FCRSM
edij can be further simplified as Algorithm 2. Further, the FCRSM
ij = 1 . (19)
c 
 could be generalized to find the fuzzy model of the nonlinear
dij2 m1
e system with general state equations, since the mechanism of
i=1
FCRSM is simple.
B. TS Fuzzy Model With State Equations
IV. E XTENSIONS OF FCRSM
Consider a nonlinear system
In the practical applications, the inputoutput data pairs may

x1 = x2 not be obtained or hard to be derived, especially the complex

x2 = x3 nonlinear system. The proposed algorithm can be extended to
.. (20)

. identify the unknown nonlinear system in two different cases.

The first case is that the unknown nonlinear system did not
xq = f (x, u) = y
have available inputoutput data but have the assumed effec-
where f (x, u) is a nonlinear function in which x = tive controller (see Fig. 3). Note that the assumed effective
[x1 x2 . . . xq ]T is the vector of state variable, u is the con- controller is only required to make the controlled system sta-
trol action. Based on the modified FCRM in Section III-A, ble. The motivation in this case is that although we have the
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CHANG AND TAO: NOVEL APPROACH TO IMPLEMENT TS FUZZY MODELS 5

Fig. 3. Block diagram of FCRSM-ND algorithm for a nonlinear system with Fig. 4. Block diagram of FCRSM-FREE algorithm for a closed-loop PDC
an assumed effective controller. control system.

Algorithm 3 FCRSM-ND Algorithm

Algorithm 4 FCRSM-FREE Algorithm
1: Pre-design the effective state feedback controller by trial
1: Select the initial parameters, such as the weighting expo-
and error method for the unknown nonlinear system.
nent m > 1, the threshold value  > 0, the number of the
2: Select the initial parameters.
clusters c, the parameter vector of T-S fuzzy model P, a
3: repeat
desired sampling number ld , a reset number lr , a setting-
4: Collect the input-output data from the output of con-
point value of control system, and a desired performance
troller and the output of the unknown system
index.
5: Calculate the distance from the sampled data to each
2: repeat
cluster model model by (12).
3: Reset the iteration number and startup the controlled
6: Update the membership value by (19).
system.
7: Evaluate the model parameters of controlled system
4: repeat
by the WRLS.
(l) (l1) 5: Calculate the parameters of PDC by LMI with the
8: until ||ij ij || <  obtained T-S fuzzy state models.
9: Obtain the T-S fuzzy state models of the unknown system.
6: repeat
10: Calculate the parameters of PDC by LMI with the desired
7: Collect the sampled data from the input and
performance conditions. output of the unknown system.
8: Calculate the distance by (12).
9: Update the membership value by (19).
existed controller to have the unknown nonlinear system be 10: Evaluate the model parameters of controlled
stable but the performance of the unknown system is not sat- system by the WRLS.
isfied. To improve the performance, the FCRSM approach can 11: until the change rate of ij , ij , is positive or
be extended as in Fig. 3 to identify the TS fuzzy model for | j | < 
i

the unknown nonlinear plant. Then the assumed effective con-
troller can be redesigned and replaced with the TS fuzzy
model to have the performance satisfied.
In this paper, the appropriate number of the clusters is
assumed to be preobtained. In case 1, shown as Fig. 3, the
required inputoutput data are generated as the output of con-
troller and the output of the unknown nonlinear system. The
algorithm for case 1 is shown in Algorithm 3. When the TS
fuzzy state models of the unknown system is obtained using
FCRSM-ND, the assumed effective controller can be replaced
to a redesigned PDC controller by the LMI method.
The other case is a real-time controlled system without
the available inputoutput data and the predesigned con-
troller. Unlike the system in first case, both the parameters of
controller and unknown system need to be online tuned, simul-
taneously. The block diagram of the case 2 is shown in Fig. 4.
The initial parameters of PDC controller can be obtained by
LMI method with the initial TS fuzzy state model. Although
the parameters of PDC controller might be inappropriate, we
just need to guarantee that the unknown nonlinear system with
the given command can operate to let the inputoutput data of
the unknown nonlinear system be collected. Then the param-
eters of the TS fuzzy state model can be updated by the
12: until | ij | < 
13: until the desired performance is satisfied.
FCRSM algorithm. When ij > 0 or | ij | < , where
ij is the change rate of ij and  is a positive constant, the
PDC need to be updated based on the obtained TS fuzzy
state model. The FCRSM-FREE algorithm is illustrated in
Algorithm 4.
Remark 1: The limitation of the proposed method is that the
nonlinear system should have a simple form as (20). Therefore,
the proposed method can be extended for nonlinear systems
that can be transformed to have the form of (20). However,
for the nonlinear systems with small and critical stable region,
the nonlinear system may not be easy to achieve the stable
response and the initial value of the parameters of the TS
state model should be appropriately chosen to let the initial
states be close to the stable region. Moreover, the problem of
nonlinear control system with uncertainty associated to the qth
state equation can be overcome by the proposed method, also.
Remark 2: The membership functions are designed to have
the distance objective function minimized. That is, when the
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6 IEEE TRANSACTIONS ON CYBERNETICS

TABLE I
hyperplanes are updated in each iteration, the membership val- C OMPARISON OF P ERFORMANCE W ITH I DENTIFICATION C ASE
ues are calculated to have minimum objective value (the best
assignment of data points to the hyperplanes).

V. N UMERICAL S IMULATIONS
A. Example 1
The Box and Jenkins gas furnace with 296 input/output
measurement data in [7] is also used for simulation. The input
u(k) is a gas flow rate and the output y(k) is a CO2 con-
centration. In this case, the variables of the fuzzy model are
considered as x = [u(k) u(k 1) u(k 2) y(k 1) y(k 2)
y(k 3)]T .
Define two hyperplanes L1 and L2

L1 : a11 u(k) + a12 u(k 1) + a13 u(k 2) + a14 y(k)

+ a15 y(k 1) + a16 y(k 2) + a17 y(k 3) + a18 = 0 The mean square error (MSE) used as the performance
L2 : a21 u(k) + a22 u(k 1) + a23 u(k 2) + a24 y(k) criterion is defined as
+ a25 y(k 1) + a26 y(k 2) + a27 y(k 3) + a28 = 0. 1 
N
2
(23) MSE = y(k) y(k) . (27)
N
k=1
The distance from data pairs to each hyperplane can be
Case 1 (Identification): In this case, the simulation was con-
obtained as follows:
  ducted on all the 296 data pairs used as the training data.
   The detailed comparison of performance between the proposed
 3 1 7

 ai u(k i + 1) + ai y(k i + 4) + a8 
1 1
method and other methods is given in Table I. In [12], a
i=1 i=4 
d1j =  six-rule fuzzy model with singleton consequent part is devel-
8  2 oped and has an MSE of 0.19. The method in [13] has an
a1i MSE of 0.071 which is better than other methods in [12]
i=1
  and [14][17] although it only needs four-rule fuzzy model
  
 3 2 7
 to obtain the model of gas furnace system. In general, the
 ai u(k i + 1) + a2i y(k i + 4) + a28 
i=1 i=4  number of rules depends on the parameters of a fuzzy model
d1j =  . (24) that needs to be calculated. Therefore, the modeling algorithm
8  2
ai2 need more computation time when the number of fuzzy-rule is
i=1 increased. The fuzzy model obtained by the proposed method
has an MSE of 0.046 with two-rule fuzzy model. It is noted
Then, the value of membership function is calculated as
that the proposed algorithm has better performance and less
follows:
rule than other methods. Moreover, Li et al. [10] proposed
 2 m1 1
a novel FCRM clustering algorithm (NFCRMA) in which the
edij parameters of fuzzy model are calculated with analytical solu-
ij = 1 , i = 1, 2. (25)
c 
 tions. The main advantage of NFCRMA in [10] is efficient
dij2 m1
e than the former FCRM clustering algorithm due to NFCRMA
i=1
without WRLS which needs iteration process. To compare
The fuzzy system with hyperplanes can be obtained by the the computation cost between NFCRMA and the proposed
proposed modeling algorithm, Algorithm 2, as method FCRSM with this example of the Box and Jenkins
gas furnace, the computation time of NFCRMA and FCRSM
R1 : IF xj is L1 are 2.14 and 0.42 s, respectively. It means that FCRSM
THEN y(k) = 0.5725u(k) + 0.3394u(k 1) has better efficient than NFCRMA and the former FCRM
0.5960u(k 2) + 1.8329y(k 1) algorithms.
Case 2 (Prediction): Moreover, another case is considered
1.1868y(k 2)0.2198y(k 3)
in which the first 148 inputoutput data are taken as training
+ 7.3654 data and the last 148 as test data. The detailed comparison
R2 : IF xj is L2 of performance is given in Table II. The proposed method
THEN y(k) = 0.8071u(k) 0.1937u(k 1) has a testing MSE value of 0.073 and it was better than that
reported in existing works [10], [13], [18], [23][25]. The
0.1303u(k 2) + 2.0888y(k 1)
results show that proposed method has more powerful gener-
1.6281y(k 2) + 0.5422y(k 3) alization ability with a good accuracy in modeling the system
0.3726. (26) of the BoxJenkins gas furnace dataset.
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CHANG AND TAO: NOVEL APPROACH TO IMPLEMENT TS FUZZY MODELS 7

TABLE II
C OMPARISON OF P ERFORMANCE W ITH P REDICTION C ASE

Fig. 5. Simulation results with initial values. (a) x1 (0) = 30 and x1 (0) =
45 . (b) x1 (0) = 60 and x1 (0) = 80 .
B. Example 2
Considering a pendulum-cart system (PCS) that has been a
well-known system to verify control strategies in literatures.
A state equations of PCS are described as follows [26]:
x1 (t) = x2 (t)
g sin x1 (t) dmp lx22 (t) sin(2x2 1 (t)) d cos x1 (t)u(t)
x2 (t) =
4l/3 dmp l cos2 x1 (t)
(28)
where x1 is the angle of the pendulum, x2 is the angular
velocity of the pendulum, d = 1/(n/mc ), mp is the mass of
pendulum, mc is the mass of cart, u(t) is the control force,
and l is the length of the pendulum. In this simulation, we
will find the TS fuzzy model of the PCS and the gains of
the controller of the corresponding feedback control system
as follows.
TS Fuzzy Model:

x = A1 x + B1 u
R1 : IF (x, u, y) is L1 , THEN
y1 = x1

x = A2 x + B2 u
R2 : IF (x, u, y) is L2 , THEN (29)
y2 = x1 .
PDC Controller:
R1 : IF (x, y) is L1 , THEN u = F1 x
R2 : IF (x, y) is L2 , THEN u = F2 x (30)
where x = [x1 x2 are the state vector and F =
]T i=
i
[F1i F2i ],
1, 2, are the gain vector of the feedback controller. In the fol-
lowing, two cases are considered to validate two proposed TS Fig. 6. Simulation results with reset number. (a) First. (b) Second. (c) Third.
fuzzy modeling algorithms, respectively. (d) Fourth. (e) Fifth. (f) Simulation results with the obtained controller in
x1 (0) = 30 and x1 (0) = 45 .
Case 1: In this case, the PCS is assumed as a unknown
controlled system which is predesigned by [26]. It means that
only the signals in input and output of PCS can be collected but
conventional method [26] and the proposed fuzzy modeling
the parameters of controller and system model are unknown.
algorithm, respectively. Furthermore, the different initial value
First, the system parameters are obtained by Algorithm 3 of
of state x1 , x1 (0) = 30 and x1 (0) = 45 in Fig. 5(a), and
the proposed FCRSM, shown as follows:
! ! x1 (0) = 60 and x1 (0) = 80 in Fig. 5(b), are considered
0 1 0 1 to validated the robustness of the modeling method. From
A1 = , A2 =
17.18 0.0645 16.01 0.0645 Fig. 5(a), it observes that the simulation results of the pen-
! !
0 0 dulum angle in both x1 (0) = 30 and x1 (0) = 45 by the
B1 = , B2 = .
0.1757 0.1078 proposed new fuzzy modeling algorithm have better responses
Then, the control gains of PDC controller are calculated by than the method in [26]. From Fig. 5(b), it clear shows
LMI when the process of TS modeling algorithm has been that the responses in the considering the large initial values
finished, shown in the following: x1 (0) = 60 and x1 (0) = 80 , the proposed algorithm also
   
F1 = 516.1 123.8 and F2 = 751.9 180.1 .
The simulation results are illustrated in Fig. 5, where the solid
lines and dashed lines are described as the results with the
has the satisfaction simulation results. However, the responses
with [26] can not converge to the desired value.
Case 2: This case is provided to validate the control gains of
PDC can be online tuned by Algorithm 4. From Algorithm 4,
 This article has been accepted for inclusion in a future issue of this journal. Content is final as presented, with the exception of pagination.
8 IEEE TRANSACTIONS ON CYBERNETICS
Fig. 7. Simulation results with the uncertainty and noise in measure-
ment. (a)(e) Reset number firstfifth. (f) Simulation results with the obtained
controller in x1 (0) = 30 and x1 (0) = 45 .
it notes that the system would be trained repeatedly within
the desired sampling period until the control performance is
satisfied. The simulation results are illustrated in Fig. 6, where
Fig. 6(a)(e) are the firstfifth iteration processes. It can be
seen that the control responses tend to stable. Fig. 6(f) are the
simulation results with the different initial conditions by the
trained control gains.
In practice, the uncertainty and noise in measurement are
often injected into the system by the feedback to affect the
performance of the controlled system, i.e., yi = x1 + x1 +
n(t), i = 1, 2. To validate the proposed FCRSM-FREE algo-
rithm can be applied to the control system with uncertainty
and noise in measurement to online tune the control gains
of PDC, the uncertainty term x1 = 0.1x1 and the random
noise n(t) [0.2 0.2] are considered into the each feed-
back state. The simulation results are illustrated in Fig. 7. The
FCRSM-FREE need more iteration processes to obtain the
efficient system model and the control parameters of PDC due
to the uncertainty and noise in measurement are considered,
shown in Fig. 7(a)(e). Fig. 7(f) is the simulation results of the
controlled system, including uncertainty and noise in measure-
ment with different initial conditions. It shows that the PDC
controller using the trained control gains can also deal with
the control problem of nonlinear system with uncertainty and
noise in measurement.
Fig. 8. Simulation results of Example 3. (a) Reset number firstfourth.
(b) Simulation results of obtained controller for the obtained TS fuzzy model
and nonlinear system.
Fig. 9. Simulation results of Example 4. (a) Reset number firstfifth.
(b) Simulation results of obtained controller for the obtained TS fuzzy model
and nonlinear system in x1 (0) = 2.
C. Example 3
In this example, an another nonlinear system as (31) is given
to validate the proposed method FCRSM-FREE
x1 = x2 x2 = 0.1x23 0.02x1 0.67x13 + u. (31)
The simulation results are illustrated in Fig. 8. From Fig. 8(a),
that is, the result of the firstfourth iteration processes, it can
be seen that the response of nonlinear system can be sta-
bled to the equilibrium point through four-iterations by the
PDC controller designed according to the TS fuzzy model
found with the FCRSM-FREE algorithm without the avail-
able inputoutput data and the predesigned controller. From
Fig. 8(b), it shows the comparisons between the given non-
linear system (31) and the obtained TS fuzzy state-space
model using the same PDC controller in which the param-
eters of PDC controller has been obtained by FCRSM-FREE
algorithm. It notes that the approximate model of the given
nonlinear system (31) can be obtained without the available
inputoutput data and the predesigned controller. Then, the
appropriate PDC controller that is calculated by LMI method
based on the obtained TS fuzzy model not only can be applied
to the approximate model but also the given nonlinear system.
D. Example 4
In final example, the proposed method FCRSM-FREE
would be validated with a nonlinear system, including three
state variables as
x1 = x2 x2 = x3 x2 = x1 x2 + 0.01x1 0.01x13 + u. (32)
The simulation results are illustrated in Fig. 9. From Fig. 9(a),
it is obviously seen that the response of controlled system
can be improved gradually by the PDC controller designed
 This article has been accepted for inclusion in a future issue of this journal. Content is final as presented, with the exception of pagination.
CHANG AND TAO: NOVEL APPROACH TO IMPLEMENT TS FUZZY MODELS
according to the TS fuzzy model found with the FCRM-FREE
algorithm from first to fifth iteration processes. Similarly, the
appropriate PDC controller can be calculated by LMI method
based on the obtained TS fuzzy model. The simulation results
in Fig. 9(b) are shown that the responses of the obtained TS
model and the given nonlinear system (32) are closed.
VI. C ONCLUSION
In this paper, a novel FCRSM algorithm is proposed for the
nonlinear system represented with the available inputoutput
data. Unlike the conventional FCRM, the main contributions
of FCRSM are that the functional antecedent and the state-
space-model-type consequent with the available inputoutput
data are considered such that the computation efficiency and
the accuracy can be improved significantly. Based on the
state-space-model-type consequent, the FCRSM can be fur-
ther extended to FCRSM-ND and FCRSM-FREE algorithms.
FCRSM-ND is proposed to find the TS fuzzy state-space
model for nonlinear system with an assumed effective con-
troller when the inputoutput data cannot be precollected.
Furthermore, FCRSM-FREE algorithm is designed to online
tune the parameters of the TS fuzzy controller and the TS
fuzzy state model. Three numerical simulations demonstrate
that the proposed modeling schemes, FCRSM, FCRSM-ND,
and FCRSM-FREE, can deal with various types of modeling
problems. The proposed FCRSM-FREE algorithm is limited
to nonlinear systems with reasonable large stable region. For
the nonlinear systems with small and critical stable region,
the nonlinear system may not be easy to achieve the stable
response and the initial value of the parameters of the TS
state model should be appropriately chosen to let the initial
states be close to the stable region.
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Chia-Wen Chang (M13) received the B.S. degree
in electrical engineering from the National I-Lan
Institute of Technology, I-Lan, Taiwan, in 2003, and
the M.S. and Ph.D. degrees in electrical engineering
from Chang Gung University, Taoyuan, Taiwan, in
2005 and 2011, respectively.
He is currently an Associate Professor with the
Department of Information and Telecommunications
Engineering, Ming Chuan University, Taoyuan. His
current research interests include fuzzy sliding-mode
control, intelligent computation, and multirobot
systems.
Chin-Wang Tao (SM02) received the B.S. degree
in electrical engineering from National Tsing Hua
University, Hsinchu, Taiwan, in 1984, and the M.S.
and Ph.D. degrees in electrical engineering from
New Mexico State University, Las Cruces, NM,
USA, in 1989 and 1992, respectively.
He is currently a Professor with the Department
of Electrical Engineering, National I-Lan University,
I-Lan, Taiwan. His current research interests include
fuzzy neural systems, including fuzzy control
systems and fuzzy neural image processing.
Dr. Tao is an Associate Editor of the IEEE T RANSACTIONS ON S YSTEMS ,
M AN , AND C YBERNETICS.