A Software Tool: Type-2

Fuzzy Logic Toolbox

MUZEYYEN BULUT OZEK, ZUHTU HAKAN AKPOLAT
Firat University, Technical Education Faculty, Department of Electronics and Computer Science, 23119 Elazig, Turkey

Received 18 January 2006; accepted 15 January 2007

ABSTRACT: The concept of type-2 fuzzy set was initially proposed as an extension of
classical (type-1) fuzzy sets. Type-2 fuzzy sets are very useful in circumstances where it is
difficult to determine an exact membership function for a fuzzy set; hence they are very
effective for dealing with uncertainties. However, type-2 fuzzy sets are more difficult to use and
understand than type-1 fuzzy sets. Even in the face of these difficulties, type-2 fuzzy logic has
found applications in many fields. In this article, a new Type-2 Fuzzy Logic Toolbox written in
MATLAB programming language is introduced. The main aim is to help the user to understand
and implement type-2 fuzzy logic systems easily. Type-2 Fuzzy Logic Controller Block is also
prepared for use in SIMULINK. Since general type-2 fuzzy logic systems are very complicated,
they are not preferred in applications. Thus, only interval type-2 fuzzy logic systems
are considered in the proposed Type-2 Fuzzy Logic Toolbox. Since MATLAB Fuzzy Logic
Toolbox users are familiar with its windows, all the menus of the developed software are
prepared in the same format of the MATLAB Fuzzy Logic Toolbox. ß 2008 Wiley Periodicals, Inc.
Comput Appl Eng Educ; Published online in Wiley InterScience (www.interscience.wiley.com); DOI 10.1002/
cae.20138

Keywords: type-2 fuzzy logic; type-2 fuzzy sets; interval sets; type-2 fuzzy logic toolbox

INTRODUCTION streams, co-channel interference elimination from

Recently, a new class of fuzzy logic systems—type-2
fuzzy logic systems—which are useful for incorporat-
ing uncertainties is introduced [1
4]. Type-2 fuzzy
logic is able to handle uncertainties because it can
model them and minimize their effects. Unfortunately,
type-2 fuzzy sets are more difficult to use and
understand than traditional type-1 fuzzy sets. There-
fore, their use is not widespread yet. Even in the face
of these difficulties, type-2 fuzzy logic has found
applications in the classification of coded video
Correspondence to Z. H. Akpolat (zh_akpolat@yahoo.com).
ß 2008 Wiley Periodicals Inc.
nonlinear time-varying communication channels,
connection admission control, extracting knowledge
from questionnaire surveys, forecasting of time-
series, function approximation, pre-processing radio-
graphic images and transport scheduling [3]. Type-2
fuzzy logic has been also used in some control
applications [5
9]. A short summary of the existing
literature on type-2 fuzzy sets can be found in [1
3].
Currently, there are some software programs like
Fuzzy Logic Toolbox of MATLAB1/SIMULINK
(MATLAB is a registered trademark of The Math-
Works, Inc., Natick, MA) by which the simulation of
type-1 fuzzy logic systems can be done easily but,
there is no such software for the simulation of type-2

1
2 OZEK AND AKPOLAT
fuzzy logic systems. In this article, a new Type-2
Fuzzy Logic Toolbox is introduced for direct imple-
mentation of type-2 fuzzy logic systems in MATLAB
and SIMULINK. Type-2 Fuzzy Logic Controller
Block is also prepared for the use of SIMULINK
applications. General type-2 fuzzy logic systems are
not preferred in applications due to their computa-
tional complexity. Thus, only interval type-2 fuzzy
logic systems are considered in the proposed Type-2
Fuzzy Logic Toolbox. Since MATLAB Fuzzy Logic
Toolbox users are familiar with its windows, all the
menus of the developed software are prepared in the
same format of the MATLAB Fuzzy Logic Toolbox.
TYPE-2 FUZZY LOGIC SYSTEMS
Fuzzy set theory, introduced by Zadeh [10], has found
wide applications in many fields as well as in control
systems [2]. Fuzzy logic control has emerged as a
practical alternative to the conventional control
techniques since it provides a decision making
mechanism which allows the designer to put expert
knowledge into the controller. However, the classical
or traditional fuzzy logic systems (type-1 fuzzy logic
systems) cannot fully handle the linguistic, measure-
ment and parameter uncertainties [1]. In order to
reduce the effects of uncertainties, a new class of
fuzzy logic systems—type-2 fuzzy logic systems—
are introduced recently [2]. The concept of type-2
fuzzy set was initially proposed as an extension of
ordinary (or type-1) fuzzy sets by Zadeh [11]. Mendel
and his students [1
4] have recently introduced a
complete theory of type-2 Fuzzy Logic Systems
(FLSs) which are again expressed by IF-THEN rules
but, their consequent and/or antecedent sets are type-2
fuzzy sets. These sets are fuzzy sets whose member-
ship grades are not crisp values; instead, they are type-
1 fuzzy sets. Type-2 fuzzy sets are very useful in
circumstances where it is difficult to determine an
exact membership function for a fuzzy set; hence they
are useful for dealing with uncertainties. Consider
the transition from ordinary sets to fuzzy sets: when
the membership of an element in a set cannot be
determined as 0 or 1, type-1 fuzzy sets are used.
Similarly, when we have difficulties in the deter-
mination of membership grade even as a crisp number
in [0,1], type-2 fuzzy sets are then used.
TYPE-2 FUZZY SETS AND
MEMBERSHIP FUNCTIONS
A type-2 membership function is actually a three
dimensional membership function that characterizes a
type-2 fuzzy set. Let us consider blurring the type-1
membership function shown in Figure 1a by
shifting the points on the membership function to
the left or to the right but, not necessarily by the
same amounts, as shown in Figure 1b. Then, at a
certain value of x, say x1, the membership function
(or the membership degree) is not a crisp value
any more; instead, it takes on values wherever the
vertical line intersects the blur. Those values need
not all be weighted the same; hence, an amplitude
distribution can be assigned to all of those points.
Assume that this is done for all x 2 X (X is the
universe of discourse), then, a three dimensional
membership function is created, which is called type-
2 membership function that characterizes a type-2
fuzzy set [2].
For the clarity of explanations through the article,
some definitions are given below:
~ is
Definition-1: A type-2 fuzzy set, denoted A,
characterized by a type-2 membership function
mA~ ðx; uÞ, where x 2 X and u 2 Jx  [0,1], that is,
~ ¼ fððx; uÞ; m ~ ðx; uÞÞj8x 2 X; 8u 2 Jx  ½0; 1g
A A
ð1Þ
in which 0  mA~ ðx; uÞ  1. A ~ can also be expressed as
Z Z
~¼ mA~ ðx; uÞ
A Jx  ½0; 1 ð2Þ
ðx; uÞ
x2X u2Jx
RR
where denotes union over all admissible x and u.
Definition-2: At each value of x, say x ¼ x1, the
2D plane whose axes are u and mA~ ðx1 ; uÞ is called a
vertical slice of mA~ ðx; uÞ. It is mA~ ðx ¼ x1 ; uÞ for
x1 2 X and 8u 2 Jx1  ½0; 1, that is,
Z
fx1 ðuÞ
mA~ ðx ¼ x1 ; uÞ  mA~ ðx1 Þ ¼ Jx1  ½0; 1
u
u2Jx1
ð3Þ
Figure 1 (a) A type-1 membership function. (b) Blurred
type-1 membership function.
 A SOFTWARE TOOL 3

in which 0  fx1 ðuÞ  1. Because x1 2 X, 1 is droped Example-1: The shaded region in Figure 2a is the
on mA~ ðx1 Þ and it is referred to mA~ ðxÞ as a secondary FOU for a type-2 fuzzy set. The primary member-
membership function; it is a type-1 fuzzy set, which is ships, Jx1 and Jx2 , and their associated secondary
also referred to as a secondary set. membership functions mA~ ðx1 Þ and mA~ ðx2 Þ are shown
Definition-3: A type-2 fuzzy set can be expressed at the points x1 and x2. The upper and lower
~
as the union of all secondary sets, that is, using (3), A, membership functions, m
A~ ðxÞ and m A~ ðxÞ, are also
in a vertical-slice manner, can be re-expressed as shown in Figure 2a. The secondary membership
functions, which are interval sets, are shown in
~ ¼ fðx; m ~ ðxÞÞj8x 2 Xg
A ð4Þ
A Figure 2b.
or Details of the definitions above can be found in
R Ref. [1].
Z Z fx ðuÞ=u
u2Jx
~¼
A mA~ ðxÞ=x ¼ Jx  ½0; 1
x STRUCTURE OF A TYPE-2 FUZZY
x2X x2X
ð5Þ
LOGIC SYSTEM

Definition-4: The domain of a secondary membership
function is called the primary membership of x. In (5),
Jx is the primary membership of x, where Jx  ½0; 1
for $\forall x \in X:
Definition-5: The amplitude of a secondary
membership function is called a secondary grade. In
(1), mA~ ðx1 ; u1 Þðx1 2 X; u1 2 Jx1 Þ is a secondary grade;
in (5), fx(u) is a secondary grade.
Definition-6: When fx ðuÞ ¼ 1; 8u 2 Jx  ½0; 1,
then the secondary membership functions are interval
sets, and if this is true for 8x 2 X, an interval type-2
membership function is obtained. Interval secondary
membership functions reflect a uniform uncertainty at
the primary memberships of x.
Definition-7: Uncertainty in the primary member-
ships of a type-2 fuzzy set, A, ~ consists of a bounded
region that we call the footprint of uncertainty (FOU).
It is the union of all primary memberships, that is,
~ ¼ [x2X Jx
FOUðAÞ
Definition-8: An upper membership functions and a
lower membership function are two type-1 member-
ship functions that are bounds for the FOU of a type-2
fuzzy set A.~ The upper membership function is
associated with the upper bound of FOUðAÞ, ~ and is
denoted m
A~ ðxÞ, 8x 2 X. The lower membership
function is associated with the lower bound of
~ and is denoted m ~ ðxÞ, 8x 2 X, that is,
FOUðAÞ, A
The structure of a type-2 Fuzzy Logic System (FLS) is
shown in Figure 3. It is actually very similar to the
structure of an ordinary type-1 FLS. It is assumed in
this article that the reader is familiar with type-1 FLSs
and thus, in this section, only the similarities and
differences between type-2 and type-1 FLSs are
underlined.
The fuzzifier shown in Figure 3, as in a type-1
FLS, maps the crisp input into a fuzzy set. This fuzzy
set can be a type-1, type-2 or a singleton fuzzy set. In
singleton fuzzification, the input set has only a single
point of nonzero membership. The singleton fuzzifier
is the most widely used fuzzifier due to its simplicity
and lower computational requirements. However,
this kind of fuzzifier may not always be adequate
especially in the cases of uncertainties [1]. Therefore,
the non-singleton fuzzification, which is more
ð6Þ

m ~

A~ ðxÞ ¼ FOUðAÞ 8x 2 X ð7Þ
and
~
m A~ ðxÞ ¼ FOUðAÞ 8x 2 X ð8Þ

Because the domain of a secondary membership

function has been constrained in (1) to be contained in
[0,1], lower and upper membership functions always Figure 2 (a) The FOU for a type-2 fuzzy set. (b) The
exist. secondary membership functions.
4 OZEK AND AKPOLAT
Figure 3 The structure of a type-2 Fuzzy Logic System.
effective as far as the uncertainties are concerned, is
used in most studies. In type-1 non-singleton
fuzzification, measurement xi ¼ x0i is mapped into a
fuzzy number; that is, the inputs are modeled as type-
1 fuzzy numbers and membership functions are
associated with them. In other words, a type-1 non-
singleton fuzzifier is one for which mXi ðx0i Þ ¼ 1
(i ¼ 1,. . .,p) and mXi ðxi Þ decreases from unity as xi
moves away from x0x . A type-2 FLS whose inputs are
modeled as type-1 fuzzy numbers is referred to as a
type-1 non-singleton type-2 FLS. Similarly, a type-2
FLS whose inputs are modeled as type-2 fuzzy
numbers is referred to as a type-2 non-singleton
type-2 FLS [1].
In type-1 FLSs, IF-THEN rules are generally
used, which has the form of (the lth rule)
Rl : IF x1 is F1l and . . . and xp is Fpl ;
ð9Þ
THEN y is Gl l ¼ 1; . . . ; M
where xis are inputs (i ¼ 1,. . .,p), Fil s are antecedent
sets, Gls are consequent sets and y is the output. The
difference between type-2 and type-1 FLS is asso-
ciated with the nature of the membership function but,
this is not important while constructing the rule base.
Hence, the structure of the rules does not change in the
type-2 case, the only difference is that some or all of
the fuzzy sets involved are type-2. It should be noted
that we will have a type-2 FLS as long as at least one
of the antecedent or consequent sets is a type-2 fuzzy
set. The lth rule in a type-2 FLS has the form of
~ 1l and . . . and xp is F
Rl : IF x1 is F ~ pl ;
ð10Þ
THEN y is G ~l l ¼ 1; . . . ; M
where ‘’ implies that the fuzzy set is a type-2 fuzzy
set.
The inference engine of a type-1 FLS provides a
mapping from input type-1 fuzzy sets to output type-1
fuzzy sets by using all rules. The antecedents in a
rule are connected by t-norm which corresponds to
intersection of the fuzzy sets. By using the sup-star
composition, the membership grades in the input
fuzzy sets are combined with those in the output
fuzzy sets and then, all the rules may be combined
by t-conorm operation (union of fuzzy sets) or by
defuzzfication using the weighted summation. The
inference process in a type-2 FLS is very similar to
that in a type-1 FLS. The rules are combined by the
inference engine that provides a mapping from input
type-2 fuzzy sets to output type-2 fuzzy sets. In order
to do this, intersections, unions and compositions of
type-2 fuzzy sets are required.
In a type-1 FLS, a crisp output is produced by the
defuzzifier from the output of the inference engine,
which is actually a fuzzy set. On the other hand, in a
type-2 FLS, the output of the inference engine is
normally a type-2 fuzzy set. Using the Zadeh’s
extension principle [1], a type-reduced set, that is a
type-1 fuzzy set, is obtained from the type-2 output
sets of the FLS. This operation is called type
reduction. The type reduction is an important
calculation for Type-2 FLSs. It is a new and com-
plicated concept, and details of type reduction
methods can be found in Refs. [1
3]. Hence, the
type-reduced set can be defuzzified using well known
techniques (e.g., centroid, bisector, mean of maxi-
mum, smallest of maximum and largest of maximum)
to obtain a crisp (type-0) output from a type-2 FLS. A
general type-2 FLS is very complicated because of
type reduction. Interval type-2 fuzzy sets given by
Definition-6 are the most widely used type-2 fuzzy
sets because they are simple to use and calculations
simplify a lot when the secondary membership
functions are interval sets in which case the type-2
FLS is called an interval type-2 FLS.
In the existing literature on FLSs, two most popular
FLSs are the Mamdani and Takagi-Sugeno-Kang (TSK)

systems. Up to this point, even though it is not referred
to them as such, all the FLSs were Mamdani
FLSs. The Mamdani and TSK FLSs are both charac-
terized by IF-THEN rules and have the same antecedent
structures, however, they differ in the structure of
the consequent parts. The consequent of a TSK rule is
a linear or nonlinear function of input variables,
whereas the consequent of a Mamdani rule is a fuzzy
set. In a type-1 Mamdani FLS, the output of the
inference engine is a type-1 fuzzy set and defuzzification
is used to obtain a crisp output (type-0 set). On the other
hand, the output of a type-1 TSK FLS is a crisp
value and defuzzification is not required. Similarly,
although a type reduction procedure exists in type-2
Mamdani FLSs, there is no type reduction needed for
type-2 TSK FLSs [1].
THE DEVELOPED SOFTWARE:
TYPE-2 FUZZY LOGIC TOOLBOX
The developed software—Type-2 Fuzzy Logic Tool-
box—consists of MATLAB1-based functions, that
is, M-files (MATLAB is a registered trademark of
The MathWorks, Inc.) and it is designed to ensure a
user friendly tool for the simulation of interval
type-2 fuzzy logic systems. Some of the functions
made freely available by Mendel [1] are also used in
The Type-2 Fuzzy Logic Toolbox. The developed
software can be run by typing ‘‘fuzzy2’’ on the
command line of MATLAB. The Type-2 Fuzzy
Logic Toolbox provides a simple point-and-click
interface that guides the user effortlessly through
the steps of FLS design. It extends the MATLAB
technical computing environment with tools for the
design of systems based on type-2 fuzzy logic.
Graphical User Interfaces (GUIs) guide the user
through the steps of type-2 fuzzy inference system
design.
The toolbox lets the user implement complex
type-2 FLSs using simple logic rules. It can be used
as a stand-alone type-2 fuzzy inference engine.
Alternatively, type-2 fuzzy inference blocks can
be used in Simulink and the type-2 fuzzy systems
can be simulated within a comprehensive model of the
entire dynamic system by using the Type-2 Fuzzy
Logic Controller Block that is prepared and added to
the Simulink Library.
Like all MATLAB toolboxes, the Type-2 Fuzzy
Logic Toolbox can be customized. The user can
inspect algorithms, modify source code, and add
membership functions, defuzzification techniques,
implication, aggregation AND, OR and type reduction
methods.
A SOFTWARE TOOL 5
Windows, Editors, and Viewers of the
Type-2 Fuzzy Logic Toolbox
Fuzzy inference is a method that interprets the values
in the input vector and, based on user-defined
rules, assigns values to the output vector. Using the
GUI editors and viewers in the Fuzzy Logic Toolbox,
the user can build the rules set, define the membership
functions, and analyze the behavior of a fuzzy
inference system (FIS). The provided editors and
viewers are FIS editor, membership function
editor, rule editor, rule viewer and surface viewer.FIS
Editor
Figure 4 shows the FIS Editor that displays
general information about a type-2 fuzzy inference
system. It displays actually a menu bar that allows the
user to open related GUI tools, open and save systems,
and so on.
The File menu let the user to open a new interval
type-2 fuzzy system which can be a singleton type-2
Mamdani FIS, type-1 nonsingleton type-2 Mamdani
FIS, type-2 nonsingleton type-2 Mamdani FIS or
type-2 Sugeno FIS with no variables and no rules
called Untitled. Under file menu, the other options
that the user can select are
*
Open from disk. . . to load a system from a
specified .fis file on disk.
*
Save to disk. . . to save the current system to a .fis
file on disk.
*
Save to disk as. . . to save the current system to
disk with the option to rename or relocate the file.
*
Open from workspace. . . to load a system from a
specified FIS structure variable in the workspace.
*
Save to workspace. . . to save the system to the
currently named FIS structure variable in the
workspace.
*
Save to workspace as. . . to save the system to a
specified FIS structure variable in the workspace.
*
Close window to close the GUI.
The Edit menu let the user add another input or
output to the current system. The user can also delete
a selected variable or undo the most recent change
under edit menu.
Under View menu, the options are
*
Edit MFs. . . to invoke the Membership Function
Editor.
*
Edit rules. . . to invoke the Rule Editor.
*
View rules. . . to invoke the Rule Viewer.
*
View surface. . . to invoke the Surface Viewer.
As shown in Figure 4, there are six pop-up menus
provided to change the functionality of the six basic
6 OZEK AND AKPOLAT

Figure 4 FIS Editor of Type-2 Fuzzy Logic Toolbox.

steps in the fuzzy implication process on the FIS
Editor:
*
And method: Choose min, prod, or Custom, for a
custom operation.
*
Or method: Choose max or Custom, for a custom
operation.
*
Implication method: Choose min, prod, or
Custom, for a custom operation. This selection
is not available for Sugeno-style fuzzy inference.
*
Aggregation method: Choose max, sum, or
Custom, for a custom operation. This selection
is not available for Sugeno-style fuzzy inference.
*
Type reduction method: Choose center of sets,
center of sums, centroid, height, modified height
or Custom, for a custom operation. This selection
is not available for Sugeno-style fuzzy inference.
*
Defuzzification method: For Mamdani-style in-
ference, choose centroid or Custom, for a custom
operation. For Sugeno-style inference, choose wtaver
(weighted average) or wtsum (weighted sum).
Membership Function Editor
The membership function editor shown in Figure 5
allows the user to display and edit the membership
functions associated with the input and output
variables of the FIS.
On the Membership Function Editor, there is a
menu bar that allows the user to open related GUI tools,
open and save systems, and so on. The File menu for the
Membership Function Editor is the same as the one
found on the FIS Editor. Under Edit menu, the user can
select the options of Add MF, Add custom MF, Remove
current MF, Remove all MFs, and Undo. On the other
hand, under View menu, the user can select the options of
Edit FIS properties, Edit rules, View rules, View surface.
Rule Editor
Figure 6 shows the rule editor that allows the user to
view and edit fuzzy rules. On the Rule Editor, there is
a menu bar that lets the user to open related GUI tools,
and to open and save systems, change the format of
the rules and so on. The menus of the Rule Editor are
similar to the menus of the other editors.
Rule Viewer
The Rule Viewer shown in Figure 7 lets the user to view
detailed behavior of a FIS to help, diagnose the behavior
of specific rules or study the effect of changing input
variables. The menu bar on the Rule Viewer allows the
user to open related GUI tools, to open and save systems,
and so on. The menus of the Rule Viewer are similar to
the menus of the other editors.
Surface Viewer
The Surface Viewer shown in Figure 8 generates a
3-D surface from two input variables and the output of
 A SOFTWARE TOOL 7

Figure 5 Membership Function Editor of Type-2 Fuzzy Logic Toolbox.

an FIS. The menu bar on the Surface Viewer allows Type-2 Fuzzy Logic Controller Block
the user to open related GUI tools, open and save
systems, and so on. The menus of the Surface Viewer The type-2 fuzzy logic controller block shown in
are similar to the menus of the other editors. Figure 9 is prepared and added into the library of

Figure 6 Rule Editor of Type-2 Fuzzy Logic Toolbox.

8 OZEK AND AKPOLAT

Figure 7 Rule Viewer of Type-2 Fuzzy Logic Toolbox.

Figure 8 Surface Viewer of Type-2 Fuzzy Logic Toolbox.


Figure 9 Type-2 Fuzzy Logic Controller Block.
fuzzy logic toolbox in Simulink. So, the controller
representing a type-2 fuzzy logic system can be easily
used in Simulink files.
CONCLUSIONS
Type-2 logic systems have been an attractive research
area in recent years. However, they are more difficult
to understand and implement than conventional type-
1 fuzzy logic systems. In this study, a new software
tool developed for helping users to understand,
design and analyze interval type-2 fuzzy logic system
is presented. The developed software called Type-2
Fuzzy Logic Toolbox is actually a collection of
MATLAB1 based M-files (MATLAB is a registered
trademark of The MathWorks, Inc.). The format
and menus of the developed software are designed
similar to the original Fuzzy Logic Toolbox of
MATLAB since the users of MATLAB are familiar
with them.
A SOFTWARE TOOL 9
ACKNOWLEDGMENTS
We would like to thank Prof. J. M. Mendel and
his former PhD students N. Karnik and Q. Liang, who
made free M-file functions available online for type-2
FLSs [1].
REFERENCES
[1] J. M. Mendel, Uncertain rule-based fuzzy logic
systems: Introduction and new directions. Prentice
Hall PTR, Upper Saddle River, NJ, 2001.
[2] N. N. Karnik, J. M. Mendel, and Q. Liang, Type-2
fuzzy logic systems, IEEE Trans Fuzzy Syst 7 (1999),
643
658.
[3] J. M. Mendel and R. I. B. John, Type-2 fuzzy sets made
simple, IEEE Trans Fuzzy Syst 10 (2002), 117
127.
[4] Q. Liang and J. M. Mendel, Interval type-2 fuzzy logic
systems: Theory and design, IEEE Trans Fuzzy Syst
8 (2000), 535
550.
[5] K. C. Wu, Fuzzy interval control of mobile robots,
Comput Elect Eng 22 (1996), 211
229.
[6] C.-H. Lee and Y.-C. Lin, Control of nonlinear
uncertain systems using type-2 fuzzy neural network
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23 2004, 1177
1182.
[7] P. Melin and O. Castillo, A new method for adaptive
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[8] A. Homaifar, Y. Shen, and B. V. Stack, Vibration
control of plate structures using PZT actuators and type
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[9] Q. Liang, N. N. Karnik, and J. M. Mendel, Connection
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[10] L. A. Zadeh, Fuzzy sets, Informat Contr 8 (1965),
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[11] L. A. Zadeh, The concept of a linguistic variable and
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10 OZEK AND AKPOLAT
BIOGRAPHIES
Muzeyyen Bulut Ozek was born in Elazig,
Turkey, in 1980. She received the BSc
degree in 2002 from Firat University, Elazig,
Turkey, and the MSc degree in 2004 from
the Department of Electronics and Computer
Science, Firat University, where she is
currently a PhD student. She is also a teacher
of computers at Elazig Primary School,
Elazig. Her research interests include fuzzy
logic, expert systems, and artificial intelligence techniques.
Zuhtu Hakan Akpolat was born in Elazig,
Turkey, in 1967. He received the BSc degree
in 1989 from Hacettepe University, Ankara,
Turkey, and the MSc degree in 1992 from
Firat University, Elazig, Turkey, both in
electrical and electronics engineering. He
received the PhD degree in electrical engi-
neering from the University of Nottingham,
United Kingdom, in 1999. He is currently a
professor in the control division of the Department of Electronics
and Computer Science, Technical Education Faculty, Firat Uni-
versity. His research interests include control of electrical drives,
fuzzy logic, sliding mode control, intelligent control techniques, and
mechanical load emulation methods.