7/23/2019 Trabajo Control Difuso Alejandro Carpio

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FKOPZKH @IEWVK @G PGL]GZCPWZC Y OIUGH @GH PCOSWG@G CHILGOPCFIO @G WO ]CVPGWZIQC@KZ @G PI]K PWOGH

Chgaco`rk Fcrpik Vofbgz

Gstu`icotg `gh Lstgr Woivgrsitcrik go Iongoigrc `g Vistglcs y `g Fkotrkh/ cfcrsco:Mnlcih/fkl

Zgsulgo

Gh prgsgotg crtfuhk trctc cfgrfc `gh `isgk `g uo

fkotrkh `ieusk qug sgc fcpcz `g lcotgogr hc

tglpgrcturc `gh cnuc `g rignk `g uo pcstgurizc`kr

tipk togh( utihizco`k uo tcoqug iotgrlg`ik( `gotrk `g

hks lrngogs tkhgrcjhgs pkr gh prk`uftk( y suprkfgsk4 y qug c`gls( fkotrkhg gh oivgh `gh tcoqug

`gotrk `g hks lrngogs tkhgrcjhgs/ Vg utihizcr gh

hgonucag EFH pcrc hc `geioifio `gh fkotrkhc`kr( y sg

gxpko`r fklk sg rgchizcrc su ilphglgotcfio

jcsc`c go uo ]HF Viglgos V>,6==/

]chcjrcs Fhcvg1 Fkotrkh `ieusk( pcstgurizc`kr(euzzieifcfio( EFH( vhvuhc `g fkotrkh( Viglgos(

^ioFF/

3 Iotrk`uffio

Hc io`ustric( y hc skfig`c` go ngogrch( rgquigrgo c hks

prkfgsks io`ustrichgs chilgotifiks rgspko`gr fko nrcofchi`c` y rgpgtijihi`c`/ Gxistgo uoc nrco fcoti`c` `g

prk`uftks qug go hc cftuchi`c` rgquigrgo sgr

sklgti`ks c uo prkfgsk `g pcstgurizcfio pcrc pk`gr

hknrcr fkosgrvcr sus prkpig`c`gs go gh tiglpk( y

pksijihitcr su trcospkrtcrtg c hcrncs `istcofics/ ]kr

ghhk( fkotrkhcr hks pcrlgtrks iovkhufrc`ks go gh

prkfgsk `g pcstgurizc`k( gs uoc tcrgc vitch/

Gh prkfgsk `g pcstgurizcfio go uo pcstgurizc`kr `gtogh

T3\sg rgchizc lg`icotg gh rkfic`k `gh prk`uftk c

pcstgurizcr( fko cnuc c `istiotcs tglpgrcturcs go

euofio `g hc zkoc go hc qug gh prk`uftk sg gofugotrc(

fkosinuigo`k fko gstg ltk`k hc lxilc trcoslisio`g fchkr( y c`gls( fkotrkhco`k hc tglpgrcturc `g

ekrlc prgfisc/ Hc uoi`c` qug sg utihizc go gstksprkfgsks sko hcs W] "uoi`c`gs `g pcstgurizcfio)( hc

fuch gs uoc ekrlc `g fucotieifcr gh nrc`k `g

pcstgurizc`k cfuluhc`k trcs pcscr pkr hcs zkocs/

]k`glks fkosgnuir uo lislk vchkr `g W] tcotk

cphifco`k lufbk fchkr `urcotg pkfk tiglpk( fklk

cphifco`k uo fchkr lgokr `urcotg ls tiglpk/ Ch sgrgh tiglpk qug pcsc gh prk`uftk `gotrk `gh

pcstgurizc`kr uo vchkr eiak go hc lcykrc `g gquipks

fklgrfichgs( hc ekrlc `g fkosgnuir uo vchkr gxcftk

`g W] gs fkotrkhcr gxbcustivclgotg hc tglpgrcturc

`gh cnuc go fc`c zkoc/

: Cohisis `gh ]rkjhglc

:/3 ]hcotgcligotk

@g hk gxpugstk sg fkofhuyg qug bcfgr uo jugo

fkotrkh `g hc tglpgrcturc `gh cnuc `g rkfic`k go fc`c

zkoc `gh togh gs vitch pcrc hknrcr uo rgsuhtc`k

sctisecftkrik y uoiekrlg `g pcstgurizc`k/ ]crc

rgchizcr hc tcrgc( lufbks sistglcs `g pcstgurizcfioutihizco fujcs iotgrlg`ics( yc qug ecfihitc rgfupgrcr

pcrtg `gh cnuc( vkhvio`khk c iotrk`ufir ch fifhk `g

rkfic`k/ Uclks c iotgotcr rgchizcr gh fkotrkh `g uoc

`g `ifbcs fujcs/

Einurc 31 @icnrclc `g gsqugltifk `g hc phcotc

Pgoglks uoc fujc fkogftc`c c uoc hogc `g

chilgotcfio `g cnuc c tglpgrcturc cljigotg( hc fuch

oksktrks fkosi`grclks fklk cnuc erc4 y uoc hogc `g

chilgotcfio `g cnuc fchigotg prkvgoigotg `g uoiotgrfcljic`kr fko vcpkr/ @ifbc fujc `ispkog go su

pcrtg ioegrikr `g uoc hogc qug fkogftc hc fujc fko

uoc jkljc rktk,`iolifc( hc fuch jkljgc gh cnuc `g

hc fujc ch sistglc `g rkfic`k( c`gls `g `ispkogr `g

uo sistglc `g bklkngoizcfio `g hc tglpgrcturc go

su iotgrikr lg`icotg uo cnitc`kr/ Fc`c hogc `g

gotrc`c `ispkog c su vgz `g uoc vhvuhc `g fkotrkh(

qug sgro hks kjagtivks `g ougstrk fkotrkh( fko gh qug

jusfcrglks lcotgogr hc tglpgrcturc `gsgc`c `g

rkfic`k( y c su vgz( lcotgogr uo oivgh go hc fujc

sueifigotg pcrc cjcstgfgr c `ifbk sistglc `g rkfic`k/

C`gls( sg iofkrpkrc c hc fujc uoc vhvuhc `g

fkotrkh pcrc pgrlitir gh `rgocag fkotrkhc`k `g hc

lislc go fcsk( oifclgotg( `g cjskhutc ogfgsi`c`/

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:/: Vkhufio ]rkpugstc

Gh prkjhglc qug sg phcotgc gs chnk fklphgak `gs`g gh

puotk `g vistc `g hc iongoigrc `g fkotrkh( yc qug hc

vcricfio `gh fcu`ch `g gotrc`c `g cnuc erc+fchigotg

pcrc rg`ufir+culgotcr hc tglpgrcturc `g hc fujc

cegftcrc c`gls eugrtglgotg ch oivgh `g hc lislc(auotk c hc vcricfio `g oivgh qug prkvkfc gh `rgocag yutihizcfio `gh cnuc fkotgoi`c go hc fujc(

fkovirtigo`k c gstg sistglc go uo sistglc LILK

"Luhtiphg Ioput Luhtiphg Kutput)/

Gstg gsfgocrik oks fko`ufg c pgoscr go hcs vgotcacs

`g hks sistglcs `g fkotrkh iotghingotg( yc qug

pgrlitgo rgchizcr gh nkjgroc`k sio tgogr qug tgogr uo

lk`ghk prgfisk y fklphgtk `g hc phcotc/

6 @isgk `g hc Vkhufio

Prcs rgchizcr uo pgqugk cohisis `gh prkjhglc( y`gfi`ir gh usk `g uo sistglc `g fkotrkh iotghingotg(

vclks c kptcr pkr `isgcr uo fkotrkhc`kr `ieusk qug

rgchifg hc euofio qug ogfgsitclks/ @ifbk fkotrkh sg

gofcrncrc `g `gfi`ir hc lgakr lcogrc `g fkosgnuir hc

fkosinoc `g tglpgrcturc y oivgh go hc fujc( lg`icotg

gh usk `g uoc sgrig `g rgnhcs hionstifcs/ ]kr tcotk(

tgo`rglks fklk gotrc`cs ch sistglc `g fkotrkh( uoc

vcricjhg `g tglpgrcturc y ktrc `g oivgh cftuch `g hc

fujc4 y fklk schi`cs( gh pkrfgotcag `g cpgrturc `g hcs

vhvuhcs `g fkotrkh `g hcs hogcs `g cnuc erc( cnuc

fchigotg y `rgocag/ ]crc hc ilphglgotcfio uscrglks

uo cutlctc Viglgos V>( gh fuch sg gofcrncr `gsulioistrcr hks `ctks go ekrlctk `g olgrk rgch( c uo

jhkqug euofio "`geioi`k go gh gsto`cr 3363,6T:\

)

skjrg gh qug sg ilphglgotcrc gh fkotrkhc`kr `ieusk

usco`k hgonucag EFHT6\

/

Vg sulioistrcrc gh pkrfgotcag `g oivgh `g hhgoc`k `g

hc fujc "=,3==')( y hc `iegrgofic gotrg hc tglpgrcturc

kjagtivk y hc cftuch( `co`k vchkrgs pksitivks pcrc

cnuc `glcsic`k fchigotg( y vchkrgs ognctivks pcrc

cnuc `glcsic`k erc/ Ougstrk kjagtivk fko gh fkotrkh

sgr tgogr hc fujc ch 7=' fko uoc `iegrgofic `g

tglpgrcturc gotrg hc fkosinc kjagtivk y gh vchkr

cftuch( `g =F( tgoigo`k gh fkotrkh tgo`gofic c uohingrk skjrg,hhgoc`k si fko ghhk sg fkosinug lcotgogr

hc tglpgrcturc fkrrgftc/

6/3 Euzzieifcfio

Gstg fklpkogotg `gh fkotrkhc`kr `ieusk sg gofcrnc

`g hc tcrgc `g fkovgrtir gh vchkr `g hcs vcricjhgs `g

gotrc`c "tglpgrcturc y oivgh)( go trlioks

hionstifks/ ]crc ghhk sg `gtgrlioc gh nrc`k `gpgrtgogofic `g hc vcricjhg ch tgrliok hionstifk(

lg`icotg gh usk `g uoc euofio `g pgrtgogfc/ Go gstg

fcsk( sg bco usc`k euofikogs `g pgrtgogfc

trcpgzki`chgs y triconuhcrgs/

Einurc :1 @icnrclc `g euofikogs `g pgrtgogofic pcrc

Pglpgrcturc

Einurc 61 @icnrclc `g euofikogs `g pgrtgogofic pcrcOivgh

Vg bco `geioi`k tcotk pcrc gh oivgh( fklk pcrc hc

tglpgrcturc 7 vcricjhgs hionstifcs1 luychtk( chtk(

kd( jcak( luy jcak/

]crc `geioir hcs euofikogs `g pgrtgogofic( gh hgonucag

EFH rgquigrg qug hg `glks hks puotks qug `geiogo hc

euofio( `g izquigr`c c `grgfbc( lcotgoio`ksg gh

vchkr qug tigog gh puotk `g fc`c gxtrglk pcrc hks

vchkrgs ok fklprgo`i`ks go gh rconk `g hks puotks

`c`ks/

6/: @geuzzieifcfio

Gstg fklpkogotg `gh fkotrkhc`kr `ieusk sg gofcrnc

`g hc tcrgc `g fkovgrtir fc`c vcricjhg hionstifc gouo vchkr oulrifk/

Vg bco `geioi`k : euofikogs `g pgrtgogofic `gh tipk

sionhgtko pcrc fc`c uoc `g hcs vhvuhcs

"Cjigrtc+Fgrrc`c)( skjrg hcs qug sg cphifc uo ecftkr

`g pgsk pcrc vcricr hc schi`c( y skjrg hks fuchgs sgcphifc gh ltk`k `g `geuzzieifcfio FKNV "3)

"Fgotrk `g Nrcvg`c` pcrc Vionhgtko)/

7/23/2019 Trabajo Control Difuso Alejandro Carpio

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Einurc 01 @icnrclc `g euofikogs `g pgrtgogofic pcrc

Uhvuhc @rgocag( Erik y Fchkr

6/6 Jhkqug `g rgnhcs

Gstg fklpkogotg `gh fkotrkhc`kr `ieusk sg gofcrnc

`g rgchizcr hc ioegrgofic `gh chnkritlk `ieusk(

bcjio`khk `ivi`i`k go : nrupks `g rgnhcs/ Gh prilgr

nrupk sg gofcrnc `g fkotrkhcr gh nrc`k `g cpgrturc y

figrrg `g hcs vhvuhcs `g fkotrkh `g hcs hogcs `g erik y

fchkr/ Gh sgnuo`k nrupk sg gofcrnc `g fkotrkhcr gh

nrc`k `g cpgrturc `g hc vhvuhc `g `rgocag/ Vi jigo(

tk`cs hcs rgnhcs gsto `geioi`cs go gh lislk jhkqug

`g rgnhcs `gh hgonucag EFH/

Hcs rgnhcs `geioi`cs go hks jhkqugs fkotrkhc`krgs(

utihizco`k hc siotcxis `gh hgonucag EFH( sko `g hc

ekrlc1

ZWHG O1 IE oivgh IV vhion3 CO@ tglp IV vhion:PBGO v[erik IV vhion6 ^IPB O( v[fchkr IV vhion0

ZWHG O1 IE oivgh IV vhion3 CO@ tglp IV vhion:

PBGO v[`rgocag IPB O IV vhion6 ^IPB O4Hcs rgnhcs gsto `isgc`cs pcrc lioilizcr hc fcoti`c``g cnuc qug sg govc c `rgocag( `rgoco`k oifclgotg

fuco`k gh gstc`k `g hc fujc "tglpgrcturc y+k oivgh)

io`ifc uoc situcfio qug ok sg pug`g skhufikocr sio

`rgocr cnuc/

0 Ilphglgotcfio

]crc rgchizcr hc ilphglgotcfio `gh sistglc `g

fkotrkh( utihizcrglks uo cutlctc prknrclcjhg

Viglgos V>,6==/ Gh lislk `ispkog `g 3 tcragtc `g

gotrc`cs+schi`cs cochnifcs VL663( c hcs qug

hhgvcrglks gh fkogxikoc`k ogfgscrik pcrc `cr hc

fkosinoc c hcs jkljcs( y rgfijir hc tglpgrcturc yoivgh cftuch `gh tcoqug/ Fko `ifbks `ctks(

rgchizcrglks hcs kpgrcfikogs ogfgscrics pcrc c`gfucr

hc prgsgotcfio `g hks `ctks c hcs ogfgsi`c`gs `g

ougstrk sistglc `g fkotrkh/

]crc ilphglgotcr gh fkotrkhc`kr `ieusk( utihizcrglksgh Euzzy Fkotrkh$$( `g IP0Io`ustry Pgcl( qug

pgrlitg hc prknrclcfio go EFH `g ekrlc octivc

pcrc Viglgos/ Frgcrglks uo jhkqug `g euofioT0\

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`ko`g gsfrijirglks gh f`ink EFH `isgc`k( gh fuch

sg gofcrncrc `g hc tcrgc `g euzzyeifcfiko( ioegrgofic y

`geuzzyeifcfio( `co`k hcs 6 fkosinocs `g cpgrturc

`g hcs vhvuhcs `g fkotrkh/

C`gls( `gjgrglks cskficr `ifbcs schi`cs c fc`c uoc

`g hcs schi`cs cochnifcs cskfic`cs c fc`c uoc `g hcs

fkosinocs `g cpgrturc `g hcs vhvuhcs `g fkotrkh/

Einurc 71 @geioifio `gh fkotrkhc`kr `ieusk

]kr htilk( prknrclcrglks uo pgqugk sioptifk

pcrc hc rgprgsgotcfio `gh gstc`k `g hc phcotc go uo

pcogh `g kpgrc`kr( utihizco`k ^ioFF Ehgxijhg/

Einurc 51 ]cogh `g Kpgrc`kr jcsc`k go ^ioFF

ehgxijhg

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7 ]rugjcs

Prcs gh `gscrrkhhk y hc ilphglgotcfio( sg prkfg`g c

bcfgr uoc pgqugc siluhcfio `gh fkotrkh `ieusk `g

hc phcotc( gstcjhgfigo`k uoks fcu`chgs y

tglpgrcturcs siluhc`ks fko gh kjagtivk `g vgr hc

rgspugstc `gh fkotrkhc`kr/ Vi jigo( fko gstc prugjc okprgtgo`glks gstu`icr hc rgspugstc `iolifc `g hc

phcotc ch ok `ispkogr `g uo lk`ghk `g hc lislc/

]crc ghhk sg bc ilphglgotc`k uoc euofio `g tipk

rgftc pcrc siluhcr gh oivgh `g hc fujc( `co`k gh vchkr

3==' pcrc 3== hitrks( y =' pcrc = hitrks/ ]crc siluhcr

hks fcu`chgs `g gotrc`c( sg bco frgc`k `ks fuc`rks `g

tgxtk go gh sioptifk pcrc `cr hks hitrks pkr sgnuo`k( yktrks `ks fuc`rks `g tgxtk pcrc `cr hc tglpgrcturc4

c`gls `g ktrk fuc`rk `g tgxtk c`ifikoch pcrc

iotrk`ufir gh fcu`ch `g schi`c go hitrks+sgnuo`k/

]crc rgchizcr gh fhfuhk siluhc`k( sg fchfuhc `g ekrlccprkxilc`c gh ougvk oivgh y tglpgrcturc/ ]crc ghhk sgbc ilphglgotc`k uoc euofio ":) pcrc kjtgogr gh

ougvk oivgh `g hc fujc( y ktrc euofio "6) pcrc

kjtgogr hc ougvc tglpgrcturc cprkxilc`c `g hc fujc

trcs cc`ir hks : fcu`chgs1

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Ougvk Oivgh @gpksitk "hitrks)Fcu`ch Erik "hitrks+sgn)

Fcu`ch Fchkr "hitrks+sgn)

Fcu`ch `g Vchi`c "hitrks+sgn)

Fcu`ch `g @rgocag "hitrks+sgn)

Pglp/ @gpksitk "F)

Ougvc Pglp/ @gpksitk "F)Pglp/ Fcu`ch Erik "F)

Pglp/ Fcu`ch Fchkr"F)

Cljcs euofikogs sg gagfutco `g ekrlc tglpkrizc`c

fc`c sgnuo`k( cftuchizco`k gh oivgh `g hc fujc y hc

tglpgrcturc `g ekrlc siluhtogc/

Hks rgsuhtc`ks `g hc prugjc `glkstrcrko qug gh

fkotrkhc`kr jusfc hhgvcr hc phcotc c gstc`k gstcjhg

pcrc nrco fcoti`c` `g fkljiocfikogs y vcricfikogs

`g fcu`chgs y tglpgrcturcs/ Vi jigo( sg bc kjsgrvc`k

qug c echtc `gh fcu`ch `g gotrc`c `g cnuc erc kfchigotg( gh oivgh `g hc fujc tigo`g c `gsfgo`gr ch

loilk oivgh( iotgotco`k gh fkotrkhc`kr `ieusk

lcotgogr uo oivgh loilk( pgrk sio fkotrkhcr

fkrrgftclgotg hc tglpgrcturc/

5 Fkofhusikogs

Fko tk`k hk gxpugstk( bglks pk`i`k vgr qug gh

fkotrkhc`kr `ieusk bc si`k hc skhufio ch prkjhglc

qug sg oks phcotgcjc( pgrlitio`koks rgchizcr uo

fkotrkh rkjustk go uoc phcotc fuyk lk`ghc`k bujigrc

si`k luy fklphgak( y fko uoc nrco fcoti`c` `gghglgotks iotgrvioigotgs go gh fklpkrtcligotk

`iolifk `g hc lislc/ Fko hcs prugjcs( bglks

pk`i`k kjsgrvcr qug hc phcotc tigog tgo`gofic c

cfcjcr go hks chrg`g`krgs `g hc fkosinoc `g oivgh( y

fko uoc tglpgrcturc luy prxilc c hc kjagtivk/ Vio

huncr c `u`cs c qug`c`k `glkstrc`c hc utihi`c` `g

gstks sistglcs go cphifcfikogs `g fkotrkh io`ustrich(

fuco`k gh fkotrkh fhsifk tigog prkjhglcs pcrc `cr hcrgspugstc gspgrc`c/

Cnrc`gfiligotks

C hc ejrifc `g Fgrvgzc `g Ekot Vchgl( Gh ]uin(

pkr su trctk `urcotg li gstcofic/

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`g hc pcstgurizcfio/ ]cn, 5,9

T:\ @klionk ]gc( Akco/ Nliz Fcrk( Auco/

Nrcu i Vch`gs( Cotkoi/ Lcrtogz Ncrfc( Bgrlioik/

*Iotrk`uffio c hks Cutlctcs prknrclcjhgs*/ G`/WKF/ :==6

T6\ Iotgroctikoch Ghgftrktgfboifch Fkllissiko(

Euzzy Fkotrkh ]rknrcllion/ FIGF 3363,> F@3(

Fkllittgg @rcet F@ 3/=/ pp/ 33,67/

T0\ Viglgos CN/ VILCPIF V> Euzzy Fkotrkh

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