{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "id": "1a8b3769",
   "metadata": {
    "slideshow": {
     "slide_type": "skip"
    }
   },
   "outputs": [
    {
     "data": {
      "text/html": [
       "<div id=\"4df7f15de0d07fcf\"></div>\n",
       "    <script type=\"text/javascript\">\n",
       "        $(function(){\n",
       "            var p = $(\"#4df7f15de0d07fcf\");\n",
       "            if (p.length==0) return;\n",
       "            while (!p.hasClass(\"cell\")) {\n",
       "                p=p.parent();\n",
       "                if (p.prop(\"tagName\") ==\"body\") return;\n",
       "            }\n",
       "            var cell = p;\n",
       "            cell.find(\".input\").addClass(\"hide-in-slideshow\")\n",
       "        });\n",
       "    </script>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "def hide_code_in_slideshow():   \n",
    "    from IPython import display\n",
    "    import binascii\n",
    "    import os\n",
    "    uid = binascii.hexlify(os.urandom(8)).decode()    \n",
    "    html = \"\"\"<div id=\"%s\"></div>\n",
    "    <script type=\"text/javascript\">\n",
    "        $(function(){\n",
    "            var p = $(\"#%s\");\n",
    "            if (p.length==0) return;\n",
    "            while (!p.hasClass(\"cell\")) {\n",
    "                p=p.parent();\n",
    "                if (p.prop(\"tagName\") ==\"body\") return;\n",
    "            }\n",
    "            var cell = p;\n",
    "            cell.find(\".input\").addClass(\"hide-in-slideshow\")\n",
    "        });\n",
    "    </script>\"\"\" % (uid, uid)\n",
    "    display.display_html(html, raw=True)\n",
    "\n",
    "hide_code_in_slideshow()  "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "id": "7743e289",
   "metadata": {
    "slideshow": {
     "slide_type": "skip"
    }
   },
   "outputs": [
    {
     "ename": "ModuleNotFoundError",
     "evalue": "No module named 'matplotlib'",
     "output_type": "error",
     "traceback": [
      "\u001b[1;31m---------------------------------------------------------------------------\u001b[0m",
      "\u001b[1;31mModuleNotFoundError\u001b[0m                       Traceback (most recent call last)",
      "\u001b[1;32m~\\AppData\\Local\\Temp/ipykernel_7232/945251201.py\u001b[0m in \u001b[0;36m<module>\u001b[1;34m\u001b[0m\n\u001b[0;32m      1\u001b[0m \u001b[1;31m#!pip install scikit-fuzzy\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m      2\u001b[0m \u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m----> 3\u001b[1;33m \u001b[0mget_ipython\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mrun_line_magic\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;34m'matplotlib'\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;34m'inline'\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m      4\u001b[0m \u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m      5\u001b[0m \u001b[1;32mimport\u001b[0m \u001b[0mnumpy\u001b[0m \u001b[1;32mas\u001b[0m \u001b[0mnp\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n",
      "\u001b[1;32mC:\\Python310\\lib\\site-packages\\IPython\\core\\interactiveshell.py\u001b[0m in \u001b[0;36mrun_line_magic\u001b[1;34m(self, magic_name, line, _stack_depth)\u001b[0m\n\u001b[0;32m   2349\u001b[0m                 \u001b[0mkwargs\u001b[0m\u001b[1;33m[\u001b[0m\u001b[1;34m'local_ns'\u001b[0m\u001b[1;33m]\u001b[0m \u001b[1;33m=\u001b[0m \u001b[0mself\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mget_local_scope\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mstack_depth\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m   2350\u001b[0m             \u001b[1;32mwith\u001b[0m \u001b[0mself\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mbuiltin_trap\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m-> 2351\u001b[1;33m                 \u001b[0mresult\u001b[0m \u001b[1;33m=\u001b[0m \u001b[0mfn\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;33m*\u001b[0m\u001b[0margs\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;33m**\u001b[0m\u001b[0mkwargs\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m   2352\u001b[0m             \u001b[1;32mreturn\u001b[0m \u001b[0mresult\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m   2353\u001b[0m \u001b[1;33m\u001b[0m\u001b[0m\n",
      "\u001b[1;32mC:\\Python310\\lib\\site-packages\\decorator.py\u001b[0m in \u001b[0;36mfun\u001b[1;34m(*args, **kw)\u001b[0m\n\u001b[0;32m    230\u001b[0m             \u001b[1;32mif\u001b[0m \u001b[1;32mnot\u001b[0m \u001b[0mkwsyntax\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m    231\u001b[0m                 \u001b[0margs\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mkw\u001b[0m \u001b[1;33m=\u001b[0m \u001b[0mfix\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0margs\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mkw\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0msig\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m--> 232\u001b[1;33m             \u001b[1;32mreturn\u001b[0m \u001b[0mcaller\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mfunc\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;33m*\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mextras\u001b[0m \u001b[1;33m+\u001b[0m \u001b[0margs\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;33m**\u001b[0m\u001b[0mkw\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m    233\u001b[0m     \u001b[0mfun\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0m__name__\u001b[0m \u001b[1;33m=\u001b[0m \u001b[0mfunc\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0m__name__\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m    234\u001b[0m     \u001b[0mfun\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0m__doc__\u001b[0m \u001b[1;33m=\u001b[0m \u001b[0mfunc\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0m__doc__\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n",
      "\u001b[1;32mC:\\Python310\\lib\\site-packages\\IPython\\core\\magic.py\u001b[0m in \u001b[0;36m<lambda>\u001b[1;34m(f, *a, **k)\u001b[0m\n\u001b[0;32m    185\u001b[0m     \u001b[1;31m# but it's overkill for just that one bit of state.\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m    186\u001b[0m     \u001b[1;32mdef\u001b[0m \u001b[0mmagic_deco\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0marg\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m--> 187\u001b[1;33m         \u001b[0mcall\u001b[0m \u001b[1;33m=\u001b[0m \u001b[1;32mlambda\u001b[0m \u001b[0mf\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;33m*\u001b[0m\u001b[0ma\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;33m**\u001b[0m\u001b[0mk\u001b[0m\u001b[1;33m:\u001b[0m \u001b[0mf\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;33m*\u001b[0m\u001b[0ma\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;33m**\u001b[0m\u001b[0mk\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m    188\u001b[0m \u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m    189\u001b[0m         \u001b[1;32mif\u001b[0m \u001b[0mcallable\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0marg\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n",
      "\u001b[1;32mC:\\Python310\\lib\\site-packages\\IPython\\core\\magics\\pylab.py\u001b[0m in \u001b[0;36mmatplotlib\u001b[1;34m(self, line)\u001b[0m\n\u001b[0;32m     97\u001b[0m             \u001b[0mprint\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;34m\"Available matplotlib backends: %s\"\u001b[0m \u001b[1;33m%\u001b[0m \u001b[0mbackends_list\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m     98\u001b[0m         \u001b[1;32melse\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m---> 99\u001b[1;33m             \u001b[0mgui\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mbackend\u001b[0m \u001b[1;33m=\u001b[0m \u001b[0mself\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mshell\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0menable_matplotlib\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0margs\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mgui\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mlower\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;33m)\u001b[0m \u001b[1;32mif\u001b[0m \u001b[0misinstance\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0margs\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mgui\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mstr\u001b[0m\u001b[1;33m)\u001b[0m \u001b[1;32melse\u001b[0m \u001b[0margs\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mgui\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m    100\u001b[0m             \u001b[0mself\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0m_show_matplotlib_backend\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0margs\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mgui\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mbackend\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m    101\u001b[0m \u001b[1;33m\u001b[0m\u001b[0m\n",
      "\u001b[1;32mC:\\Python310\\lib\\site-packages\\IPython\\core\\interactiveshell.py\u001b[0m in \u001b[0;36menable_matplotlib\u001b[1;34m(self, gui)\u001b[0m\n\u001b[0;32m   3518\u001b[0m         \"\"\"\n\u001b[0;32m   3519\u001b[0m         \u001b[1;32mfrom\u001b[0m \u001b[0mIPython\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mcore\u001b[0m \u001b[1;32mimport\u001b[0m \u001b[0mpylabtools\u001b[0m \u001b[1;32mas\u001b[0m \u001b[0mpt\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m-> 3520\u001b[1;33m         \u001b[1;32mfrom\u001b[0m \u001b[0mmatplotlib_inline\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mbackend_inline\u001b[0m \u001b[1;32mimport\u001b[0m \u001b[0mconfigure_inline_support\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m   3521\u001b[0m         \u001b[0mgui\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mbackend\u001b[0m \u001b[1;33m=\u001b[0m \u001b[0mpt\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mfind_gui_and_backend\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mgui\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mself\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mpylab_gui_select\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m   3522\u001b[0m \u001b[1;33m\u001b[0m\u001b[0m\n",
      "\u001b[1;32mC:\\Python310\\lib\\site-packages\\matplotlib_inline\\backend_inline.py\u001b[0m in \u001b[0;36m<module>\u001b[1;34m\u001b[0m\n\u001b[0;32m      4\u001b[0m \u001b[1;31m# Distributed under the terms of the BSD 3-Clause License.\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m      5\u001b[0m \u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m----> 6\u001b[1;33m \u001b[1;32mimport\u001b[0m \u001b[0mmatplotlib\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m      7\u001b[0m from matplotlib.backends.backend_agg import (  # noqa\n\u001b[0;32m      8\u001b[0m     \u001b[0mnew_figure_manager\u001b[0m\u001b[1;33m,\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n",
      "\u001b[1;31mModuleNotFoundError\u001b[0m: No module named 'matplotlib'"
     ]
    }
   ],
   "source": [
    "#!pip install scikit-fuzzy\n",
    "\n",
    "%matplotlib inline\n",
    "\n",
    "import numpy as np\n",
    "import skfuzzy as fuzz\n",
    "from skfuzzy import control as ctrl"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "00acac82",
   "metadata": {
    "slideshow": {
     "slide_type": "slide"
    }
   },
   "source": [
    "# Control Difuso\n",
    "\n",
    "Es un sistema de control que esta basado en la lógica difusa. \n",
    "\n",
    "<img src=\"https://upload.wikimedia.org/wikipedia/commons/thumb/e/ec/Lotfi_Zadeh_Berkeley_c.jpg/800px-Lotfi_Zadeh_Berkeley_c.jpg\" width=\"200px\" />\n",
    "\n",
    "[Lofti A. Zadeh](https://es.wikipedia.org/wiki/Lotfi_A._Zadeh) desarrollo la lógica difusa. "
   ]
  },
  {
   "cell_type": "markdown",
   "id": "b0236a5d",
   "metadata": {
    "slideshow": {
     "slide_type": "slide"
    }
   },
   "source": [
    "# ¿Qué tan mojada esta la ropa?\n",
    "\n",
    "## Lógica Booleana\n",
    "\n",
    "- Mojada (_Verdadero_)\n",
    "- Seca (_Falso_)\n",
    "\n",
    "## Lógica Difusa\n",
    "\n",
    "- Parcialmente Mojada (0.7)\n",
    "- Parcialmente Seca (0.3)"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "7437f798",
   "metadata": {
    "slideshow": {
     "slide_type": "slide"
    }
   },
   "source": [
    "# Beneficios del control difuso\n",
    "\n",
    "- No requiere conocer el modelo dinámico del sistema a controlar. Por tanto,\n",
    "    - No requiere identificar el sistema\n",
    "    - No necesita aproximar el modelo\n",
    "    - No necesita linealizarlo. \n",
    "- **Pero,**\n",
    "    - No se conoce bien el sistema"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "id": "4d41226b",
   "metadata": {
    "slideshow": {
     "slide_type": "skip"
    }
   },
   "outputs": [],
   "source": [
    "# https://www.irjet.net/archives/V2/i8/IRJET-V2I8104.pdf\n",
    "# https://www.upt.ro/img/files/alegeri_2020/csud/5_Cinci_lucrari_stiintifice_in_extenso_2020-2024.pdf"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "5848d0e9",
   "metadata": {
    "slideshow": {
     "slide_type": "slide"
    }
   },
   "source": [
    "# Aplicaciones del control difuso "
   ]
  },
  {
   "cell_type": "markdown",
   "id": "a227ba30",
   "metadata": {
    "slideshow": {
     "slide_type": "slide"
    }
   },
   "source": [
    "# Estructura de un controlador difuso\n",
    "\n",
    "![](D-control-loop.png)\n",
    "\n",
    "Tomada de [_A survey on industrial applications of fuzzy control_](https://doi.org/10.1016/j.compind.2010.10.001)"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "207c3854",
   "metadata": {
    "slideshow": {
     "slide_type": "slide"
    }
   },
   "source": [
    "# Etapas dentro de un controlador difuso\n",
    "\n",
    "- Valores de Entrada (_crisp inputs_)\n",
    "- **Módulo de Fusificación**\n",
    "- Entradas difusas\n",
    "- **Módulo de Inferencia**\n",
    "- Conclusiones difusas\n",
    "- **Módulo de Defusificación**\n",
    "- Valores de Salida (_crisp outputs_)"
   ]
  },
  {
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   "source": [
    "# Variables lingüísticas / Funciones de membresia\n",
    "\n"
   ]
  },
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   "source": [
    "# Reglas de Control \n",
    "\n",
    "Dado un sistema con dos entradas $X$ y $Y$ y una salida $Z$, podemos definir las reglas de control en el modulo de inferencia así:\n",
    "\n",
    "- Si $X$ es $A_1$ y $Y$ es $B_1$, entonces $Z$ es $C_1$\n",
    "- Si $X$ es $A_2$ y $Y$ es $B_2$, entonces $Z$ es $C_2$\n",
    "- Si $X$ es $A_3$ y $Y$ es $B_3$, entonces $Z$ es $C_3$"
   ]
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   "source": [
    "# Modulo de Defusificación\n",
    "\n",
    "Para la defusificación se pueden usar diferentes métodos:\n",
    "\n",
    "- Centroide: considera a la función como una función de distribución de masa y busca su centroide. \n",
    "- Bisectriz: divide el area bajo la función en dos regiones iguales.\n",
    "- Máximo central (MOM _mean of maximum_): toma el promedio de los máximos.\n",
    "- Máximo más grande (LOM _largest of maximum_): toma el máximo más grande. \n",
    "- Máximo más pequeño (SOM _smallest of maximum_): toma el máximo más pequeño.\n",
    "\n",
    "[![](D-defusificacion.png)](https://www.slideserve.com/erv/hedge)"
   ]
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   "metadata": {
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   "source": [
    "# Modulo de inferencia \n",
    "\n",
    "Existen diferentes métodos de inferencia, entre ellos: \n",
    "\n",
    "- Mamdani "
   ]
  },
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   "source": [
    "[![](D-mamdani.jpg)](http://www.dma.fi.upm.es/recursos/aplicaciones/logica_borrosa/web/fuzzy_inferencia/mamdanir_en.htm)"
   ]
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   "source": [
    "# Ejemplo : Impresora\n",
    "\n",
    "Realicemos el control de posición de la impresora via el voltaje del motor con un controlador difuso.\n",
    "\n",
    "![](D-printer.png)\n",
    "\n",
    "- Variable de entrada : Error de posición\n",
    "- Variable de salida : Voltaje del motor"
   ]
  },
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   "id": "a3a17df5",
   "metadata": {
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   "source": [
    "# Sistema de control\n",
    "\n",
    "![](D-control-loop.png)"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "208b3f91",
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   "source": [
    "# Reglas de control\n",
    "\n",
    "- Si el error es NG, entonces el voltaje es NG (negativo grande)\n",
    "- Si el error es NP, entonces el voltaje es NP (negativo pequeño)\n",
    "- Si el error es C, entonces el voltaje es C (cero)\n",
    "- Si el error es PP, entonces el voltaje es PP (positivo pequeño)\n",
    "- Si el error es PG, entonces el voltaje es PG (positivo grande)\n"
   ]
  },
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   "source": [
    "# En MATLAB \n",
    "\n",
    "Usaremos la aplicación _fuzzy logic designer_, debemos tener instalado el _Fuzzy Logic Toolbox_\n",
    "\n",
    "![](D-fuzzy-logic-toolbox.png)"
   ]
  },
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   "id": "9c30a1fb",
   "metadata": {
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   "source": [
    "# Fuzzy logic designer\n",
    "\n",
    "Esta es la ventana inicial, donde definiremos la variable de entrada como el error y la variable de salida como el voltaje. \n",
    "\n",
    "![](D-fuzzy-logic-designer.png)"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "11d57d70",
   "metadata": {
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   "source": [
    "# Funciones de membresia\n",
    "\n",
    "Cambiar los valores de error en posición\n",
    "\n",
    "- ENG = (Range -20, 20, Type: Trapmf, Params: -20 -20 -10 – 5)\n",
    "- ENP = (Range -20, 20, Type: Trimf, Params: -10 -5 -0 )\n",
    "- EC = (Range -20, 20, Type: Trimf, Params:  -5 -0  5 )\n",
    "- EPP = (Range -20, 20, Type: Trimf, Params:  0  5  10 )\n",
    "- EPG =   (Range -20, 20, Type: Trápmf, Params:  5  10  20 20 )\n"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "9d81d2bd",
   "metadata": {
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   },
   "source": [
    "# Funciones de membresia\n",
    "\n",
    "Cambiar los valores de voltaje\n",
    "\n",
    "- VNG = (Range -12, 12, Type: Trapmf, Params: -12 -12 -6 – 3)\n",
    "- VNP = (Range -12, 12, Type: Trimf, Params: -6 -3 -0 )\n",
    "- VC = (Range -12, 12, Type: Trimf, Params:  -3 -0  3 )\n",
    "- VPP = (Range -12, 12, Type: Trimf, Params:  0  3  6 )\n",
    "- VPG =   (Range -12, 12, Type: Trapmf, Params:  3 6 12 12 )\n"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "385f9bde",
   "metadata": {
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   "source": [
    "# Añadir reglas de control \n",
    "\n",
    "- Vamos a edit y buscamos el término _Rules_.\n",
    "- Emparejamos las entradas y salidas correspondientes con el bóton \"Add rule\"\n",
    "- Cuando hayamos terminado cerramos la ventana.\n",
    "- Seleccionamos el metodo de fusificación. \n",
    "- Exportamos las reglas. "
   ]
  },
  {
   "cell_type": "markdown",
   "id": "016b7c46",
   "metadata": {
    "slideshow": {
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   },
   "source": [
    "# Visualización de las reglas\n",
    "\n",
    "![](D-fuzzy-logic-designer-rules.png)"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "19fedf9d",
   "metadata": {
    "slideshow": {
     "slide_type": "slide"
    }
   },
   "source": [
    "# Visualización de la superficie de control\n",
    "\n",
    "![](D-fuzzy-logic-designer-surface.png)"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "234deb4c",
   "metadata": {
    "slideshow": {
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    }
   },
   "source": [
    "# Archivos para Matlab\n",
    "\n",
    "- [Controlador difuso](/matlab/fuzzy/impresora.fis)\n",
    "- [Simulink](/matlab/fuzzy/impresora.slx)"
   ]
  }
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