
SC408110: 
Knowledge Based Control Systems 
ECTS: 
4 
Responsible Instructor: 
Dr. A.A. Nunez Vicencio 
Instructor: 
prof.dr. R. Babuška 
Contact Hours / Week x/x/x/x: 
0/0/4/0 
Education Period: 
3 
Start Education: 
3 
Exam Period: 
3, 4 
Course Language: 
English 
Course Contents: 
Theory and applications of knowledgebased and intelligent control systems, including fuzzy logic control and artificial neural networks: * Introduction to intelligent control * Fuzzy sets and systems * Intelligent data analysis and system identification * Knowledge based fuzzy control (direct and supervisory) * Artificial neural networks, learning algorithms * Control based on fuzzy and neural models * Reinforcement learning * Examples of realworld applications 
Study Goals: 
Main objective: understand and be able to apply "intelligent control" techniques, namely fuzzy logic and artificial neural networks to both adaptive and nonadaptive control. After successfully completing the course, the student is able to: * Name the limitations of traditional linear control methods and state the motivation for intelligent control. Give examples of intelligent control techniques and their applications. * Formulate the mathematical definitions of a fuzzy set and the associated concepts and properties (alphacut, support, convexity, normality, etc.), basic fuzzy settheoretic operators, fuzzy relations and relational composition. * Explain the notion of a fuzzy system and define the Mamdani, TakagiSugeno and singleton fuzzy model. State and apply the compositional rule of inference and the Mamdani algorithm. Define and apply the center of gravity and the mean of maxima defuzzification method. * Describe how fuzzy models can be constructed from data, give examples of techniques for antecedent and consequent parameter estimation. Compute consequent parameters in TakagiSugeno fuzzy model by using the leastsquares method. * Explain the difference between modelbased and modelfree fuzzy control design. Give the basic steps in knowledgebased fuzzy control design. Define a lowlevel and a highlevel (supervisory) fuzzy controller, explain the differences. * Explain the concept of an artificial neural network and a neurofuzzy network, give some examples and explain the differences. Define and apply the backpropagation training algorithm. Explain the difference between firstorder and secondorder gradient methods. * Show how dynamics are incorporated into fuzzy models and neural networks, give examples. Discuss how dynamic models can be identified from data. * Give block diagrams and explain the notions of inversemodel control, predictive control, internal model control, direct and indirect adaptive control. Explain the meaning of the variables and parameters in recursive leastsquares estimation. * Explain the motivation and the basic elements of reinforcement learning. Define and explain the concepts of value function, Bellman equation, value iteration, Qiteration, online reinforcement learning algorithms, actorcritic control scheme. * Define hard, fuzzy and possibilistic partitions, explain the fuzzy cmeans algorithm and its parameters. * Implement and apply the above concepts to a simulated nonlinear process or a given data set, using Matlab and Simulink. 
Education Method: 
Lectures and two assignments  literature assignment and practical Matlab / Simulink assignment. 
Literature and Study Materials: 
Lecture notes: R. Babuska. KnowledgeBased Control Systems. Overhead sheets and other course material (software, demos) can be downloaded from the course Website (www.dcsc.tudelft.nl/~sc4081) and handed out at the lectures. 
Assessment: 
Written exam, closed book. * SC408110 D1 The exam constitute 60% of the final mark * SC408110 D2 Literature assignment 20% of the final mark * SC408110 D3 Practical Matlab / Simulink assignment 20% of the final mark. A minisymposium is organized in order for the students to present the results of the literature assignment. 
