This paper proposes a new and simple input prediction method for robust servo system. A robust tracking control system for optical disk drives was proposed recently based on both Coprime Factorization (CF) and Zero Phase Error Tracking (ZPET) control. The CF control system can be designed simply and systematically. Moreover, this system has not only stability but also robustness to parameter uncertainties and disturbance rejection capability. Since optical disk tracking servo system can detect only tracking error, it was proposed that the reference input signal for ZPET could be estimated from tracking errors. In this paper, we propose a new control structure for the ZPET controller. It requires less memory than the previously proposed method for the reference signal generation. Numerical simulation results show that the proposed method is effective.

This paper considers a robust observer-based H/sub ∞/ controller design method for singular systems with parameter uncertainties using an LMI condition. The sufficient condition for the existence of controller and the controller design method are presented by a perfect LMI condition in terms of all variables using singular value decomposition, Schur complement, and change of variables. Therefore, one of the main advantages is that a robust observer-based H/sub ∞/ controller can be established by solving one LMI condition compared with existing results. Numerical example is given to illustrate the effectiveness of the proposed controller design method.

This paper provides sufficient conditions for the robustness of Affine linear TFM(Transfer Function Matrix) MIMO (Multi-Input Multi-Output) uncertain systems based on Rosenbrock's DNA (Direct Nyquist Array). The parametric uncertainty is modeled through a Affine TFM MIMO description, and the unstructured uncertainty through a bounded perturbation of Affine polynomials. Gershgorin's theorem and concepts of diagonal dominance and GB(Gershgorin Bands) are extended to include model uncertainty. For this type of parametric robust performance we show robustness of the Affine TFM systems using Nyquist diagram and GB, DNA(Direct Nyquist Array). Multiloop PI/PB controllers can be tuned by using a modified version of the Ziegler-Nickels (ZN) relations. Simulation examples show the performance and efficiency of the proposed multiloop design method.

Rotor position information is essential in the operation of the switched reluctance motor(SRM) drive for generation the phase current switching signals. When an incremental encoder is used as a rotor position sensor, the initial rotor position can not be detected. Some sensorless rotor position estimation methods also have the same problem. In these systems, to initially align the rotor, the forced alignment method has a delay and reverse rotation before the motor can start. Therefore it can not be acceptable for unidirectional drive systems. So the forced alignment method is not desirable in all drive systems and the research on the SRM drives should be directed to a system without rotor alignment. In this paper, a new detection method of initial rotor position using the rate of change of current is suggested. Firstly, di/dt versus θ/sub R/ reference table, which is the relation between the rate of change of current and rotor position, is generated and then the squared Euclidean distance method is used to estimate the rotor position based on the table. The simulated and experimental results are presented demonstrating the feasibility and accuracy of this method.

In this paper, we propose a slider servo-mechanism driven by electro-magnetic actuator to improve straightness of linear motor stages. Based on axial-position dependent deterministic characteristics of the straightness error, a feedforward compensation control is appled to reduce the straightness error. In the consideration of uncertain properties of friction and its effects on positioning accuracy, a sliding mode control is applied. The effectiveness of the suggested mechanism and the control performances are illustrated along with some experimental results.

This paper concerns on Filtered-x least mean square (FXLMS) algorithm for adaptive estimation of feedforward control parameters. The conditions for convergence in ensemble mean of the FXLMS algorithm are derived and the directional convergence properties are discussed from a new geometric vector analysis. The convergence and its directionality are verified along with some computer simulations.

Mobility of an indoor wheeled robot is affected by adhesion force that is related to various floor conditions. When the adhesion force between driving wheels and floor decreases suddenly, the robot begins slip. In order to overcome this slip problem, optimal slip velocity must be decided for stable movement of wheeled robot. First of all, this paper shows that conventional PI control can not be applied to a wheeled robot of the light weight. Secondly, proposed fuzzy logic is applied to the Takagi-Sugeno model for the configuration of fuzzy sets. For the design of Takagi-Sugeno model and fuzzy rule, proposed algorithm uses FCM(Fuzzy c-mean clustering method) algorithm. In additionally, this algorithm adjusts the driving torque for restraining re-slip. The proposed fuzzy logic controller(FLC) is pretty useful with prevention of the slip phenomena for the controller performance in the re-adhesion control strategy, These procedures are implemented using a Pioneer 2-DXE wheeled robot parameter.

In the power-line communication(PLC) systems, the power line is a wired medium. However, the power line channel has the multi-path fading characteristics like the wireless channel in the wireless communication systems because it has the signal reflection and divergence by the impedance mismatching between many branch lines and loads. So the analysis of the multi-path characteristics is very important, and it has been doing by the several measurement methods for the impulse response between the transmitter and the receiver. PN sequence method has originally been used as a wideband impulse response measurement mettled for wireless channel, but it is recently being applied to not only the wireless channel but also the wired channel like the power line channel. This method is more useful and effective for the long distance communication channel like the medium voltage power distribution line with the multi-paths[1]. In this thesis, we have measured impulse response for the medium voltage power distribution line channel by the wideband measurement method using PN sequence, analytically studied the measured data and presented the results.