• 제목/요약/키워드: $\textrm{H}^{\infty}$

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이산시간 $\textrm{H}^{\infty}$제어기의 설계방법 (A Design Method for a discrete-time $\textrm{H}^{\infty}$ Controller)

  • 최연욱
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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    • pp.1444-1447
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    • 1997
  • In this paper, the problen of dseigning a H.inf. controller is considered, where the controller is realized through digital equipment. We show that the existing discrete-time controller design method can be improved by usign the inveres bilinear transformation. The usefulness of the given method is confirmed by simulation.

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$\textrm{HO}_2$ 준최적제어기의 변수화를 이용한 혼합된 $\textrm{HO}_2$/$\textrm{H}_\infty$ 최적제어게 설계 ($\textrm{HO}_2$/$\textrm{H}_\infty$ optimal controller design using parameterization of $\textrm{HO}_2$ suboptimal controller)

  • 류동기;방경호;윤한오;박홍배
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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    • pp.754-759
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    • 1992
  • In this paper, we proposed a mixed H$_{2}$/H$_{\infty}$ optimal controller design method using the parameterization of H$_{2}$ suboptimal controller. The method is based on the minimization of H$_{2}$ performance measure with an H$_{\infty}$-norm constraint. We also derived the necessary and sufficient conditions for existence of solution from the decoupled Riccati equations. And the designed controller has state-space representation.n.

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$\textrm{H}_\infty$ 기법에 의한 발사체의 견실한 제어기 설계 (Robust Controller Design by $\textrm{H}_\infty$ Method for a Launch Vehicle)

  • 이군석;권오규
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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    • pp.463-468
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    • 1992
  • In this paper, discrete-time H$_{\infty}$ controller design in .delta.- domaion using Normalized Coprime Factor plant description is proposed and the loop-shaping method developed by Mcfalane[2], which is known to be very simple and systematic method, is adopted here in H$_{\infty}$ controller design. In particular, we show that .delta.- H$_{\infty}$ controller proposed here is a unified form for the continuous and discrete-time cases.es.

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Riccati Equation Approach to $\textrm{H}_\infty$ Robust Performance Problem for Descriptor Form System

  • Shen, Tielong;Tamura, Katsutoshi
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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    • pp.95-99
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    • 1993
  • In this paper, we discuss H$_{\infty}$ robust performance problem for uncertain system described in a descriptor form. We show that the method based on Riccati equation can be extended to solve this problem. First, such a sufficient condition is given that the system described in a descriptor form is quadratic stable and H$_{\infty}$ norm of a specified transfer function is less than a given level. Using this result, a state feedback law which ensures H$_{\infty}$ robust performance of closed loop system is derived based on a positive definite solution of a Riccati equation. This result shows that a solution of the problem can be also obtained by solving H$_{\infty}$ standard problem for an extended plant. Finally, a design example and simulation results will be given.ven.

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Robust $\textrm{H}_\infty$ Control Design for the Space Station with Structured Parameter Uncertainty

  • Byun, Kuk-Whan;Bong-Wie;Dabid-Gaiier;John-Sunkel
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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    • pp.431-441
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    • 1991
  • A robust H$_{\infty}$ control design methodology and its application to a Space Station attitude and momentum control problem are presented. This new approach incorporates nonlinear multi-parameter variations in the state-space formulation of H$_{\infty}$ control theory. An application of this robust H$_{\infty}$ control synthesis technique to the Space Station control problem yields a remarkable result in stability robustness with respect to the moments-of-inertia variation of about 73% in one of the structured uncertainty directions. The performance and stability of this new robust H$_{\infty}$ controller for the Space Station are compared to those of other controllers designed using a standard linear-quadratic-regulator synthesis technique.que.

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Mixed $\textrm{H}_2/\textrm{H}_infty$ Control with Pole Placement : A Convex Optimization Approach

  • Bambang, Riyanto;Shimemura, Etsujiro;Uchida, Kenko
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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    • pp.197-202
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    • 1992
  • In this paper, we consider the synthesis of mixed H$_{2}$/H$_{\infty}$ controllers such that the closed-loop poles are located in a specified region in the complex plane. Using solution to a generalized Riccati equation and a change of variable technique, it is shown that this synthesis problem can be reduced to a convex optimization problem over a bounded subset of matrices. This convex programming can be further reduced to Generalized Eigenvalue Minimization Problem where Interior Point method has been recently developed to efficiently solve this problem..

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Mixed $\textrm{H}_2/\textrm{H}_\infty$ Robust Control with Diagonal Structured Uncertainty

  • Bambang, Riyanto;Uchida, Kenko;Shimemura, Etsujiro
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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    • pp.575-580
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    • 1992
  • Mixed H$_{2}$/H$_{\infty}$ robust control synthesis is considered for finite dimensional linear time-invariant systems under the presence of diagonal structured uncertainties. Such uncertainties arise for instance when there is real perturbation in the nominal model of the state space system or when modeling multiple (unstructured) uncertainty at different locations in the feedback loop. This synthesis problem is reduced to convex optimization problem over a bounded subset of matrices as well as diagonal matrix having certain structure. For computational purpose, this convex optimization problem is further reduced into Generalized Eigenvalue Minimization Problem where a powerful algorithm based on interior point method has been recently developed..

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Kinetic behavior of sophoricoside by gas chromatography/mass spectrometry in rats

  • Jeon, Hee-Kyung;Park, Hae-Yeon;Kim, Youn-Jung;Kim, Youngsoo;Kim, Mi-Kyung;Lee, Seung-Ho;Jung, Sang-Hun;Ryu, Jae-Chun
    • 한국환경독성학회:학술대회논문집
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    • 한국환경독성학회 2003년도 춘계학술대회
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    • pp.189-189
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    • 2003
  • Sophoricoside was isolated as the inhibitor of IL-5 bioactivity from Sophora japonica (Leguminosae). To develope as novel anti-allergic drug, kinetic study was performed in rats. Serum concentration of sophoricoside was measured by gas chromatography-mass spectrometry (GC/MS) in male Sprague-Dawley rat (250${\pm}$10g, n=5) after oral administration of sophoricoside (100mg/kg). The recovery of sophoricoside after extraction and concentration was above 95 % from rat serum. Between-day precision(relative standard deviation 2.2-2.8%) and within-day precision(2.0-12.1%) were determined from replicate analysis of a spiked control and incurred serum sample. The detection limits of sophoricoside in this serum was approximately 0.1 ng/mL. The Pharmacokinetic parameters were derived from the noncompartmental analysis. The C$\_$max/(3.56${\pm}$0.34 $\mu\textrm{g}$/mL) value for sophoricoside in male rat was observed at 7.6 h. The elimination half-life(t$\_$1/2/) of sophoricoside was approximately 4.47 h, the mean residence time (MRT) averaged 10.75 h, the total body clearance (Cl) averaged 0.0042 mL/min/kg. and the area under the serum concentration-time curve (AUC$\_$0-$\infty$/) was 24.93 $\mu\textrm{g}$$.$hr/mL.

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한우에서 Albendazole의 대사 및 약물동태학 (Metabolism and Pharmacokinetics of Albendazole in Korean Native Cattle)

  • Yun, Hyo-in;Park, Byung-Kwon;Park, Kyoung-hwan;Lim, Jong-hwan;Hwang, Youn-hwan
    • 한국임상수의학회지
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    • 제18권3호
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    • pp.195-200
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    • 2001
  • 한우에서 albendazole을 경구투여하였을 때의 albendazole의 생체내 대사 및 약물동태학적 특성을 밝히고자 하였다. 거의 모든 가축종에서 albendazole은 투여 후 신속하게 대사산물로 전환되기 때문에 albendazole 대사산물에 대한 분석법 확립이 albendazole의 생체내 거동을 파악하기 위하여 매우 긴요하다. 본 연구에서는 albendazole 및 그 대사산물인 albendazole sulfoxide(ABZSO)와 albendazole sulfone(ABZS $O_2$)을 LC/MS을 이용하여 높은 분석능을 획득할 수 있었다. Albendazole을 한우에 5 mg/kg을 경구토여하였을 때 모약인 albendazole은 첫 두 채혈시점인 0.5 h 1h에서만 측정되었을 뿐 그 이후에는 측정되지 않았다. 한편, ABZSO와 ABZS $O_2$은 첫 채혈 시점인 0.5h부터 측정되어 투여 후 각각 48h 및 72h까지 측정이 가능하였다. 두 대사산물의 초기 생성속도는 비슷하였다. 혈중최고농도 도달시간 ($T^{max}$)은 ABZSO가 12.00 h로서 ABZS $O_2$의 22.50$\pm$3.00h보다 빨랐으며 (p<0.005), ABZSO의 최고농도 ( $C_{max}$)는 0.96$\pm$0.15 $\mu\textrm{g}$/ml이었고 ABZS $O_2$의 그것을 1.05$\pm$0.05 $\mu\textrm{g}$/ml를 나타내었다. 소실반감기 ($t^$\frac{1}{2}$, ke/$)는 ABZSO는 4.14$\pm$0.30 h로 ABZS $O_2$의 6.95$\pm$0.36 h보다 빨랐으며 (p<0.005), MRT (mean residence time)는 각각 13.11$\pm$0.05 h와 21.60$\pm$1.99h로서 ABZS $O_2$가 생체내에 더욱 오래 머물렀다 (p<0.005). ABZSO는 AU $C_{0}$$\longrightarrow$$\infty$/는 ABZS $O_2$의 그것보다 작았다. 이러한 사실로 미루어보아 ABZ을 한우에 구충목적으로 투여할 때 구충활성을 가진 것으로 알려져 있는 ABZSO의 생체내 거동을 고려하여 용법용량을 설정하여야 할 것으로 사료된다.

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지하수 관개에 의한 수도의 멸준양상과 그 방지책에 관한 연구 (Studies on the Rice Yield Decreased by Ground Water Irrigation and Its Preventive Methods)

  • 한욱동
    • 한국농공학회지
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    • 제16권1호
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    • pp.3225-3262
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    • 1974
  • The purposes of this thesis are to clarify experimentally the variation of ground water temperature in tube wells during the irrigation period of paddy rice, and the effect of ground water irrigation on the growth, grain yield and yield components of the rice plant, and, furthermore, when and why the plant is most liable to be damaged by ground water, and also to find out the effective ground water irrigation methods. The results obtained in this experiment are as follows; 1. The temperature of ground water in tube wells varies according to the location, year, and the depth of the well. The average temperatures of ground water in a tubewells, 6.3m, 8.0m deep are $14.5^{\circ}C$ and $13.1^{\circ}C$, respercively, during the irrigation period of paddy rice (From the middle of June to the end of September). In the former the temperature rises continuously from $12.3^{\circ}C$ to 16.4$^{\circ}C$ and in the latter from $12.4^{\circ}C$ to $13.8^{\circ}C$ during the same period. These temperatures are approximately the same value as the estimated temperatures. The temperature difference between the ground water and the surface water is approximately $11^{\circ}C$. 2. The results obtained from the analysis of the water quality of the "Seoho" reservoir and that of water from the tube well show that the pH values of the ground water and the surface water are 6.35 and 6.00, respectively, and inorganic components such as N, PO4, Na, Cl, SiO2 and Ca are contained more in the ground water than in the surface water while K, SO4, Fe and Mg are contained less in the ground water. 3. The response of growth, yield and yield components of paddy rice to ground water irrigation are as follows; (l) Using ground water irrigation during the watered rice nursery period(seeding date: 30 April, 1970), the chracteristics of a young rice plant, such as plant height, number of leaves, and number of tillers are inferior to those of young rice plants irrigated with surface water during the same period. (2) In cases where ground water and surface water are supplied separately by the gravity flow method, it is found that ground water irrigation to the rice plant delays the stage at which there is a maximum increase in the number of tillers by 6 days. (3) At the tillering stage of rice plant just after transplanting, the effect of ground water irrigation on the increase in the number of tillers is better, compared with the method of supplying surface water throughout the whole irrigation period. Conversely, the number of tillers is decreased by ground water irrigation at the reproductive stage. Plant height is extremely restrained by ground water irrigation. (4) Heading date is clearly delayed by the ground water irrigation when it is practised during the growth stages or at the reproductive stage only. (5) The heading date of rice plants is slightly delayed by irrigation with the gravity flow method as compared with the standing water method. (6) The response of yield and of yield components of rice to ground water irrigation are as follows: \circled1 When ground water irrigation is practised during the growth stages and the reproductive stage, the culm length of the rice plant is reduced by 11 percent and 8 percent, respectively, when compared with the surface water irrigation used throughout all the growth stages. \circled2 Panicle length is found to be the longest on the test plot in which ground water irrigation is practised at the tillering stage. A similar tendency as that seen in the culm length is observed on other test plots. \circled3 The number of panicles is found to be the least on the plot in which ground water irrigation is practised by the gravity flow method throughout all the growth stages of the rice plant. No significant difference is found between the other plots. \circled4 The number of spikelets per panicle at the various stages of rice growth at which_ surface or ground water is supplied by gravity flow method are as follows; surface water at all growth stages‥‥‥‥‥ 98.5. Ground water at all growth stages‥‥‥‥‥‥62.2 Ground water at the tillering stage‥‥‥‥‥ 82.6. Ground water at the reproductive stage ‥‥‥‥‥ 74.1. \circled5 Ripening percentage is about 70 percent on the test plot in which ground water irrigation is practised during all the growth stages and at the tillering stage only. However, when ground water irrigation is practised, at the reproductive stage, the ripening percentage is reduced to 50 percent. This means that 20 percent reduction in the ripening percentage by using ground water irrigation at the reproductive stage. \circled6 The weight of 1,000 kernels is found to show a similar tendency as in the case of ripening percentage i. e. the ground water irrigation during all the growth stages and at the reproductive stage results in a decreased weight of the 1,000 kernels. \circled7 The yield of brown rice from the various treatments are as follows; Gravity flow; Surface water at all growth stages‥‥‥‥‥‥514kg/10a. Ground water at all growth stages‥‥‥‥‥‥428kg/10a. Ground water at the reproductive stage‥‥‥‥‥‥430kg/10a. Standing water; Surface water at all growh stages‥‥‥‥‥‥556kg/10a. Ground water at all growth stages‥‥‥‥‥‥441kg/10a. Ground water at the reproductive stage‥‥‥‥‥‥450kg/10a. The above figures show that ground water irrigation by the gravity flow and by the standing water method during all the growth stages resulted in an 18 percent and a 21 percent decrease in the yield of brown rice, respectively, when compared with surface water irrigation. Also ground water irrigation by gravity flow and by standing water resulted in respective decreases in yield of 16 percent and 19 percent, compared with the surface irrigation method. 4. Results obtained from the experiments on the improvement of ground water irrigation efficiency to paddy rice are as follows; (1) When the standing water irrigation with surface water is practised, the daily average water temperature in a paddy field is 25.2$^{\circ}C$, but, when the gravity flow method is practised with the same irrigation water, the daily average water temperature is 24.5$^{\circ}C$. This means that the former is 0.7$^{\circ}C$ higher than the latter. On the other hand, when ground water is used, the daily water temperatures in a paddy field are respectively 21.$0^{\circ}C$ and 19.3$^{\circ}C$ by practising standing water and the gravity flow method. It can be seen that the former is approximately 1.$0^{\circ}C$ higher than the latter. (2) When the non-water-logged cultivation is practised, the yield of brown rice is 516.3kg/10a, while the yield of brown rice from ground water irrigation plot throughout the whole irrigation period and surface water irrigation plot are 446.3kg/10a and 556.4kg/10a, respectivelely. This means that there is no significant difference in yields between surface water irrigation practice and non-water-logged cultivation, and also means that non-water-logged cultivation results in a 12.6 percent increase in yield compared with the yield from the ground water irrigation plot. (3) The black and white coloring on the inside surface of the water warming ponds has no substantial effect on the temperature of the water. The average daily water temperatures of the various water warming ponds, having different depths, are expressed as Y=aX+b, while the daily average water temperatures at various depths in a water warming pond are expressed as Y=a(b)x (where Y: the daily average water temperature, a,b: constants depending on the type of water warming pond, X; water depth). As the depth of water warning pond is increased, the diurnal difference of the highest and the lowest water temperature is decreased, and also, the time at which the highest water temperature occurs, is delayed. (4) The degree of warming by using a polyethylene tube, 100m in length and 10cm in diameter, is 4~9$^{\circ}C$. Heat exchange rate of a polyethylene tube is 1.5 times higher than that or a water warming channel. The following equation expresses the water warming mechanism of a polyethylene tube where distance from the tube inlet, time in day and several climatic factors are given: {{{{ theta omega (dwt)= { a}_{0 } (1-e- { x} over { PHI v })+ { 2} atop { SUM from { { n}=1} { { a}_{n } } over { SQRT { 1+ {( n omega PHI) }^{2 } } } } LEFT { sin(n omega t+ { b}_{n }+ { tan}^{-1 }n omega PHI )-e- { x} over { PHI v }sin(n omega LEFT ( t- { x} over {v } RIGHT ) + { b}_{n }+ { tan}^{-1 }n omega PHI ) RIGHT } +e- { x} over { PHI v } theta i}}}}{{{{ { theta }_{$\infty$ }(t)= { { alpha theta }_{a }+ { theta }_{ w'} +(S- { B}_{s } ) { U}_{w } } over { beta } , PHI = { { cpDU}_{ omega } } over {4 beta } }}}} where $\theta$$\omega$; discharged water temperature($^{\circ}C$) $\theta$a; air temperature ($^{\circ}C$) $\theta$$\omega$';ponded water temperature($^{\circ}C$) s ; net solar radiation(ly/min) t ; time(tadian) x; tube length(cm) D; diameter(cm) ao,an,bn;constants determined from $\theta$$\omega$(t) varitation. cp; heat capacity of water(cal/$^{\circ}C$ ㎥) U,Ua; overall heat transfer coefficient(cal/$^{\circ}C$ $\textrm{cm}^2$ min-1) $\omega$;1 velocity of water in a polyethylene tube(cm/min) Bs ; heat exchange rate between water and soil(ly/min)

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