• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.424-427
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• 1995

In this paper, a control law based on the receding horizon concept which robustly stabilizes time-varying discrete linear systems, is proposed. A dynamic game problem minimizing the worst case performance, is adopted as an optimization problem which should be resolved at every current time. The objective of the proposed control law is to guarantee the closed loop stability and the infinite horizon $H^{\infty}$ norm bound. It is shown that the objective can be achieved by selecting the proper terminal weighting matrices which satisfy the inequality conditions proposed in this paper. An example is included to illustrate the results..

• 동력기계공학회지
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• 제18권1호
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• pp.112-119
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• 2014

In this paper, the authors consider a gimbal system in which a camera is installed to reconnoiter the objects or targets. The issue for this considered system is to obtain information with good quality always. To achieve given objective, it is necessary to control the gimbal system with accurate rotation angle and speed. In this paper, the authors design a robust control system based on $H_{\infty}$ control framework. The controller is designed using a plant model obtained by experiment and simulation. And the experiment result with good control performance is presented.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 1993년도 추계학술대회논문집; 반도아카데미, 26 Nov. 1993
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• pp.5-18
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• 1993

This paper reports the recent trends in active vibration control in Japan, especially, based on papers selected in the Proceedings of First International Conference on Motion and Vibration Control (1st MOVIC) held at Yokohama, Japan on Sept.7-11, 1992. Firstly, it classifiers vibration control methods and vibration controllers, especially active dynamic absorbers which are widely used in mechanical and civil engineering. Secondly, it covers basic problems in the control of vibration of flexible structures such as formulating a reduced-order model required for designing vibration controller, proper arranging of sensors and actuators, and preventing of spillover instability. Finally, the practical use of control theories such as LQ control theory, $H^{\infty}$ control theory, neural network theory, and other topics are discussed..

• International Journal of Precision Engineering and Manufacturing
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• 제3권2호
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• pp.15-21
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• 2002

A control-structure combined optimal design problem is discussed taking a 3-D truss structure as a design object. We use descriptor forms for a controlled object and a generalized plant because the structural parameters appear naturally in these farms. We consider not only minimum weight design problem for structure system, but also suppression problem of the effect of disturbances for control system as the purpose of the design. A numerical example shows the validity of combined optimal design of structure and control systems. We also consider the validity of sensor-actuator collocation for control system design in this paper.

• 한국해양공학회지
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• 제17권2호
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• pp.60-66
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• 2003

In this paper, an actively controlled anti-rolling system is considered, in order to reduce the rolling motion of a ship. In this control system, a small auxiliary mass is installed on the upper area of the ship, and an actuator is connected between the auxiliary mass and the ship. The actuator reacts the auxiliary mass, applying inertial control forces to the ship to reduce the rolling motion in the desired manner. In this paper, we introduce LMI based H$_{\infty}$ control approach to design the anti-rolling control system for the controlled ship. And the experimental results show that the desirable control performance can be achieved.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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• pp.16-19
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• 1994

This paper describes a design method of compensators for decentralized control systems. Decentralized control problem is convenient to design multi-variable control systems and formulated as a series of independent designs. The proposed design method is composed of some steps, which is sequentially to close loop of the system diagonalized by regarding interactive subsystem as perturbation for current loop. So, on the basis of H$_{\infty}$ control theory, decentralized controllers are designed considering robust stability for diagonal systems with perturbations. A numerical example shows that the proposed design method is effective for multivariable control systems..

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.779-782
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• 1996

Repetitive control is a proposed control strategy in view of the internal model principle and achieves a high accuracy asymptotic tracking property by implementing a model that generates the periodic signals of period into the closed-loop system. Since the repetitive control system contains a periodic signal generator with positive feedback loop, which reduces the stability margin, in the overall closed-loop system, the stability of the closed-loop system should be considered as an important problem. In case that a real system has plant uncertainties which are not represented through modeling, the robust stability problem of the repetitive control system has not been considered sufficiently. In this paper, we propose the robust stability condition for the system with modeling uncertainty. The proposed robust stability condition will be obtained using the robust performance condition in the H$_{\infty}$ control. Moreover, by use of the proposed robust stability condition, we propose a procedure that designs a repetitive controller and a feedback controller simultaneously which can stabilize the overall closed-loop system robustly and which can also do the closedloop system without repetitive controller..

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1092-1097
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• 2005

In this paper, design approach of PID controller with rejection function against external disturbance in motor control system is proposed using bacterial foraging based optimal algorithm. Up to the present time, PID Controller has been used to operate for AC motor drive because of its implementational advantages in practice and simple structure. However, it is not easy to achieve an optimal PID gain with no experience, since the gain of the PID controller has to be manually tuned by trial and error in the industrial system with disturbance. To design disturbance rejection tuning, disturbance rejection conditions based on $H_{\infty}$ are illustrated and the performance of response based on the bacterial foraging is computed for the designed PID controller as ITSE (Integral of time weighted squared error). Hence, parameters of PID controller are selected by bacterial foraging based optimal algorithm to obtain the required response

• Journal of Mechanical Science and Technology
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• 제14권4호
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• pp.393-400
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• 2000

In this paper, a new algorithm for noninteracting control system design is proposed and applied to ship propulsion system control. For example, if a ship diesel engine is operated by consolidated control with controllable pitch propeller (CPP), the minimum fuel consumption is achieved satisfying the demanded ship speed. For this, it is necessary that the ship is operated on the ideal operating line which satisfies the minimum fuel consumption, and the both pitch angle of CPP and throttle valve angle are controlled simultaneously. In this context of view, this paper gives a controller design method for a ship propulsion system with CPP based on noninteracting control theory. Where, linear matrix inequality (LMI) approach is introduced for the control system design to satisfy the given $H_{\infty}$, constraint in the presence of physical parameter perturbation and disturbance input. To the end, the validity and applicability of this approach are illustrated by the simulation in the all operating ranges.

• 제어로봇시스템학회논문지
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• 제4권4호
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• pp.427-432
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• 1998

There are many demands for ship control system and many studies have been proposed. For example, if a ship diesel engine is operated by consolidated control with Controllable Pitch Propeller(CPP), the minimum fuel consumption is achieved, satisfying the demanded ship speed. For this, it is necessary that the ship is operated on the ideal operating line which satisfies the minimum fuel consumption. In this context of view, this paper presents a controller design method for a ship propulsion system with CPP by Linear Matrix Inequality(LMI) which satisfies the given $H_{\infty}$ control performance and robust stability in the presence of physical parameter perturbations. The validity and applicability of this approach are illustrated through a simulation in the all operating ranges.