• 제어로봇시스템학회논문지
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• 제15권8호
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• pp.812-817
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• 2009

In this paper, a new method to design sliding surfaces using eigenstructure assignment is proposed. Most conventional methods for constructing the surfaces require special form like canonical or regular canonical form of system matrices. But the proposed method can be applied to arbitrary system matrices. Futhermore, the surface matrix, C can be decided for the matrix multiplication, CB to have a designated form. SVD is used to decide desirable eigenvectors explicitly. To verify the proposed algorithm, a sliding mode controller for a multivariable system with matched uncertainty is constructed. The controller is designed to guarantee minimum approach velocity to the sliding surface.

• 제어로봇시스템학회논문지
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• 제8권5호
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• pp.357-362
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• 2002

The underlying principle of fault detection via unknown input observer is to make the state estimation error independent of disturbances(or unknown inputs). In this paper, we present a systematic method that can exactly assign the eigenstructure with disturbance suppression and fault isolation capability. A desired eigenstructure for both fault isolation and disturbance suppression is obtained by an optimization method. For the dual purposes, terms for fault isolation and far disturbance suppression are included in the employed objective function for the optimization. The proposed scheme is applied to a simple example to confirm the usefulness of the method.

• 제어로봇시스템학회논문지
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• 제6권10호
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• pp.845-853
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• 2000

In this paper, we introduce a relationship between the sensitivity and the robustness of a system, and we propose a robust eigenstructure assignment scheme using a novel performance index which can consider the performance and the robustness of the system simultaneously. We also propose an assignment accuracy measure and a robustness measure which are used for the performance examination of the proposed robust eigenstructure assignment scheme. The usefulness of the proposed algorithm and the measures are verified by applying to controller design of a simple numerical example and the EMRAAT missile.

• 제어로봇시스템학회논문지
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• 제6권10호
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• pp.854-870
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• 2000

This survey paper presents and overview on eigenstructure assignment (EA) control design methodologies. EA is an excellent control design method which may be used to assign the entire eigenstructure(eigenvalues, and right or left eigenvectors) of a closed-loop linear system via a full state or an output feedback control law. In general, EA is well-sutied for incorporating classical specifications on damping, settling time, and mode or disturbance decoupling into a modern multivariable control framework. The purpose of this paper is to provide an extensive survey on EA control design methods that might serve as an introduction to a study on EA. The fundamental concepts and formulations for understanding EA problems are extensively described. The recently reported results on EA are also presented.

• 제어로봇시스템학회논문지
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• 제1권2호
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• pp.71-77
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• 1995

The control effectiveness and disturbance suppressibility are mainly governed by a left eigenstructure of a system. In this paper, a control algorithm which uses an output feedback eigenstructure assignment scheme is proposed in order that a desired closed-loop system has the specified degree of controllability and/or degree of disturbance suppressibility. To do this, a modal and a gross disturbance suppressibility measures are proposed. A modified version of Hamdan and Nayfeh's modal controllability measure is also presented. The validity and usefulness of the proposed measures and the controller design algorithm are illustrated by designing a controller for a third-order system as an example.

• 제어로봇시스템학회논문지
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• 제5권7호
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• pp.777-786
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• 1999

This work is concerned with the assignment of the desired eigenstructure for linear time-varying systems such as missiles, rockets, fighters, etc. Despite its well-known limitations, gain scheduling control appeared to be the focus of the research efforts. Scheduling of frozen-time, frozen-state controller for fast time-varying dynamics is known to be mathematically fallacious, and practically hazardous. Therefore, recent research efforts are being directed towards applying time-varying controllers. In this paper, ⅰ) we introduce a differential algebraic eigenvalue theory for linear time-varying systems, and ⅱ) we also propose an eigenstructure assignment scheme for linear time-varying systems via the differential Sylvester equation based upon the newly developed notions. The whole design procedure of the proposed eigenstructure assignment scheme is very systematic, and the scheme could be used to determine the stability of linear time-varying systems easily as well as provides a new horizon of designing controllers for the linear time-varying systems. The presented method is illustrated by a numerical example.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.10-10
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• 2000

Eigenstructure assignment is a typical method with the capability of the consideration of the specifications in time-domain in designing a 1]near control system. In general eigenstructure assignment such that all the desired eigenvalues are exactly assigned to the closed-loop system, the assignment of the eigenvectors is very restrictive. However if the arbitrary point in a certain area as an eigenvalue is allowed to be assigned t the closed-loop system, the assignment of the eigenvector corresponding to this eigenvalue can be much less restrictive. In this paper, the flexible eigenstructure assignment that can assign more closely the desired eigenvector to the closed-loop system by using an optimization technique is proposed.

• 한국정밀공학회지
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• 제17권7호
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• pp.162-169
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• 2000

In this paper, we develop a parallel inverted pendulum system that has the characteristics of the strongly coupled dynamics of motion by an elastic spring, the time-variant system parameters, and inherent instability, and so on. Hence, it is possible to approximate some kinds of a physical system into this representative system and to apply the various control theories to this system in order to verie their fidelity and efficiency. For this purpose, an experimental system of the parallel inverted pendulum has been implemented, and a control scheme using the eigenstructure assignment for decoupling control is presented in comparison with the conventional LQR optimal control method. Furthermore, this system can be utilized as a testbed to develop and evaluate new control algorithms through various setups. Finally, in this paper, the results of the experiment are compared with those of numerical simulations for validation.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 2002년도 봄 학술발표논문집 Vol.29 No.1 (A)
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• pp.871-873
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• 2002

RBAC은 역할 계층구조에서 권한의 계승과 의무분리와 같은 제약조건을 다룸으로써 접근권한의 관리를 수월하게 하고 기업환경을 잘 반영말 수 있는 장점이 있다. 하지만 RBAC은 현실세계의 기업환경에서 빈번히 이루어지는 권한의 위임을 제대로 구현하지 못한다는 문제점을 가지고 있다. 본 논문에서는 자신의 고유역할 뿐만 아니라 상위 역할로부터 위임받은 새로운 위임 역할을 생성함으로써 역할계층 구조상의 다른 역할의 사용자에게 다른 과업을 할당해 줄 수 있도록 하여, 최소 권한의 원칙을 만족하는 다단계 위임을 구현하였다. 위임 시에 생길 수 있는 보안 문제를 해결하기 위해서 역할단위가 아닌 과업단위의 위임으로 제안하고, 과업단위의 의무분리를 적용하였으며, 위임 할 수 있는 과업을 규정하고 최하위 역할을 지정하였다. 기존의 다단계 모델에서 제안된 기법과의 비교를 통해서 본 논문에서 제안된 기법이 실제 기업에서 이루어지는 다단계 위임을 타당하게 구현할 수 있음을 보인다. 또한 T-RBCA을 기반으로 ARBAC97을 적용해서 제안된 기법을 모델링하고 Prototype을 구현하였다.

• 제어로봇시스템학회논문지
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• 제7권10호
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• pp.799-805
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• 2001

In this paper, we propose eigenstructure assigned sliding mode control for mismatched uncertain system. Variable structure control has the sliding mode in which the system is robust against the uncertainty and the sliding motion depends upon the sliding surface. Therefore, the surface design is one of the important problems. Also in mismatched cases, the uncertainty may affect on the sliding motion and may cause unexpected instability of the system. Thus, that should be considered, too. For robust sliding mode against the mismatched uncertainty, we suggest the design method of the sliding surface using the eigenstructure assignment, define an index as the measure of the robustness which shows the size of affordable unstructured uncertainty, and present the computation method. And also we propose the controller which can ensure the sliding mode and prove the robust stability of the proposed controller by using Lyapunov method. Finally we show the appropriateness of the proposed scheme for the mismatched uncertainty via the example.