• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.8
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• pp.140-147
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• 2015

In this paper, we propose a state feedback robust controller of 2-axis gimbal system which have bounded parametric uncertainty. The proposed controller is robust against dynamics variations of gimbal system and contains a dynamic compensator in order to improve a steady state error and a transient response. The stability of the closed-loop system is proved by Lyapunov approach. The performance of the proposed method is demonstrated by simulation on a 2-axis gimbal system.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.17 no.8
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• pp.805-815
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• 1992

In this paper, robust decoupling control scheme of miftivarlable systems Is studied. Design methods for Input-Output decoupling systems with robustness against signal failure In arbitrary feedback loop or actuator loop Is suggested based on the Riccati type matrix equation and state feedback, and is simulated In Turbo-Generator systems with B-Input, 2 output. The results of simulation represents the decoupled and stable response against the failure of signal In sensor or actuator loop. However, the system designed by conventional ,it ate feedback shows the unstable response. This method Is applied for robust decoupling control of the complicated multivariable systems.

• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.840-843
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• 2003

본 논문은 임의의 입력지연을 갖는 Takagi-Sugeno (T-S) 퍼지 시스템의 관측기 기반 출력궤환 제어 시스템을 논의한다. 설계된 연속시간 T-S 퍼지 관측기 시스템을 영차의 샘플/홀드 함수를 이용하여 이산시간 관측기를 설계한다. 이때 플랜트와 관측기의 출력에러가 제어기를 통하여 궤환되기 때문에 이산화 과정에서 발생한 에러를 보정할 수 있다. 여기에서 시스템의 제어 입력은 임의로 변화하는 유한개의 상태를 갖는 마코프 확률과정으로 표현한다. 생성된 시스템의 확률적 안정 가능성 조건은 선형 행렬 부등식의 형태로 표현한다. 이러한 결과를 2자유도 헬리콥터의 모델에 대한 모의실험을 통하여 효용성을 확인한다.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.40 no.1
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• pp.39-45
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• 2016

Thermal management of a fuel cell is important to satisfy the requirements of durability and efficiency under varying load conditions. In this study, a linear state feedback controller was designed to maintain the temperature within operating conditions. Due to the nonlinearity of automotive fuel cell system, the state feedback controller results in marginal stable under load condition from $0.5A/cm^2$ to $0.7A/cm^2$. A PWM (Pulse Width Modulation) and the modified state feedback controller are applied to control the temperature under the load condition from $0.5A/cm^2$ to $0.7A/cm^2$. The cooling system model is composed of a reservoir, radiator, bypass valve, fan, and a water pump. The performance of the control algorithm was evaluated in terms of the integral time weighted absolute error (ITAE). Additionally, MATLAB/SIMULINK$^{(R)}$ was used for the development of the system models and controllers. The modified state feedback controller was found to be more effective for controlling temperature than other algorithms when tested under low load conditions.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.2
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• pp.174-180
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• 2012

This paper proposes a decentralized adaptive output-feedback controller design for nonlinear interconnected systems with unknown time delays. The interaction terms with unknown delays are related to all states of subsystems. The time-delayed functions are compensated by using appropriate Lyapunov-Krasovskii functionals and function approximation technique. The observer dynamic surface design technique is employed to design the proposed memoryless local controller for each subsystem. In addition, we prove that all signals in the closed-loop system are semiglobally uniformly bounded and control errors converge to an adjustable neighborhood of the origin.

• Journal of IKEEE
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• v.23 no.2
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• pp.716-721
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• 2019

A novel switching differentiator-based backstepping controller for uncertain pure-feedback nonlinear systems is proposed. Using asymptotically convergent switching differentiator, time-derivatives of the virtual controls are directly estimated in every backstepping design steps. As a result, the control law has an extremely simple form and asymptotical stability of the tracking error is guaranteed regardless of parametric or unstructured uncertainties and unmatched disturbances in the considered system. It is required no universal approximators such as neural networks or fuzzy logic systems that are adaptively tuned online to cope with system uncertainties. Simulation results show the simplicity and performance of the proposed controller.

• Proceedings of the Korea Society for Simulation Conference
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• 1999.10a
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• pp.218-223
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• 1999

현재의 발전소 보일러 제어방식은 프로세스 성격에 따라 제어루프의 상태변수들을 근간으로 세부적인 독립된 제어루프별로 제어를 시행하는 개별 루프를 채택하고 있다. 발전소에서 사용하는 PID제어 방식은 각 부시스템들의 상태변수, 출력변수가 다른 부시스템의 선행신호가 되거나 기준신호가 되어 피드백제오, 피드포워드 제어와 캐스케이드 제어 등의 신호로 작용한다. 선행신호와 상태 궤환 신호는 다른 부시스템의 상태변수를 측정함에 의하여 결정되며, 상호연결 함수는 경험에 의한 함수 설정에 의해 결정된다. 본 논문에서는 먼저 화력발전소 보일러 제어시스템을 플랜트 변수들 사이의 인과관계를 표현하는 신호흐름도의 보일러 모델과 실제 발전소에 적용되고 있는 드럼 수위 제어기에 대해 기술한다. 그리고 현장에서 취득한 운전데이터를 이용한 보일러 드럼수위 제어계통의 모델링에 관한 내용에 대해 기술하고, 마지막으로 컴퓨터 시뮬레이션에 의한 제어루프의 모의실험 결과를 통해 제어기의 설계와 제어루프의 효용성을 보이고자 한다.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.6
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• pp.762-767
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• 2008

This paper introduces a $L_{\infty}$-gain state feedback fuzzy controller design for the time delay nonlinear system represented by Takagi-Sugeno(T-S) fuzzy model. First, the T-S fuzzy model is employed to represent the time delay nonlinear system. Next based on the fuzzy model, a fuzzy state feedback controller is developed to achieve $L_{\infty}$-gain performance. Finally, sufficient conditions are derived for $L_{\infty}$-gain performance. The sufficient conditions are formulated in the format of linear matrix inequalities (LMIs). The effectiveness of the proposed controller design methonology is finally demonstrated through numerical simulations.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.17 no.4
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• pp.36-44
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• 2003

In the industrial motor drive system which is composed of a motor and load connected with a flexible shaft, a torsional vibration is often generated because of the elastic elements in torque transmission. To solve this problem, the two degrees of freedom H$_{\infty}$ controller was designed. But it is difficult to realize that controller. In this paper, H$_{\infty}$ control of 2-mass system using partial state feedback and resonance ratio control is proposed. Proposed controller has simple structure but satisfies the attenuation of disturbances and vibrations.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1803-1804
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• 2008

이 논문에서는 임의의 크기를 가진 외란과 모델 불확실이 포함된 2관성계 시스템의 강인 제어기를 설계하고자 한다. 제안된 제어기는 역진 제어 기법을 사용하여, 2-관성계 시스템의 제어하고자 하는 상태 변수의 궤적과 공칭 궤적 사이의 오차를, 정상 상태에서뿐만 아니라 과도 상태에서도 임의의 크기로 줄일 수 있도록 설계될 것이다. 또한 비선형 제어 기법의 일종인 역진 제어 기법을 사용하였지만, 제시된 제어기의 구조는 시불변 선형 상태 궤환(state-feedback) 및 앞먹임(feedforward)의 구조를 가지게 되어 산업용 로봇에 적용될 수 있다는 장점을 가지고 있다. 실제로 이 논문에서는 제어기의 안정성에 대한 증명뿐만 아니라, 실제 로봇에 적용한 결과가 포함될 것이다.