• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.3
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• pp.361-368
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• 1997

In order to eliminate position errors existing at the steady state in the motion control of robotic manipulators, a new fuzzy control algorithm is propeosed using three variables, position error, velocity error and integral of position errors as input variables of the fuzzy controller. Although the number of input variables of the fuzzy controller is increased from two to three, the number of fuzzy control rules is just increased by two. Three dimensional look-up table is used to reduce the computational time in real-time control, and a technique reducing the amount of necessary memory is introduced. Simulation and experimental studies show that the position errors at the steady state are decreased more than 90% compared to those of existing fuzzy controller when the proposed fuzzy controller is applied to the 2 axis direct drive SCARA robot manipulator.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.22 no.9
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• pp.861-869
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• 2012

This paper presents a high performance position controller in a driving system using a time optimal control which is widely used to control driving systems to a desired reference position or velocity in minimum response time. The main purpose of this study is an improvement of transient response performance rather than steady-state response comparing with another various control strategies. In order to improve the performance of time optimal control, we tried to find the cause of the steady-state error in the driving system we have already made up and also suggest the newly modified type of time optimal control method in this paper.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.8
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• pp.3660-3665
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• 2012

For blind equalization, it is necessary to open an eye pattern quickly in the early stage of equalization, after that it is important to lower an error level of equalizer output signal. This paper discusses coarse error estimation using signal points specifically determined and fine error estimation using original signal constellation, and proposes two suggestions for how to take advantage of the two error estimation methods. The two error estimates, respectively, are effective to quickly open an eye pattern in the state of eye pattern closed, or to lower the level of an error in the steady-state after the eye pattern opening. Two blind equalization algorithms are proposed and their performances are compared, which select one of the two error estimates depending on the state of convergence of the equalizer, or combine two errors weightedly according to the relative reliabilities of the two error estimates, and calculate the new error.

• Journal of the Korean Institute of Telematics and Electronics
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• v.19 no.5
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• pp.55-67
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• 1982

In this Paper new results relating to the acquisition behavior of a class of first-and secondorder digital phase-locked loops (DPLL) originally proposed by Reddy and Cupta are presented in the absence of noise. It has been found that the number of quantization levels L and the number of phase error states N play important roles in acquisition. For a given L-level quantizer, as N increases, the acquisition time increases, and the lock range decreases. However, the deviation of the steady state phase error decreases in this case. When L increases, the acquisition time decreases, and the lock range increases. However, variation of L affects little for the steady state phase error. In addition, the effects of a loop filter on acquisition have also been considered. One can get smaller acquisition time and larger lock range as the filter parameter value becomes larger. However, deviation of the steady state phase error increases in that case. Analytical results have been verified by computer simulation.

• The Journal of Information Technology
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• v.1 no.2
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• pp.39-53
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• 1998

The CMA and MCMA adaptive blind equalization algorithm has an inevitable error caused by mismatching between the original constellation at the steady state after the equalization and the unique constellation. This problem is due to considering the new type constellation(constant modulus, reduced constellation) as desired constellation. In this paper, we propose a new adaptive blind equalization algorithm which can reach to the steady state with rapid convergence speed and achive the improvement of error value in the steady state. The Proposed algorithm has a new error function using the decided original constellation instead of the reduced constellation. By computer simulation, it is comfirmed that the proposed algorithm has the performance superiority in terms of residual ISI and convergence speed compared with the adaptive blind equalization algorithm of CMA family, Constant Modulus Algorithm with Carrier Phase Recovery and Modified CMA(MCMA).

• The Journal of Korean Institute of Communications and Information Sciences
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• v.22 no.10
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• pp.2310-2316
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• 1997

This paper presents a comparative performance analysis of the stochastic gradient adaptive algorithm based on the least mean absolute third (LMAT) error criterion with other widely-used competing adaptive algorithms. Under the assumption that the signals involved are zero-mean, wide-sense stationary and Gaussian, approximate expressions that characterize the steady-state mean-squared estimation error of the algorithm is dervied. The validity of our derivation is then confirement by computer simulations. The convergence speed is compared under the condition that the LMAT and other competing algorithms converge to the same value for the mean-squared estimation error in the stead-state, and superior convergence property of the LMAT algorithm is observed. In particular, it is shown that the LMAT algorithm converges faster than other algorithms even through the eignevalue spread ratio of the input signal and measurement noise power change.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.49 no.7
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• pp.32-38
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• 2012

In this paper, to eliminate intersymbol interference of the received signal due to multipath propagation, a parallel equalization algorithm using two error estimation functions is proposed. In the proposed algorithm, multilevel two-dimensional signals are considered as equivalent binary signals, then error signals are estimated using the sigmoid nonlinearity effective at the initial phase equalization and threshold nonlinearity with high steady-state performance. The two errors are scaled by a weight depending on the relative accuracy of the two error estimations, then two filters are updated differentially. As a result, the combined output of two filters was to be the optimum value, fast convergence at initial stage of equalization and low steady-state error level were achieved at the same time thanks to the combining effect of two operation modes smoothly. Usefulness of the proposed algorithm was verified and compared with the conventional method through computer simulations.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.1
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• pp.15-20
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• 2016

The existing multiple modulus-based self-recovering equalization type has not been applied to initial equalization. Instead, it was used for steady-state performance improvement. In this paper, for the self-recovering equalization type that considers the multiple modulus as a desired response, the initial convergence performance was improved by extending the dynamics of the errors using error boosting and their characteristics were analyzed. Error boosting in the proposed method was carried out in proportion to a symbol decision for the equalizer output. Furthermore, having the initial convergence capability by extending the dynamics of errors, it showed excellent performance in the initial convergence rate and steady-state error level. In particular, the proposed method can be applied to the entire process of equalization through a single algorithm; the existing methods of switching over or the selection of other operation modes, such as concurrent operating with other algorithms, are not necessary. The usefulness of the proposed method was verified by simulations performed under the channel conditions with multipath propagation and additional noise, and for performance analysis of self-recovering equalization for high-order signal constellations.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.48 no.4
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• pp.129-135
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• 2011

The alternate adaptation algorithm (AAA) is proposed to improve the convergence characteristics and steady-state performance of the constant modulus algorithm (CMA). The alternate adaptation algorithm is a new equalization method which adapts an equalizer alternately by the algorithm with excellent blind convergence characteristics or the algorithm with better steady-state error performance. In this paper, it is introduced that the alternate adaptation equalization of the vsCMA (variable step-size CMA) and the decision-directed (DD) algorithm. We, first, designed the vsCMA with variable step-size to improve the steady-state error performance of the CMA, and combined it with the DD by alternate adaptation. As a result, it was mitigated that the sensitivity of performance fluctuation due to switching timing in CMA-DD switching method, and it was improved that the convergence speed and steady-state error performance of the CMA. Through computer simulations, under multipath channel condition, the usefulness of the proposed method was confirmed for 16-QAM.

• Journal of IKEEE
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• v.22 no.4
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• pp.985-991
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• 2018

In this paper, an equivalent circuit reflecting the internal loss of the LLC resonant half bridge converter was proposed and a steady state characteristic equation including the loss factors was derived. Using the results, the frequency characteristics of I/O voltage gain and input impedance were compared with the lossless model In order to verify the proposed model and the derived equation, the main components of the 1kW class LLC resonant half bridge converter were selected under the same conditions and the steady state characteristics such as voltage gain and input impedance were compared. In particular, to compare more closely the steady state error of the two models, we observed the change in switching frequency with respect to the load current, which is considered to be the most important in the actual circuit design stage. As a result, it is confirmed that the error of the operating frequency is significantly improved from the proposed model and the analysis result.