• Journal of the Institute of Electronics Engineers of Korea SC
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• v.45 no.6
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• pp.102-107
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• 2008

We propose an autotuning algorithm for PI controller with unknown plant. The proposed algorithm uses a saturation function and time delay element as a test signal. Since the integral element of PI controller reduces a phase margin in the closed loop system, the closed loop system could be resulted in unstable with PI controller. To avoid unstable in the closed loop system with PI controller, the proposed algorithm identifies one point information in the 3rd quadrant of Nyquist plot with a time delay element. The proposed method improves an accuracy of one point identified information with one saturation function. We demonstrate a performance of the proposed method via a simulation.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.7
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• pp.1332-1340
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• 1992

A novel approach based on a nonlinear compensator is prposed to prevent 'windup', which is caused by the saturation of the acutator and the integral action of the controller. The anti-windup compensator is located between the conventional linear controller, designed neglecting the saturation, and the actuator. It was proven based on the describing function method that, if the closed loop control systems are stable assuming no saturation, then there may exist a range of compensator gain which prevents any limit-cycle. The computer simulation results show that the compensator proposed in the manuscript can eliminate the limit cycle and improve the transient response.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.18 no.11
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• pp.1105-1110
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• 2008

In this paper, a saturated LQR controller considering control input's saturation for stable linear time-invariant systems with single control input is studied. Based on Lyapunov stability, two linear matrix inequality sufficient existence conditions for this controller are presented. Through numerical simulations for 2DOF vibrating system, it is confirmed that the saturated LQR controller is stable in the presence of control input's saturation and it is also shown that this controller can be applied to vibrating system practically.

• Journal of the Institute of Convergence Signal Processing
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• v.19 no.2
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• pp.77-88
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• 2018

This paper proposes a RBFNN(Radial Basis Function Neural Network) based decentralized adaptive tracking control scheme using PSO(Particle Swarm Optimization) for an uncertain electrically driven robot system with input saturation. Practically, the magnitudes of input voltage and current signals are limited due to the saturation of actuators in robot systems. The proposed controller overcomes this input saturation and does not require any robot link and actuator model parameters. The fitness function used in the presented PSO scheme is expressed as a multi-objective function including the magnitudes of voltages and currents as well as the tracking errors. Using a PSO scheme, the control gains and the number of the RBFs are tuned automatically and thus the performance of the control system is improved. The stability of the total control system is guaranteed by the Lyapunov stability analysis. The validity and robustness of the proposed control scheme are verified through simulation results.

• Journal of Korean Society of Transportation
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• v.16 no.3
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• pp.81-92
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• 1998

교통신호제어는 교타로상에서 유입 차량들을 관제할 뿐만 아니라 교통사고를 예방 하는 역할을 하고 있다. 또한 최근에는 네트워크의 최적화 도구로도 활용되는 추세에 있다. 1950년대 후반 신호제어에 대한 Webster의 제어전략이 발표된 이후 관련 학자들에 의해 몇 개의 신호제어 전략들이 발표되었지만, 이들 전략들은 대부분 비포화시를 반영하는 전략 들이었다. 그러나 최근의 도심 가로망들은 근포화나 과포화 등 극심한 교통혼잡을 겪고 있 기 때문에 이에 부합하는 새로운 신호제어전략이 요구되고 있다. 본 연구는 네트워크 차원 의 신호제어전략을 수립하기 위한 첫 번째 연구로서 혼잡시를 고려한 2가지의 새로운 교통 신호제어전략을 제시하였다. 첫 번째 신호전략은 과포화시 차량들의 대기행렬을 수용할 수 있는 접근로의 수용용량을 고려한 전략이며, 두 번째 전략은 overflow에 의한 차량들의 지 체시간을 최소화시키는 전략이다. 본 연구에서는 기존의 2개 신호전략과 새로운 전략들을 예제 가로망을 대상으로 서로 비교, 평가하였으며, 신호제어전략이 통행배정모형(traffic assignment)과 결합하는 경우 유일해(unique solution)가 존재하는지(monotonicity condition)도 검토하였다.

• Proceedings of the KIPE Conference
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• 2012.07a
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• pp.71-72
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• 2012

비례-적분(PI) 제어기 출력이 포화되었을 때, windup현상이 나타나며 이것은 큰 오버슈트 및 느린 정착 시간과 같은 성능저하를 야기시킨다. 이 논문에서는 이러한 문제점을 개선하기 위해 적분 상태 예측기를 갖는 Anti-windup PI제어기를 이용한 전류제어 방법을 제안한다. PSIM을 이용한 시뮬레이션을 통해 성능을 증명하였다. 이 방법은 PI제어기 출력이 포화되었을 경우와 그렇지 않을 경우에 따라 적분 상태가 각각 제어된다. 실험결과는 PI제어 방법과 비교하여 오버슈트 및 정착 시간과 같은 제어 성능이 개선되었음을 보여준다.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.16 no.2 s.107
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• pp.207-213
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• 2006

In our previous research, we proposed a robust saturation controller which involves both control input saturation and structured real parameter uncertainties. This controller can analytically prescribed the upper and lower bounds of parameter uncertainties, and guarantee the closed-loop robust stability of the system in the presence of actuator's saturation. And the availability and the effectiveness of the proposed robust saturation controller were verified through numerical simulations. In this paper, we verify the robust stability of this controller through experimental tests. Expecially, we show unstable cases of other controllers in comparison with this controller. Experimental tests are carried out in the laboratory using a two-story test structure with a hydraulic-type active mass damper.

• Korean Chemical Engineering Research
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• v.58 no.3
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• pp.390-395
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• 2020

For some processes with saturations, economical operating points are on the saturation edges. Traditional feedback controllers cannot be used to regulate such processes on the saturation edges because there are abrupt dynamics changes and no feedback information at saturations. Optimization-based methods such as the model predictive control can treat this control problem without difficulty when the saturation levels and dynamics are known and not varying. Otherwise, an adaptation scheme to track the saturation levels and dynamics should be included. Here, for very simple methods to treat this control problem, two control methods based on the recent slope seeking method and the relay feedback method are proposed. Their performances are evaluated with simulations applying them to a second order liquid level system with saturation. Simulations show that these proposed control methods can find and maintain operating point of the saturation edge under 5% relative error.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.16 no.3 s.108
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• pp.298-306
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• 2006

In our previous paper, we developed a robust saturation controller for the linear time-invariant (LTI) system involving both actuator's saturation and structured real parameter uncertainties. This controller can only guarantee the closed-loop robust stability of the system in the presence of actuator's saturation. But we cannot analytically make any comment on control performance of this controller. In this paper, we suggest a method to use linear matrix inequality (LMI) optimization problem which can analytically explain control performance of this robust saturation controller only in nominal system. The availability of design method using LMI optimization problem for this robust saturation controller is verified through a numerical example for the building with an active mass damper (AMD) system.

• ICROS
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• v.17 no.4
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• pp.46-50
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• 2011

다변수 입출력 제어시스템에서 제어기를 설계하기 위해서는 단일 입출력 시스템에서와 마찬가지로 저주파수영역에서는 루프전달행렬의 크기가 작은 것이 요구되고, 측정잡음 및 플랜트의 불확실성이 존재하는 고주파수 영역에서는 루프전달행렬의 크기가 작게 되도록하여, 잡음의 영향이 출력에 적게 나타나고, 제어기가 포화되지 않도록 하며, 설계된 제어기가 플랜트 모델의 불확실성을 극복할 수 있게 하는 것이 필요하다. 본 원고에서는 각 전달 행렬들의 특이치의 최대 및 최소값들을 이용하여 다변수 제어기가 갖추어야 할 조건들을 정리하였다.