• 대한기계학회논문집A
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• 제20권9호
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• pp.2731-2743
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• 1996

When modeling error is large of plant is time-varying, it is hard to obtain good robust performance and robust stability by conventional contorl methods. Here, we need to design a robust controller bearing modeling error. In this paper, based on recently developed Time Delay Control(TDC) and Disturbance Observer the output feedback Robust Disturbance Observer(RDO), which is easily combined with general linear control, is proposed. Proposed RDO is derived from extending the main idea of Disturbance Observer to multi-input multi-output linear system. RDO solves robust stability problem of Disturbance Observer and has the robust performance same as nominal performance. RDO controlled dual stage positioning system shows excellent robust performance.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2002년도 전력전자학술대회 논문집
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• pp.285-288
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• 2002

This paper presents external load disturbance compensation that used to deadbeat load torque observer and regulation of the compensation gain by parameter estimator As a result, the response of PMSM follows that of the nominal plant. The load torque compensation method is compose of a deadbeat observer To reduce of the noise effect, the post-filter, which is implemented by MA process, is adopted. The parameter compensator with RLSM(recursive least square method) parameter estimator is suggested to increase the performance of the load torque observer and main controller The proposed estimator is combined with a high performance load torque observer to resolve the problems. As a result, the proposed control system becomes a robust and precise system against the load torque and the parameter variation. A stability and usefulness, through the verified computer simulation, are shown in this paper.

• Journal of Biosystems Engineering
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• 제22권4호
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• pp.487-496
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• 1997

A fuzzy logic controller(FLC) was developed for the autonomous travel of speedsprayer in an orchard. The autonomous travel with the FLC was graphically simulated under the conditions of an ordinary standard orchard. Differential global positioning system(DGPS) was used to find the direction of running and four ultrasonic sensors were used to detect obstacles during the running. The simulation results showed that the speedsprayer, by the FLC combined with DGPS and the ultrasonic sensors. could overcome the turning problem at comers which could not be solved with such a system as machine vision and might be operated autonomously.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.118-118
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• 2000

This paper suggests the methodology to guarantee the rea1-time service over Ethernet and TCP/IP and to solve the problems such as re-transmission due to collision and platform-transparency and independence. This paper proposes a new mechanism called Real-time Ethernet protocol combined the centralized medium control mechanism with the token passing mechanism. The centralized medium control mechanism is used to get the token, the right to transmit the data, and the token passing mechanism is used to return the token to the token controller and to transmit data within the specified time interval. The proposed Real-Time Ethernet Protocol is based on Java and Java RMI(Remote Method Invocation). The presented protocol is believed to work enough in real-time applications considering latency occurred due to the Java RMI, which is less small than data transmission time.

• 한국정밀공학회지
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• 제20권4호
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• pp.214-222
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• 2003

Studies on the optimization of machining process can be divided into two different approaches: off-line feedrate scheduling and adaptive control. Each approach possesses its respective strong and weak points compared to each other. That is, each system can be complementary to the other. In this regard, a combined system, which is a feedrate control system fur cutting force optimization, was proposed in this paper to make the best of each approach. Experimental results show that the proposed system could overcome the weak points of the off-line feedrate scheduling system and the adaptive control system. In addition, from the figure, it can be confirmed that the off-line feedrate scheduling technique can improve the machining quality and can fulfill its function in the machine tool which has a adaptive controller.

• 대한전기학회논문지:시스템및제어부문D
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• 제49권11호
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• pp.610-616
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• 2000

This paper presents an active noise control algorithm via Walsh transform domain controller learned by genetic algorithm. Typical active noise control algorithms such as the filtered-x lms algorithm are based on the gradient algorithm. Gradient algorithm have two major problems; local minima and eigenvalue ratio. To solve these problems, we propose a combined algorithm which consist of genetic learning algorithm and discrete Walsh transform called Walsh Transform Domain Genetic Algorithm(WTDGA). Analyses and computer simulations on the effect of Walsh transform to the genetic algorithm are performed. The results show that WTDGA increase convergence speed and reduce steady state errors.

• 대한전기학회논문지:시스템및제어부문D
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• 제52권3호
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• pp.129-133
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• 2003

In this paper, we consider the robust guaranteed cost control problem for a class of uncertain neutral systems with given quadratic cost functions. The uncertainty is assumed to be norm-bounded and time-varying. The goal in this study is to design the memoryless state feedback controller such that the closed-loop system is asymptotically stable and the closed-loop cost function value is not more than a specified upper bound lot all admissible uncertainty. Some criteria for the existence of such controllers are derived based on the matrix inequality approach combined with the Lyapunov second method. A parameterized characterization of the robust guaranteed cost controllers is given in terms of the feasible solutions to the certain matrix inequalities. A numerical example is given to illustrate the proposed method.

• 한국지능시스템학회논문지
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• 제2권3호
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• pp.29-39
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• 1992

We investigate a systematic design procedure of automatic rule generation of fuzzy logic based controllers for highly nonlinear dynamic systems such as an engine dynamic modle. By "automatic rule generation" we mean autonomous clustering or collection of such meaningful transitional relations from one conditional subspace to another. During the design procedure, we also consider optimaly control strategies such as minimum squared error, near minimum time, minimum energy or combined performance critiera. Fuzzy feedback control systems designed by our method have the properties of closed-loop stability, robustness under parameter variabitions, and a certain degree of optimality. Most of all, the main advantage of the proposed approach is that reliability can be potentially increased even if a large grain of uncertainty is involved within the control system under consideration. A numerical example is shown in which we apply our strategic fuzzy controller dwsign to a highly nonlinear model of engine idling speed control.d control.

• 제어로봇시스템학회논문지
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• 제14권3호
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• pp.295-300
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• 2008

In this paper, a new looper controller is proposed to minimize the tension variation of a strip in the hot strip finishing mill. The proposed control technology is based on a receding horizon control (RHC) to satisfy the constraints on the control input/state variables. The finite terminal weighting matrix is used instead of the terminal equality constraint. The closed loop stability of the RHC for the looper system is analyzed to guarantee the monotonicity of the optimal cost. Furthermore, the RHC is combined with a 4SID(Subspace-based State Space System Identification) model identifier to improve the robustness for the parameter variation and the disturbance of an actuator. As a result, it is shown through a computer simulation that the proposed control scheme satisfies the given constraints on the control inputs and states: roll speed, looper current, unit tension, and looper angle. The control scheme also diminishes the tension variation for the parameter variation and the disturbance as well.

• 제어로봇시스템학회논문지
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• 제22권6호
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• pp.397-402
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• 2016

This paper proposes a robust tracking control for constrained uncertain linear systems by combining a disturbance observer (DOB) and linear matrix inequality (LMI) based state feedback control. To this end, the state feedback control is designed for the nominal system and then a DOB based feed-forward control is added to reject uncertainties. In doing so, the DOB and state feedback controller are joined in a way that the combined control satisfies the input constraints and closed loop stability is guaranteed. Simulation results are provided to show that the proposed control scheme successfully stabilizes uncertain systems.