• Proceedings of the KIEE Conference
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• 1993.07a
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• pp.57-60
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• 1993

This study suggests a dynamic braking control algorithm in order to improve the transient stability of a multimachine power system. Dynamic braking control has been known as an effective method by which transient stability of power systems could be improved. Under the context, the study suggests a modified MRVM which possibly handles more rapid on-line computation through the improvement of the conventional MRVM(Model Referenced Velocity Matching). In order to resolve the phenomenon of stability recovery hinderance due to the prolonged dynamic braking control under the stable equilibrium state and chattering problem, the study also composes an algorithm in such a way that dynamic braking control could be prohibited by setting-up absolute stability region, Lastly, a comparison with the results derived from the application of the conventional control technique to the model power system is made in order to prove the superiority of the suggested control technique.

• International Journal of Control, Automation, and Systems
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• v.2 no.1
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• pp.15-22
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• 2004

Some recent advances in stability and optimality for the nonlinear receding horizon control (NRHC) or the nonlinear model predictive control (NMPC) are assessed. The NRHCs with terminal conditions are surveyed in terms of a terminal state equality constraint, a terminal cost, and a terminal constraint set. Other NRHCs without terminal conditions are surveyed in terms of a control Lyapunov function (CLF) and cost monotonicity. Additional approaches such as output feedback, fuzzy, and neural network are introduced. This paper excludes the results for linear receding horizon controls and concentrates only on the analytical results of NRHCs, not including applications of NRHCs. Stability and optimality are focused on rather than robustness.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.1
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• pp.10-14
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• 2004

We present a predictive control algorithm combined with the robust robot control that is constructed on the Lyapunov min-max approach. Since the control design of a real manipulator system may often be made on the basis of the imperfect knowledge about the model, it is an important trend to design a robust control law that guarantees the desired properties of the manipulator under uncertain elements. In the preceding robust control work, we need to tune several control parameters in the admissible set where the desired stability can be achieved. By introducing an optimal predictive control technique in robust control we can find out much more deterministic controller for both the stability and the performance of manipulators. A new class of robust control combined with an optimal predictive control is constructed. We apply it to a simple type of 2-link robot manipulator and show that a desired performance can be achieved through the computer simulation.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2000.11a
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• pp.135-142
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• 2000

The adjusting parameter set which enable control systems to locate on stability limit can be derived from theoretical or trial methods for an existing real system. The data from the results are much available to keep a system in the Proper stability condition even to site engineers who are inexperienced in the control system. In this paper, a general one loop control system was adopted for a model system the process of which was assumed to consist of a time-delay element and a first order-lag element in series. After obtaining the corresponding parameter set for the model system by mathematical procedures, their loci on the parameter space was taken according to frequency change. The parameter set loci of stability limit showed unique pattern, and particularity , the curves on the Kg-Ti parameter space were able to be generalized in the form of, an unique exponential formula. These properties were also compared with the results taken from experimental procedures by Nyquist response method and Ziegler & Nichols method on the time domain, and both results were confirmed to be nearly same.

• Journal of IKEEE
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• v.13 no.1
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• pp.11-18
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• 2009

In this paper, the stability of second order uncertain systems with regulation of PID type controllers is analyzed by using Lyapunov second method for the first time in the time domain. The property of the stability of PID regulation servo systems is revealed in sense of Lyapunov, i.e., bounded stability due to the disturbances and uncertainties. By means of the results of this stability analysis, the maximum norm bound of the error from the output without variation of the uncertainties and disturbances is determined as a function of the gains of the PID control, which make it enable to analyze the effect resulted from the variations of the disturbances and uncertainties using this norm bound for given PID gains. Using the relationship of the error from the output without variation of the uncertainties and disturbances and the PID gain with maximum bounds of the disturbances and uncertainties, the robust gain design rule is suggested so that the error from the output without the variation of the disturbances and uncertainties can be guaranteed by the prescribed specifications as the advantages of this study. The usefulness of the proposed algorithm is verified through an illustrative example.

• PNF and Movement
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• v.7 no.4
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• pp.37-43
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• 2009

Purpose : The purpose of this study was to evaluate the effect of core stability training at deep abdominal muscle for balance control of hemiplegic patient. Method : The subject of this study was a 47-year-old man with right hemiplegia. He was treated five times a week for three weeks with core stability training at deep abdominal muscles. Evaluation tool was used Functional reach test(FRT), timed up and go test(TUG) and one leg standing for stroke patients. Result : The FRT distance increase, TUG time decrease, one leg standing time increase core stability training at deep abdominal muscles for right hemiplegia improved was the ability for maintain balance. Posture and control of trunk stability are changing posture, and so which showed significant improve of total balance control. Conclusion : The result of this study showed that core stability training at deep abdominal muscles is an effective treatment for balance control. Therefore, it could be considered as a treatment method in the rehabilitation of stroke patient with poor postural control and imbalance, although further studies are needed.

• Smart Structures and Systems
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• v.31 no.1
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• pp.69-78
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• 2023

The purpose of this paper is to develop a scalable grey predictive controller with unavoidable random delays. Grey prediction is proposed to solve problems caused by incorrect parameter selection and to eliminate the effects of dynamic coupling between degrees of freedom (DOFs) in nonlinear systems. To address the stability problem, this study develops an improved gray-predictive adaptive fuzzy controller, which can not only solve the implementation problem by determining the stability of the system, but also apply the Linear Matrix Inequality (LMI) law to calculate Fuzzy change parameters. Fuzzy logic controllers manipulate robotic systems to improve their control performance. The stability is proved using Lyapunov stability theorem. In this article, the authors compare different controllers and the proposed predictive controller can significantly reduce the vibration of offshore platforms while keeping the required control force within an ideal small range. This paper presents a robust fuzzy control design that uses a model-based approach to overcome the effects of modeling errors. To guarantee the asymptotic stability of large nonlinear systems with multiple lags, the stability criterion is derived from the direct Lyapunov method. Based on this criterion and a distributed control system, a set of model-based fuzzy controllers is synthesized to stabilize large-scale nonlinear systems with multiple delays.

• Asian-Australasian Journal of Animal Sciences
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• v.33 no.12
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• pp.1999-2007
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• 2020

Objective: This study was aimed to investigate the muscle-specific beef color stability at normal and high ultimate pHs. Methods: The impact of muscle (Longissimus lumborum [LL] vs psoas major [PM]) and pH (normal ultimate pH [Np] vs high pH dark cutting beef [Hp]) on color stability, indicated by basic color traits, metmyoglobin reducing activity (MRA) and oxygen consumption (OC), as well as the lipid oxidation, were determined over 7 days of display at 4℃. Results: Hp-LL had the highest pH (6.92), followed by Hp-PM (6.01), Np-PM (5.76), and Np-LL (5.52). Hp-LL had increased (p<0.05) a^⋆, chroma and % oxymyoglobin during display. Hp-LL also had the highest metmyoglobin (MMb) reducing activity and OC among all the samples, thus, the greatest color stability, although very dark throughout storage, with lowest values for lightness (L^⋆) and yellowness (b^⋆). Np-LL also exhibited relatively high color stability, as a result of its lower % MMb and OC and higher MRA than psoas muscle samples. The 0.2 unit difference of the pH between Hp and Np psoas muscle, resulted in the difference of the color intensity, not the color stability. Interestingly, high pH psoas muscle (Hp-PM) did not have better color stability than Np-PM, and in fact had lower color stability than even Np-LL. The similar level of OC and lipid oxidation cannot explain the difference in color stability between Hp-PM and Np-LL. Conclusion: The Hp does not always show better color stability compared with Np beef, which depends on the muscle type. The balance of MRA and OC is important to keep the color in great intensity and stability in the meantime.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1987-1992
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• 2004

A Variable Structure Model Reference Adaptive Controller (VS-MRAC) using state Variables is proposed for single input multi output systems. . The structure of the switching functions is designed based on stability requirements, and global exponential stability is proved. Transient behavior is analyzed using sliding mode control and shows perfect model following at a finite time. The effect of input disturbances on stability and transients is investigated and shows preference to the conventional MRAC schemes with integral adaptation law. Sliding surfaces are independent of system parameters and therefore VS-MRAC is insensitive to system parameter variations. Simulation is presented to clear the theoretical results.

• Proceedings of the KIEE Conference
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• 1991.07a
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• pp.809-812
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• 1991

Two control strategies are proposed for two arm robots; i.e. position-position control and position-force control. For the proof of these control strategies, the stability analysis is conducted with robot dynamics included. First, the closed form dynamic equation of the robot is derived, then it is transformed into the operational space for further analysis. Finally, Liapunov method is applied to the dynamic equation in operational space.