• 제어로봇시스템학회논문지
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• 제11권1호
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• pp.1-8
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• 2005

A new discretization algorithm for nonlinear systems with delayed input is proposed. The algorithm is represented by Taylor series expansion and ZOH assumption. This method is applied to the sampled-data representation of a nonlinear system with the time-delay input. Additionally, the delay in input is time varying and its amplitude is bounded. The maximum time-delay in input is assumed to be two sampling periods. The mathematical expressions of the discretization method are presented and the ability of the algorithm is tested for some of the examples. The computer simulation proves the proposed algorithm discretizes the nonlinear system with the variable time-delay input accurately.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2562-2567
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• 2005

This paper suggests a new method discretization of nonlinear system using Taylor series expansion and zero-order hold assumption. This method is applied into the sampled-data representation of a nonlinear system with input time delay. Additionally, the delayed input is time varying and its amplitude is bounded. The maximum time-delayed input is assumed to be two sampling periods. Them mathematical expressions of the discretization method are presented and the ability of the algorithm is tested for some of the examples. And 'hybrid' discretization scheme that result from a combination of the ‘scaling and squaring' technique with the Taylor method are also proposed, especially under condition of very low sampling rates. The computer simulation proves the proposed algorithm discretized the nonlinear system with the variable time-delayed input accurately.

• Journal of Mechanical Science and Technology
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• 제18권7호
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• pp.1107-1120
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• 2004

This study proposes a new scheme for the sampled-data representation of nonlinear systems with time-delayed multi-input. The proposed scheme is based on the Taylor-series expansion and zero-order hold assumption. The mathematical structure of a new discretization scheme is explored. On the basis of this structure, the sampled-data representation of nonlinear systems including time-delay is derived. The new scheme is applied to nonlinear systems with two inputs and then the delayed multi-input general equation is derived. The resulting time-discretization provides a finite-dimensional representation of nonlinear control systems with time-delay enabling existing controller design techniques to be applied to them. In order to evaluate the tracking performance of the proposed scheme, an algorithm is tested for some of the examples including maneuvering of an automobile and a 2-DOF mechanical system.

• Journal of Power Electronics
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• 제16권5호
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• pp.1851-1860
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• 2016

The traction motors in electric multiple unit (EMU) trains are powered by AC-DC-AC converters, and the DC link voltage is generated by single phase PWM converters, with a fluctuation component under twice the frequency of the input catenary AC grid, which causes fluctuations in the motor torque and current. Traditionally, heavy and low-efficiency hardware LC resonant filters parallel in the DC side are adopted to reduce the ripple effect. In this paper, an analytical model of the ripple phenomenon is derived and analyzed in the frequency domain, and a ripple control scheme compensating the slip frequency of rotor vector control systems without a hardware filter is applied to reduce the torque and current ripple amplitude. Then a relatively simple discretization method is chosen to discretize the algorithm with a high discrete accuracy. Simulation and experimental results validate the proposed ripple control strategy.

• Kyungpook Mathematical Journal
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• 제52권4호
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• pp.359-373
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• 2012

The block LU factorization is used to solve the coupled Stokes equations arisen from an optimal control problem subject to Stokes equations. The convergence of the spectral element solution is proved. Some numerical evidences are provided for the model coupled Stokes equations. Moreover, as an application, this algorithm is performed for an optimal control problem.

• 한국산업정보학회논문지
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• 제16권4호
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• pp.45-52
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• 2011

In the real-field of control cases for robot manipulators, there always exists a modeling error, which results the model has the uncertainties in its parameters and/or structure. In many modem applications, digital computers are extensively used to implement control algorithms to control such systems. The discretization of the nonlinear dynamic equations of such systems results in a complicated discrete dynamic equations. Therefore, it will be difficult to design a discrete-time controller to give good tracking performances in the presence of certain uncertainties. In this paper, a discrete-time sliding mode control algorithm for nonlinear and time varying robot manipulators with uncertainties is presented. Sufficient conditions for guaranteeing the convergence of the discrete-time SMC system are derived. As example simulations, the proposed SMC algorithm is applied to a two-link robotic manipulator with unknown dynamics. The results of the simulation indicate that the developed control scheme is effective in manipulators and electro-mechanical system control.

• 대한전기학회논문지:시스템및제어부문D
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• 제50권10호
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• pp.464-472
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• 2001

This study uses distributed parameter systems as the spatial discretization technique, modelling in lumped parameter systems, and applies fast WALSH transform and the Picard's iteration method to high order partial differential equations and matrix partial differential equations. This thesis presents a new algorithm which usefully exercises the optimal control in the distributed parameter systems. In exercising optimal control of distributed parameter systems, excellent consequences are found without using the existing decentralized control or hierarchical control method. This study will help apply to linear time-varying systems and non-linear systems. Further research on algorithm will be required to solve the problems of convergence in case of numerous applicable intervals.

• Structural Engineering and Mechanics
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• 제75권6호
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• pp.685-699
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• 2020

Polygonal finite element provides a great flexibility in mesh generation of crack propagation problems where the topology of the domain changes significantly. However, the control of the discretization error in such problems is a main concern. In this paper, a polygonal-FEM is presented in modeling of crack propagation problems via an automatic adaptive mesh refinement procedure. The adaptive mesh refinement is accomplished based on the Zienkiewicz-Zhu error estimator in conjunction with a weighted SPR technique. Adaptive mesh refinement is employed in some steps for reduction of the discretization error and not for tracking the crack. In the steps that no adaptive mesh refinement is required, local modifications are applied on the mesh to prevent poor polygonal element shapes. Finally, several numerical examples are analyzed to demonstrate the efficiency, accuracy and robustness of the proposed computational algorithm in crack propagation problems.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.2029-2032
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• 2004

The quantity of data were rapidly increased recently and caused the data overwhelming. This led to be difficult in searching the required data. The method of eliminating redundant data was needed. One of the efficient methods was Knowledge Discovery in Database (KDD). Generally data can be separate into 2 cases, continuous data and discrete data. This paper describes algorithm that transforms continuous attributes into discrete ones. We present an Improved Class Attribute Interdependence Maximization (ICAIM), which designed to work with supervised data, for discretized process. The algorithm does not require user to predefine the number of intervals. ICAIM improved CAIM by using significant test to determine which interval should be merged to one interval. Our goal is to generate a minimal number of discrete intervals and improve accuracy for classified class. We used iris plant dataset (IRIS) to test this algorithm compare with CAIM algorithm.

• 조명전기설비학회논문지
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• 제15권6호
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• pp.73-81
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• 2001

분포정수계는 시스템이 두 개 이상의 독립변수로 표현되면서 또한 각 변수에 대한 미분을 포함하는 편미분 방정식으로 표현되므로, 분포정수계에 직접적인 최적제어 논리를 도입하는 것은 매우 어렵다. 본 연구에서 제시하고자하는 새로운 알고리즘은 월쉬 함수 고유특성을 그대로 유지할 수 있는 유한급수전개방법을 이용함과 동시에 계산의 편리성을 위하여 고속 월쉬 변환을 사용하는 것으로서, 본 연구 방법을 사용하면 역행렬 연산이 필요 없게 되므로 기존의 방법에 의해 처리하기 힘든 분포정수계, 선형시변계, 비선형계의 해석 및 제어문제어도 쉽게 적용할 수 있다.