• Journal of Institute of Control, Robotics and Systems
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• v.13 no.3
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• pp.268-272
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• 2007

These days many scientists make studies of feedback control system for stability on non-linear state and for the maneuver of flying objects. These feedback control systems have to satisfy trajectory condition and angular conditions, that is to say, controllability and stability simultaneously to achieve mission. In this paper, a design methods using model based control system which consists of spiral predictive model, Q-function included into generalized-work function is shown. It is made a clear that the proposed algorithm using SPM maneuvers for controllability and stability at the same time is successful in attaining our purpose. The feature of the proposed algorithm is illustrated by simulation results. As a conclusion, the proposed algorithm is useful for the control of moving objects.

• Journal of applied mathematics & informatics
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• v.30 no.5_6
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• pp.883-902
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• 2012

In this work we deal with a nonlinear dynamical system, namely the wastewater treatment model. We proceed to a dynamical analysis of the model. Invariance, boundness, controllability and the sensitivity with respect the initial conditions are studied. On the other hand, using the nonsmooth analysis tools, we look for the viability of the model, that is, the necessary and sufficient conditions under which trajectories move in a suitable time-moving sets, to avoid the washing problem (died of bacteria).

• Journal of the Korean Institute of Intelligent Systems
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• v.16 no.2
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• pp.144-149
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• 2006

This paper deals with a balanced model reduction for uncertain nonlinear systems via T-S fuzzy approach. We define a generalized controllability/observability gramian and obtain a balanced state space model using generalized gramians which can be obtained from solutions of linear matrix inequalities. We present a balanced model reduction scheme by truncating not only state variables but also uncertain elements. An upper bound of the model reduction error will also be suggested. In order to demonstrate the efficacy of our method, a numerical example will be presented.

• International Journal of Aeronautical and Space Sciences
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• v.17 no.1
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• pp.54-63
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• 2016

A novel attitude tacking control method using Time Delay Control (TDC) scheme is developed to provide robust controllability of a rigid hexacopter in case of single or multiple rotor faults. When the TDC scheme is developed, the rotor faults such as the abrupt and/or incipient rotor faults are considered as model uncertainties. The kinematics, modeling of rigid dynamics of hexacopter, and design of stability and controllability augmentation system (SCAS) are addressed rigorously in this paper. In order to compare the developed control scheme to a conventional control method, a nonlinear numerical simulation has been performed and the attitude tracking performance has been compared between the two methods considering the single and multiple rotor faults cases. The developed control scheme shows superior stability and robust controllability of a hexacopter that is subjected to one or multiple rotor faults and external disturbance, i.e., wind shear, gust, and turbulence.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.1
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• pp.216-223
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• 2000

A robot arm with free joints has some advantages over conventional ones. A light weight and low power consumed arm can be made by a reduction of the number of joint actuators. And this arm can easily overcomes actuator failure due to unexpected accident. In general such underactuated arm does not have controllability because of the lack of joint actuators. The two-link arm with a free joint introduced in this paper is also uncontrollable in the sense of linear system theory. However, the linearized system sometimes can not represent the inherent dynamic behavior of the nonlinear system. In this paper the dynamic characteristics of the two-link arm with a free joint in view of global motion including damping and friction effect of the joints is investigated. In the case of considering only the damping effect, the controllable goal positions are confined to a specific trajectories. But in the case of considering the friction effect, the system can be controlled to arbitrary positions using the friction of the free joint as a holding brake. Also numerical example of position control is presented.

• Journal of applied mathematics & informatics
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• v.19 no.1_2
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• pp.203-214
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• 2005

In this study the optimal control of fed-batch glycerol fermentation is investigated based on an impulsive dynamical system. Considering the sudden increase of the glycerol and alkali in fed-batch culture of biodissimilation of glycerol to 1,3-propanediol, this paper proposes a non-linear impulsive system of fed-batch culture. The existence, uniqueness and regularity properties of piecewise solution for the system are proved. In view of the controllability of volumes of glycerol added to the reactor instantaneously, the paper constructs an optimal control model based on the nonlinear impulsive system and the existence of the optimal control is obtained. The control variables here are the moments and the sizes of jumps in the states at the discrete instants and the objective is to maximize the productivity of 1,3-propanediol over one cycle.

• Bulletin of the Korean Mathematical Society
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• v.34 no.3
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• pp.411-419
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• 1997

Using the theory of strongly continuous cosine families, we prove controllable of nonlinear second order control system and give an application.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.58 no.2
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• pp.130-135
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• 2009

In recent years, researches on rotary inverted pendulum control systems have been significantly focused due their highly nonlinear dynamics and complicated geometric structures. This paper presents a novel control approach for such systems by means of similarity transformation theory. At first, we represent nonlinear system dynamics to the controllability-formed state space model including a time-varying parameter vector. We establish the state-feedback control configuration based on the transformed model and derive an adaptive control law for adjusting desired characteristic equation. Numerical analysis is achieved to evaluate our control method and demonstrate its superiority by comparing it to the traditional control strategy. Furthermore, real-time control experiment is carried out to test its practical reliability.

• Journal of applied mathematics & informatics
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• v.24 no.1_2
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• pp.387-397
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• 2007

According to the controllability of pulse times and the amount of jumps in the states at these times in the process of fed-batch culture producing 1,3-propanediol, this paper proposes a terminal optimal control model, whose constraint condition is the nonlinear impulsive delay system. The existence of optimal control is discussed and an optimization algorithm which is applied to each subinternal over one cycle for this optimal control problem is constructed. Finally, the numerical simulations show that the terminal intensity of producing 1,3-propanediol has been increased obviously.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.4
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• pp.395-401
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• 2014

Magnetic levitation systems using the attraction force of electromagnets have many constraints according to the variation of air gap and the nonlinearity of electromagnetic force and inductances. As a result of these constraints, the nonlinear control of a magnetic levitation system has been improved by the latest advanced processors and accurate measurement system which can overcome problems such as many constraints and nonlinearity. This paper concentrates on the modeling of a nonlinear magnetic levitation system and an application of an exponential reaching law based sliding mode controller using the exponential reaching law which is one of the most robust controllers against external unexpected disturbances or parameter fluctuations. Controllability of a magnetic levitation system using the sliding mode control algorithm and robustness against parameter fluctuations have been verified through the experimental results.