• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1960-1965
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• 2005

This paper presents theory for stability analysis and design of a servo system for a MIMO Wiener system with nonlinear uncertainty. The Wiener system consists of a linear time-invariant system(LTI) in cascade with a static nonlinear part ${\psi}$(y) at the output. We assume that the uncertain static nonlinear part is sector bounded and decoupled. In this research, we treat the static nonlinear part as multiplicative uncertainty by dividing the nonlinear part ${\psi}$(y) into ${\phi}$(y) := ${\psi}$(y)-y and y, and then we reduce this stabilizing problem to a Lur'e problem. As a result, we show that the servo system with no steady state error for step references can be constructed for the Wiener system.

• Proceedings of the KIEE Conference
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• 2002.07a
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• pp.277-279
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• 2002

본 논문은 UPFC(Unified Power Flow Controi)의 유효전력 및 무효전력의 제어를 통해 시스템의 레벨을 향상시키기 위한 운용 알고리즘을 제시한다. 전력 계통에서 UPFC의 효과 분석하기 위해 분리형 모델(decoupled model)을 이용하였다. 본 논문에서는 계통의 조류 및 전압을 이용한 안전도 지수가 제시되었고, 이를 반복계산(iterative method)을 통해 최소화하였다. 이를 위해 각 안전도 지수의 민감도 벡터가 최소화되는 방향으로 UPFC의 운전점을 찾고, 이로써 시스템의 안전도를 증대시킨다. 제안된 알고리즘은 다기의 UPFC를 대상으로 IEEE 30 모선에 적용하여 시스템 안전도 레벨을 검토하였다.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.754-759
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• 1992

In this paper, we proposed a mixed H$_{2}$/H$_{\infty}$ optimal controller design method using the parameterization of H$_{2}$ suboptimal controller. The method is based on the minimization of H$_{2}$ performance measure with an H$_{\infty}$-norm constraint. We also derived the necessary and sufficient conditions for existence of solution from the decoupled Riccati equations. And the designed controller has state-space representation.n.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.431-431
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• 2000

The modeling of 5-bar linkage robot manipulator dynamics by means of a mathematical and neural architecture is presented. Such a model is applicable to the design of a feedforward controller or adjustment of controller parameters. The inverse model consists of two parts: a mathematical part and a compensation part. In the mathematical part, the subsystems of a 5-bar linkage robot manipulator are constructed by applying Kawato's Feedback-Error-Learning method, and trained by given training data. In the compensation part, MLP backpropagation algorithm is used to compensate the unmodeled dynamics. The forward model is realized from the inverse model using the inverse of inertia matrix and the compensation torque is decoupled in the input torque of the forward model. This scheme can use tile mathematical knowledge of the robot manipulator and analogize the robot characteristics. It is shown that the model is reasonable to be used for design and initial gain tuning of a controller.

• Proceedings of the Korea Inteligent Information System Society Conference
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• 2003.05a
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• pp.400-409
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• 2003

Collaborative filtering (CF) recommendation is a knowledge sharing technology for distribution of opinions and facilitating contacts in network society between people with similar interests. The main concerns of the CF algorithm are about prediction accuracy, speed of response time, problem of data sparsity, and scalability. In general, the efforts of improving prediction algorithms and lessening response time are decoupled. We propose a three-step CF recommendation model which is composed of profiling, inferring, and predicting steps while considering prediction accuracy and computing speed simultaneously. This model combines a CF algorithm with two machine learning processes, SOM (Self-Organizing Map) and CBR (Case Based Reasoning) by changing an unsupervised clustering problem into a supervised user preference reasoning problem, which is a novel approach for the CF recommendation field. This paper demonstrates the utility of the CF recommendation based on SOM cluster-indexing CBR with validation against control algorithms through an open dataset of user preference.

• Proceedings of the Korea Information Processing Society Conference
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• 2014.11a
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• pp.215-217
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• 2014

In Software Defined Network (SDN), data plane and control plane are decoupled. Dummy switches on the data plane simply forward packet based on the flow entries that are stored in its flow table. The flow entries are generated by a centralized controller that acts as a brain of the network. However, the size of flow table is limited and it can conduct a security issue related to Distributed Denial of Service (DDoS). Especially, it related to resource attack that consumes all flow table resource and consumes controller resources. In this paper, we will analyze the impact of flow table limitation to the controller. Then we propose an approach that is called Flow Table Management to handle flow table limitation.

• Nuclear Engineering and Technology
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• v.50 no.5
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• pp.698-708
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• 2018

This article introduces a methodology of designing a wavelet operator suitable for multiscale modeling. The operator matrix transforms states of a multivariable system onto projection space. In addition, it imposes a specific structure on the system matrix in a multiscale environment. To be specific, the article deals with a diagonalizing transform that is useful for decoupled control of a system. It establishes that there exists a definite relationship between the model in the measurement space and that in the projection space. Methodology for deriving the multirate perfect reconstruction filter bank, associated with the wavelet operator, is presented. The efficacy of the proposed technique is demonstrated by modeling the point kinetics nuclear reactor. The outcome of the multiscale modeling approach is compared with that in the single-scale approach to bring out the advantage of the proposed method.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.11
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• pp.199-207
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• 1998

This paper presents the design and the control of three degree-of-freedom(DOF) fine positioning device based on an electro-magnetic force. The device is designed by use of a magnetic circuit theory and it is capable of fine motion due to the electro-magnetic force. The device consists of permanent magnets, yokes and coils. The magnetic fluxes generated from the permanent magnets constitute magnetic paths through steel, whereas the coils are arranged into the gap between two surfaces of the yokes. Therefore, by supplying current to the coils, the coils are capable of some motions due to Lorentz forces. For the optimal design of the actuating system, the system parameters are defined and investigated under the given constraints. From the system modeling in small displacement, three decoupled equations of motion are obtained. To get better performance of the system, a PID controller is implemented. Experimental results are presented in terms of time response and accuracy.

• The Transactions of the Korean Institute of Power Electronics
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• v.27 no.4
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• pp.305-315
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• 2022

In this paper, phase current ripples and torque ripples of six-phase PM synchronous motor controlled by interleaved PWM are analyzed. The cause of the increase of phase current ripple in the interleaved PWM was mathematically analyzed based on the mutual inductance of stator windings and effective voltage vector. Simulation and experiment verified that the DQ current ripple and torque ripple can be reduced by interleaved PWM control. The FFT analysis of torque waveform confirmed that the magnitude of harmonic torque corresponding to double the PWM frequency was reduced.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.1
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• pp.173-179
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• 2017

This paper proposes a robust impedance controller for high-DOF robots. The model-based control of a higher DOF robot uses a numerical dynamic model because the analytical dynamic model is difficult to be derived and this means that modeling error is inevitable. The impedance control in the task space is affected by joint motions and has more difficulties in the higher DOF robots. In addition, the disturbances must be decoupled in the control of high DOF robot. This paper proposes a robust impedance controller based on integral sliding mode control (ISMC) and disturbance observer(DOB) for high-DOF robot manipulator. The ISMC is used to improve the robustness of the impedance control and to preserve its nominal performance. DOB is also employed to cancel the effects of input disturbances and to reduce the maximum gain of the ISMC which eventually determines the input chattering size.