• 동력기계공학회지
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• 제4권3호
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• pp.72-80
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• 2000

In order to design a stable robust controller, nominal model, and the upper bound about the uncertainty which is the error of the model are needed. The problem to estimate the nominal model of controlled system and the upper bound of uncertainty at the same time is called robust identification. When the nominal model of controlled system and the upper bound of uncertainty in relation to robust identification are given, the evaluation of the validity of the model and the upper bound makes it possible to distinguish whether there is a model which explains observation data including disturbance among the model set. This paper suggests a method to identity the uncertainty which removes disturbance and expounds observation data by giving a probable postulation and plural data set to disturbance. It also examines the suggested method through a numerical computation simulation and validates its effectiveness.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 D
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• pp.2690-2692
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• 2000

In order to design a stable robust controller, nominal model, and the upper bound about the uncertainty which is the error of the model are needed. The problem to estimate the nominal model of controlled system and the upper bound of uncertainty at the same time is called robust identifcation. When the nominal model of controlled system and the upper bound of uncertainty in relation to robust identifcation are given, the evaluation of the validity of the model and the upper bound makes it possible to distinguish whether there is a model which explains observation data including disturbance among the model set. This paper suggests a method to identify the uncertainty which removes disturbance and expounds observation data by giving a probable postulation and plural data set to disturbance. It also examines the suggested method through a numerical computation simulation and validates its effectiveness.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 ISIS 2003
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• pp.443-446
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• 2003

Conventional disturbance rejection methods have to derive the inverse model of a system. However, the inverse model of n nonholonomic system is not unique, because an inverse it changes depending on initial conditions and desired values. A kind of internal model control (IMC) using feedback error learning is discussed for the motion control of nonholonomic mobile robots in this paper, The present method is different from a conventional IMC whose control system consists of an inverse model, a direct model and a filter. The present disturbance rejection method need not use a direct model, where the remaining two elements are composed of the same inverse model based on neural networks.

• 한국공작기계학회논문집
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• 제15권5호
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• pp.72-78
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• 2006

The paper proposes reference model error feedback control scheme for motion control system with hard non-linear components as like saturation and dead-zone in plant input part. Additionally, the plant has the system uncertainty effected by plant model parameter deviation and disturbance. The control algorithm uses the reference model to apply additional feedback loop with the error between reference model output and actual output effected by disturbance and non-linear components. And the stability evaluation based on Popov stability and controller design method are formulated to be performed. The effectiveness of the proposed scheme is examined by simulations. The results are proven by reasonable performances following reference model responses with good disturbance rejection performance without over-tuning of controller.

• 전기학회논문지
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• 제56권9호
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• pp.1665-1675
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• 2007

This paper presents the problem of controlling asynchronous sequential machines in the presence of input disturbances, which may be also regarded as an adversary in a game theoretic setting. The main objective is to provide necessary and sufficient condition for the existence of a corrective controller that solves model matching problem of an asynchronous machine suffering from input disturbance. The existence condition can be stated in terms of a simple comparison of two skeleton matrices. The proposed controller eliminates the adversarial effect of input disturbance and makes the controlled machine mimic the behavior of a model in stable-state way. Whenever controller exists, algorithms for their design are outlined and demonstrated in a case study.

• 대한수학회지
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• 제48권4호
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• pp.775-795
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• 2011

The disturbance attenuation problem for a class of discretetime switched linear systems with exponential uncertainties via switched state feedback and switched dynamic output feedback is investigated, respectively. By using Taylor series approximation and convex polytope technique, exponentially uncertain discrete-time switched linear system is transformed into an equivalent switched polytopic model with additive norm bounded uncertainty. For such equivalent switched model, one designs its switching strategy and associated state feedback controllers and dynamic output feedback controllers so that whole switched model is asymptotical stabilization with H-in nity disturbance attenuation base on switched Lyapunov function and LMI approach. Finally, two numerical examples are presented to illustrate our results.

• 조명전기설비학회논문지
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• 제28권5호
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• pp.15-22
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• 2014

The automobile cruise control system tries to maintain a constant velocity in the face of disturbance mainly caused by mass changes or changes in the slope of a road. The controller should compensate for such disturbances and model uncertainties. In this paper, we study on the disturbance observer based controller for cruise control system. In the presence of disturbances and model uncertainties, we carry out computer simulations in order to compare the performance of the conventional PI controller and DOB controller. From the simulation results, we found that the performance of DOB controller is superior to that of the conventional PI controller.

• 반도체디스플레이기술학회지
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• 제23권2호
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• pp.92-99
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• 2024

As semiconductor processes require several nanometers precision, the importance of motor control is increasing in semiconductor equipment. Due to unpredictable uncertainties such as friction and mechanical vibrations achieving precise position control in semiconductor processes is challenging. The internal model principle-based controller is a control technique that ensures robust steady-state performance by incorporating a model of the reference and disturbance. The disturbance observer-based controller is a prominent robust control technique implemented to cope with various nonlinearities and uncertainties. Provided that the two controllers can be designed to exhibit equivalent performance under certain conditions, this paper demonstrates through experiments that they yield identical results for the case of a BLDC position control problem. The experimental results also indicate that they can offer enhanced robustness compared with the conventional PID controller in the presence of a time-varying disturbance.

• 전기학회논문지
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• 제57권6호
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• pp.1036-1041
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• 2008

Periodic disturbance is practically occurred in several engineering applications, especially in data storage systems. However, recently addressed controls for such problem were mostly dealt with its deterministic nature, which is rarely practical in real-time implementation. We present an adaptive control approach for DC motor systems with periodic stochastic disturbance whose frequency and magnitude are both random variables. We establish adaptive state feedback control which is linearly composed of nominal and corrective control parameter matrices. The former is derived from a nominal system model voiding disturbance and the latter is constructed from a disturbed system model by using Lyapunov stability theory. We carry out computer simulation to evaluate the proposed control methodology and compare to the recently addressed control method to demonstrate its superiority.

• 제어로봇시스템학회논문지
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• 제19권12호
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• pp.1111-1118
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• 2013

In this paper, the disturbance applied to launcher hatch by ship motions is introduced to identify the vertical ship motion disturbance. Basically, ship motions are comprised of 6 degrees of freedom: roll, pitch, yaw, heave, surge and sway. In the case of the shipboard launcher hatch the coupled pitch, heave and roll are significant motions to be transformed to a vertical direction motion. The maximum acceleration values are obtained from the vertical motion model and the ship motion data in accordance with ship type and hatch location on the ship. We verify that the maximum pitch motion mainly influences the launcher hatch and also present the quantity of the maximum load disturbance by the ship's motion acceleration.