• International Journal of Aeronautical and Space Sciences
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• v.15 no.2
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• pp.153-162
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• 2014

A novel robust $H_{\infty}$ switching tracking control design method with disturbance observer is proposed for the near space interceptor (NSI) with aerodynamic fins and reaction jets. Initially, the flight envelop of the NSI is divided into small subregions, and a slow-fast loop polytopic linear parameter varying (LPV) model is proposed, to approximate the nonlinear dynamic of the NSI, based on the Jacobian linearization and Tensor-Product (T-P) model transformation approach. A disturbance observer is then constructed, to estimate the modeled disturbance. Subsequently, based on the descriptor system method, a robust switching controller is developed, to ensure that the closed-loop descriptor system is stable with a desired $H_{\infty}$ disturbance attenuation level. Furthermore, the outcome of the proposed switching tracking control problem is formulated as a set of linear matrix inequalities (LMIs). Finally, simulation results demonstrate the effectiveness of the proposed design method.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.253-256
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• 1996

In this paper, A new time-varying sliding surface design using eigenvalue locus is proposed to achieve fast and robust in a class of high-order uncertain dynamic system. A moving sliding surface(MSS) was proposed earlier for the second-order variable structure control systems(VSCS). This methodology led to fast and robust control responses of the second-order VSCS. However, the moving algorithm of the MSS was too complicated to be employed the high-order VSCS. To resolve this problem, we propose a new moving algorithm that switching surface moves such that the eigenvalues of equivalent system in the sliding mode have a predetermined locus. Using the proposed surface fast and robust behaviors are accomplished. The problem of chattering can be eliminated by using a boundary layer of switching surface. The efficiency of proposed algorithm is illustrated by an application to four-order workbench.

• Progress in Superconductivity and Cryogenics
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• v.15 no.1
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• pp.19-24
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• 2013

In this paper, the Superconductor flywheel energy storage system (SFESS) was used for the load frequency control (LFC) of an interconnected 2 area power system. The robust SFESS controller using quantitative feedback theory (QFT) was designed to improve control performance in spite of parameter uncertainty and unexpected disturbances. An overlapping decomposition method was applied to simplify SFESS controller design for the interconnected 2 area power system. The model for simulation of the interconnected 2 area power system included the reheat steam turbine, governor, boiler dynamics and nonlinearity such as governor deadband and generation rate constraint (GRC). To verify robust performance of proposed SFESS controller, dynamic simulation was performed under various disturbances and parameters variation of power system. The results showed that the proposed SFESS controller was more robust than the conventional method.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.11
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• pp.2066-2072
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• 2010

In this paper, a variable structure dynamic output feedback controller with an transformed sliding surface is designed for the improved robust control of a uncertain system under unmatched system uncertainty, matched input matrix uncertainty, and disturbance satisfying some conditions. This paper is extended from the results of the static output feedback VSS in [9]. To effectively remove the reaching phase problems, an initial condition of the dynamic output is determined. The previous some limitations on the dynamic output feedback variable structure controller is overcome in this systematic design. A stabilizing control is designed to generate the sliding mode on the predetermined sliding surface S=0 and as a results the closed loop exponential stability is obtained and proved together with the existence condition of the sliding mode on S=0 for all unmatched system matrix uncertainties. To show the usefulness of the algorithm, a design example and computer simulations are presented.

• Nuclear Engineering and Technology
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• v.38 no.6
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• pp.551-560
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• 2006

In this study, a controller for a nuclear reactor power is designed. The reactor is modeled using the three dimensional reactor design code MASTER. From the relationship of the input and output of the reactor code, a reactor dynamic model is derived by the system identification method. This model is more realistic than the one based on mathematical theories. With this model, a robust controller is designed by the extended frequency response method. As this method has the same theoretical background as the classical method, all of the existing design techniques of the classical method can be used directly. Furthermore, by introducing the real part of a Laplacian operator into the frequency response, the control design specification can be considered at the initial stage of design. The designed controller is simple, and gives a sufficient robustness with good performance.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.147.4-147
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• 2001

This work presents the robust controller and the LQG/LTR controller for the stewart platform. To simplify the dynamics we combine equation of the stewart platform and linearized one of hydraulic actuators not considered condensability of the fluid. Through the connection of two dynamic equations we can omit force feedback process of actuators and design controllers for the whole system. We applied two controllers on the stewart platform and show the adequacy controllers through the result of simulation and experiment.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.7 no.4
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• pp.7-13
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• 1998

The gloval model is developed by combining this actuator formular with robot manipulator which is reported previously . The model initially represented in the form of coupled time-varying nonlinear dynamic system. It then decomposed into the decoupled linear model using nonlinear feedback and state transformation techniques. The new model employes the pole replacement method to improve the stability of the system. Using this new model, an robust control algorithm is developed. The proposed algorithm takes two state variables, position vector and velocity vector, and one input variable from actuator, input voltage.

• Transactions of the Korean Society of Automotive Engineers
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• v.7 no.6
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• pp.198-206
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• 1999

An automobile outside rear view mirror system has been analyzed and designed to reduce vibration with a finite element model. model analysis is conducted for the calculation of natural frequencies. harmonic analysis is utilized to estimate the displacements of the glass surface under dynamic loads. The model is verified with the vibration experiment of the parts and the assembled body. The structure of the mirror system is optimized for the robustness defined by the Taguchi concept. At first, many potential design variables are defined. Final design variables are selected based on the amount of contribution on the objective function. That is, sensitive variables are chose. The SN ratio in the Taguchi method is replaced by an objective function with the mean and the standard deviation of the quality characteristic. The defined objective function is appropriate in the structural design in that the vibration displacements are minimized while the robustness is improved.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1646-1647
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• 2007

In the conventional sliding mode control(SMC), the states of controlled systems are linearly dependent because of the characteristic of the sliding surface. This means that conventional SMC can not add its robustness to other control methods. To overcome this problem, a special sliding surface with additional dynamic states has been proposed. However the additional dynamic states make it difficult to design a controller because the order ofa controller becomes higher. So, in this paper, a novel sliding surface design method, which does not require any additional dynamic state, is proposed. The relationships between the states with desirable responses can be expressed by using SVM and included in a sliding mode dynamics. The robust optimal controller with the optimal performanceand the robustness of SMC is considered.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.1
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• pp.16-22
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• 2016

The research on two-wheeled inverted pendulum (TWIP) mobile robots has been ongoing in a number of robotic laboratories around the world. In this paper, we consider a robust controller design for the TWIP mobile robot driving on uniform slopes. We use a 2 degree-of-freedom (DOF) model which is obtained by restricting the spinning motion in a 3 DOF motion dynamic equation. In order to design the robust controller guaranteeing stability of the TWIP mobile robot driving on inclined surface, we propose a sliding mode control based on the theory of variable structure systems and design a sliding surface using the theory of the linear quadratic regulation (LQR). For simulation, the dynamic model of the TWIP mobile robot is constructed using Mathworks' Simulink and the sliding mode control is also implemented using Simulink. From simulation results, we show that the proposed controller effectively controls the TWIP mobile robot driving on slopes.