• Journal of Institute of Control, Robotics and Systems
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• v.20 no.6
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• pp.641-646
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• 2014

In this paper, we propose a controller for a ball and beam system which reduces the measurement error effect under AC and DC noise. The ball and beam system measures data through a sensor. If sensor noise is included in a controller via the feedback channel, the signal is distorted and the entire system cannot work normally. Therefore, some appropriate action for the measurement error effect is essential in the controller design. Our controller is equipped with a gain-scaling factor and a compensator to reduce the effect of measurement error in the feedback signal. Effectively, our proposed controller can reduce the AC and DC noise of a feedback sensor. We analyze the proposed controller by Laplace transform technique and illustrate the improved control performance via an experiment for a ball and beam system.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.291-294
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• 2006

This paper presents a decentralized input-output feedback linearizing controller for a multi-machine power system. Firstly, the controller is designed using input-output feedback linearization for modified outputs. Then we present a guideline for selecting gains of the controller and parameters in the modified outputs. Simulations illustrate the effectiveness of the proposed control scheme and the selection guideline.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.734-738
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• 1996

An adaptive output feedback controller is designed for tracking control of an n-link robot manipulator with unknown load. High-gain observers with same structure as error dynamic systems are used to estimate joint velocities. The parameter adaptation is achieved by the smoothed projection algorithm. The control inputs are saturated outside a domain of interest. Simulation results on a 2-link manipulator illustrate that when the speed of the high-gain observer is sufficiently high, the proposed controller recovers the performance under state feedback control.

• Journal of Industrial Technology
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• v.15
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• pp.209-215
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• 1995

In this paper, a controller design method for uncertain linear systems by output feedback is proposed. This method utilizes the LQG/LTR procedure for systems with uncertainties described in the time domain. It is assumed that the uncertainties satisfy the matching conditions and their bounds are known. First, a robust state feedback controller design method is introduced. Then, it is asymtotically recovered for the output feedback system by the loop transfer recovery(LTR) method under a certain condition.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.486-489
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• 1996

The objective of this paper is to design a force feedback controller for bilateral control of a master-slave manipulator system. In a bilateral control system, the motion of the master device is followed by the slave one, while the force applied to the slave is reflected on the master. In this paper, a fuzzy logic controllers applied to the system. Using the fuzzy logic controller, the knowledge of the system dynamics is not needed. Simulations and experimental results show the performance of the proposed controller.

• Proceedings of the KIEE Conference
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• 2006.04a
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• pp.183-185
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• 2006

This paper presents a SISO nonlinear controller for the power system consisting of a synchronous generator connected to an infinite bus. The proposed controller is based on input-output feedback linearization, with a modified version of the terminal voltage equation used as the output. The resulting closed-loop has no internal dynamics, and thus stability is guaranteed. The controller performance is seen to be effective through simulations.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2249-2251
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• 2001

This paper proposes that it minimizes interference between link at high speed trajectory tracking of 2-degree parallel link manipulator and QFT(Quantitative Feedback Theory) controller which robust structure uncertainty and disturbance of plant. And using ICD(Individual Channel Design), it separates two channel from multivariable system, parallel link manipulator and designs robust controller with applying MISO QFT to each channel. Finally, we make sure of robustness and excellence of QFT controller through simulation and experiment.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.690-693
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• 2005

In this paper, a hybrid PD-servo state feedback control algorithm for swing up inverted pendulum system is proposed. It consists of two parts. The first part is the PD position control for swinging up the pendulum from the natural pendent position to around the upright position and the second part is the servo state feedback control for stabilizing the inverted pendulum in upright position. The first controller is PD controller and it is tuned to control the position of the pendulum by moving the cart back and forth until the pendulum swings up around the upright position. Then the second controller will be switched to stabilize the inverted pendulum in its upright position. The controller in this stage is the servo state feedback controller designed by pole placement. Experimental results of PD type swinging up control system, of stabilizing servo state feedback control system and of the proposed hybrid PD-servo state feedback control system to swing up and stabilize inverted pendulum show that the proposed method is effective and reliable for actual implementation while it is simple.

• Journal of information and communication convergence engineering
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• v.6 no.3
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• pp.310-314
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• 2008

This paper proposes a very novel method which makes it possible that state feedback controller can be designed for unknown dynamic system with measurable states. This novel method uses the support vector machines (SVM) with its function approximation property. It works together with RLS (Recursive least-squares) algorithm. The RLS algorithm is used for the identification of input-output relationship. A virtual state space representation is derived from the relationship and the SVM makes the relationship between actual states and virtual states. A state feedback controller can be designed based on the virtual system and the SVM makes the controller with actual states. The results of this paper can give many opportunities that the state feedback control can be applied for unknown dynamic systems.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.898-902
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• 2003

For linear descriptor systems, we consider the $H_{INFTY}$ controller design problem via output feedback. Both static output feedback and dynamic one are discussed. First, in the case of static output feedback, we reduce our control problem to solving a bilinear matrix inequality (BMI) with respect to the controller coefficient matrix, a Lyapunov matrix and a matrix related to the descriptor matrix. Under a matching condition between the descriptor matrix and the measured output matrix (or the control input matrix), we propose setting the Lyapunov matrix in the BMI as being block diagonal appropriately so that the BMI is reduced to LMIs. For fixed-order dynamic $H_{INFTY}$ output feedback, we formulate the control problem equivalently as the one of static output feedback design, and thus the same approach can be applied.