• 제어로봇시스템학회논문지
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• 제9권11호
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• pp.868-873
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• 2003

$H_{\infty}$ control has been applied to the design of practical control systems widely because of its robustness. It can minimize $H_{\infty}$ norm of the transfer function between the desired output and the disturbances. The SMC(Sliding Mode Control) is more robust and give the better performance than the $H_{\infty}$ control if the matching condition is satisfied. A controller which can have the advantages of $H_{\infty}$ control and the SMC is proposed to add the robustness of the SMC to the $H_{\infty}$ controller. Its design is based on the augmented system of which dynamics have one higher order than that of the original system and has the same dynamic as the desired system in spite of uncertainties. The dynamic of proposed sliding surface is the same dynamic as the system controlled by $H_{\infty}$ controller without the uncertainties which satisfy the matching condition.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.35-40
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• 1998

A nonlinear attitude model of a satellite with thrusters, magnetic torquers and a reaction wheel cluster is developed. Then the linearized version of this satellite attitude model is derived far the attitude hold mode. For comparison purpose, various control methods are considered for attitude control of a satellite. We consider a proportional derivative controller which is actually used in the remote sensing satellite, KOMPSAT. Then a comparison is made with an H$_2$controller, an H$\sub$$\infty$/ controller, and a mixed H$_2$/ H$\sub$$\infty$/ controller. The analysis and numerical studies show that the proportional derivative controller's performance is limited in the sense that the pitch angle cannot approach zero. The simulations also show that among three control methods (H$_2$control, H$\sub$$\infty$/ control, and mixed H$_2$/ H$\sub$$\infty$/ control) H$_2$control has the fastest response time, H$\sub$$\infty$/ control has the slowest and mixed H$_2$/ H$\sub$$\infty$/ control comes in between the first two control methods. On the other hand, H$\sub$$\infty$/ control used least amount of control effort while H$_2$control required the most.

• 제어로봇시스템학회논문지
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• 제19권9호
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• pp.846-852
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• 2013

In this paper, the authors propose a new approach to control problem of the marine vessels which are moored or controlled by actuators. The vessel control problem in the specified area is called a DPS (Dynamic Positioning System). The main objective of this paper is to obtain more useful control design method for DPS. In this problem, a complicate fact is control allocation which is a numerical method for distributing the control signal to the controlled system. For this, many results have been given and verified by other researchers using two individual processes. It means that the controller design and control allocation design process are carried out individually. In this paper, the authors give more sophisticated design solution on this issue. In which the controller design and control allocation problem are unified by a robust controller design problem. In other word, the stability of the closed-loop system, control performance and allocation problem are unified by an LMI (Linear Matrix Inequality) constraint based on $H_2/H_{\infty}$ mixed design framework. The usefulness of proposed approach is verified by simulation with a supply vessel model and found works well.

• 대한기계학회논문집A
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• 제24권12호
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• pp.2980-2988
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• 2000

In this paper, H(sub)$\infty$ depth and course controllers of autonomous underwater vehicles using H(sub)$\infty$ servo control are proposed. An H(sub)$\infty$ servo problem is foumulated to design the controllers satisfying a robust tracking property with modeling errors and disturbances. The solution of the H(sub)$\infty$servo problem is as follows; firest, this problem is modified as an H(sub)$\infty$ control problem for the generalized plant that includes a reference input mode, and than a sub-optimal solution that satisfies a given performance criteria is calculated by LMI(Linear Matrix Inequality) approach, The H(sub)$\infty$depth and course controllers are designed to satisfy the robust stability about the modeling error generated from the perturbation of the hydrodynamic coefficients and the robust tracking property under disturbances(was force, wave moment, tide). The performances(the robustness to the uncertainties, depth and course tracking properties) of the designed controlled are evaluated with computer simulations, and finally these simulation results show the usefulness and applicability of the propose H(sub)$\infty$ depth and course control systems.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1999년도 제14차 학술회의논문집
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• pp.88-91
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• 1999

The purpose of this paper is to propose an approach to design a robust servo controller based on the Mixed H$_2$/H$\sub$$\infty$/ theory. In order to do this, we first modify the generalized plant for the usual H$\sub$$\infty$/ servo problem to a structure of the Mixed H$_2$/H$\sub$$\infty$/ minimization problem by virtue of the internal model principle. By doing this, we can divide specifications adopted for robust servo system design into H$_2$and H$\sub$$\infty$/ performance criteria, respectively. Then, the mixed H$_2$/H$\sub$$\infty$/ problem is solved in order to find the best solution, by which we can minimize H$_2$-norm of the transfer function under the condition of H$\sub$$\infty$/-norm value, through Linear Matrix Equality (LMI).

• 한국전기전자재료학회논문지
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• 제37권3호
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• pp.292-296
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• 2024

In this study, Iron (III) oxide-hydroxide (δ-FeOOH) was successfully synthesized using hydrogen peroxide (H₂O₂) as an oxidizing agent. The synthesis of δ-FeOOH was carried out by controlling the amount of H₂O₂, and pure δ-FeOOH was successfully synthesized in ranges from 0.2 mL to 0.6 mL of H₂O₂. The size of the synthesized δ-FeOOH particles was compared by controlling the amount of oxidant H₂O₂. The average particle size of the synthesized pure δ-FeOOH particles increased from 875.1 nm to 897.2 nm as the amount of H₂O₂ was increased. The optical properties of δ-FeOOH synthesized under these specific conditions were investigated. All δ-FeOOH showed a similar trend of increasing and decreasing light absorption from 800 nm to 400 nm, although there was a slight difference in the amount of light absorption, with the largest amount of light absorption at 410 nm. The band gap energy of δ-FeOOH through the Tauc plot method was about 2.1~2.2 eV when H₂O₂ was 0.2~1.4mL. With a sufficient small particle size, simple control of that particle size, and a small band gap energy enough to absorb light in the visible spectrum, δ-FeOOH could be useful in a variety of applications, including photoelectrochemistry and battery electrodes.

• 제어로봇시스템학회논문지
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• 제11권4호
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• pp.279-283
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• 2005

This paper deals with the design of a low-order H/sub ∞/ controller by using an iterative linear matrix inequality (LMI) method. The low-order H/sub ∞/ controller is represented in terms of LMIs with a rank condition. To solve the non-convex rank-constrained LMI problem, the recently developed penalty function method is applied. With an increasing sequence of the penalty parameter, the solution of the penalized optimization problem moves towards the feasible region of the original non-convex problem. Numerical experiments showed the effectiveness of the proposed algorithm.

• 제어로봇시스템학회논문지
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• 제8권7호
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• pp.578-583
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• 2002

This paper presents a method for designing fuzzy $H_2/H_{\infty}$ controllers of nonlinear systems with time varying delay. Takagi-Sugeno fuzzy model is employed to represent nonlinear systems with time varying delay. Using a single quadratic Lyapunov function, the globally exponential stability and $H_2/H_{\infty}$ performance problem are discussed. A sufficient condition for the existence of fuzzy $H_2/H_{\infty}$ controllers is then presented in terms of linear matrix inequalities(LMls). The proposed fuzzy $H_2/H_{\infty}$ controllers minimizes the upper bound on the linear quadratic performance measure.

• 한국작물학회지
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• 제65권2호
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• pp.156-160
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• 2020

본 연구는 차나무 종자의 교배육종에 위한 품종 육성의 체계적인 기술확립을 위해 과산화수소 등 다양한 파종전처리를 통하여 차나무 종자의 출아율 및 유묘 소질을 알아보고자 수행하였다. 1. 무처리구의 출아율은 36.7%로 나타났고, 염기성 조건(pH 10)에서는 출아율이 26.7%로 가장 낮은 발아율을 보인 반면, 100 mM 과산화수소에서 가장 높은 65.0% 출아율을 보였다. 2. 출아율과 출아율지수는 처리에 따라 유의성이 나타났으며, 평균출아일수는 유의성이 나타나지 않았다. 3. 처리간의 평균출아일수는 과산화수소(10, 100 mM)와 물리적 충격 처리구에서 가장 짧은 46.5~47.0일이 소요되었으며, 출아율지수는 100 mM 과산화수소 처리구에서 가장 높은 1.363 d^-1m^-1을 보였다. 4. 파종 60일 후에 묘 소질에서의 초장, 엽수, 엽장 및 엽폭 모두 조사에서 100 mM 과산화수소 처리구에서 9.1 cm, 4.4개 5.5 cm, 3.1 cm로 가장 크거나 많은 것으로 나타났다.

• 제어로봇시스템학회논문지
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• 제3권2호
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• pp.115-123
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• 1997

이산기간 H/sub .inf./ 제어에 의한 최적 예견제어기를 제안한다. 기존의 H/sub .inf./ 제어기는 미지의 외란만 고려한 것이고, LQ 에 의한 예견제어기는 예견 가능한 외란과 미지의 외란이 동시에 가해지는 동적 시스템의 전달함수 행렬의 infinity 놈의 최소화하는 피드백제어기가 동시에 설계된다. 제어기의 설계는 full-information H/sub .inf./ 제어 이론을 따르나, 그 유도 과정은 LQ 에 기초한 예견제어기와 유사하게 이루어진다. 설계된 H/sub .inf./ 예견 게인 행렬은 LQ 예견 게인 행렬과 유사한 구조를 갖는다. 전달함수 행렬의 infinity 놈이 .inf.로 갈수록 H/sub .inf./ 예견 게인 행렬은 LQ에 의한 것에 접근한다. LQ 예견 게인 행렬은 H/sub .inf./ 예견 게인 행렬의 부분 집합임이 입증한다.