• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1593-1598
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• 2004

In this paper, we use the input and output maps and develop simple procedures to obtain realizations for linear continuous-time systems. The procedures developed are numerically efficient and yield explicit formulae for the state space matrices of the realization in terms of the system parameters, notably the system modes. Both cases of the systems with distinct modes and repeated modes are treated. We also present a procedure for converting a realization obtained through the input or output map into the Jordan canonical form. The transformation matrices required to bring the realization into the Jordan canonical form are specified entirely in terms of the system modes.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.76.3-76
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• 2002

The purpose of this paper is to present a new nonlinear feedback control called AACC (Augmented automatic choosing control) for nonlinear systems. Generally, it is easy to design the optimal control laws for linear systems, but it is not so for nonlinear systems, though they have been studied for many years. One of most popular and practical nonlinear control laws is synthesized by applying a linearization method by Taylor expansion truncated at the first order and the linear optimal control method. This is only effective in a small region around the steady state point or in almost linear systems. Controllers based on a change of coordinates in differential geometry are effective in wider...

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.05a
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• pp.315-318
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• 2003

A systematic output-tracking control design technique for robust control of Takagi-Sugeno (T-S) fuzzy systems with norm-bounded uncertainties is developed. The uncertain T-S fuzzy system is first represented as a set of uncertain local linear systems. The tracking problem is then converted into the stabilization problem for a set of uncertain local linear systems thereby leading to a more feasible controller design procedure. A sufficient condition for robust asymptotic output tracking is derived in terms of a set of linear matrix inequalities (LMIs). A stability condition on the traversing time-instances is also established. The output tracking control simulation for a flexible-joint robot-arm model is demonstrated, to convincingly show the effectiveness of the proposed system modeling and controller design method.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.199-199
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• 2000

Most of linear time-varying(LTV) systems except special cases have no general solution for the dynamic equations. Thus, it is difficult to design time-varying controllers in analytic ways, and other control design approaches such as robust control have been applied to control design for uncertain LTI systems which are the approximation of LTV systems have been generally used instead. A robust control method such as quantitative feedback theory(QFT) has an advantage of guaranteeing the stability and the performance specification against plant parameter uncertainties in frozen time sense. However, if these methods are applied to the approximated linear time-invariant(LTI) plants which have large uncertainty, the designed control will be constructed in complicated forms and usually not suitable for fast dynamic performance. In this paper, as a method to enhance the fast dynamic performance, the approximated uncertainty of time-varying parameters are reduced by the proposed QFT parameter-scheduling control design based on radial basis function (RBF) networks for LTV systems with bounded time-varying parameters.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.11
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• pp.907-915
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• 2002

We present a state-space approach to design a passivity-based dynamic output feedback control of a finite collection of non-square linear systems. We first determine a squaring gain matrix and an additional dynamics that is connected to the systems in a feedforward way, then a static passivating (i.e. rendering passive) control law is designed. Consequently, the actual feedback controller will be the static control law combined with the feedforward dynamics. A necessary and sufficient condition for the existence of the parallel feedfornward compensator (PFC) is given by the static output feedback fomulation, which enables to utilize linear matrix inequality (LMI). The effectiveness of the proposed method is illustrated by some examples including the systems which can be stabilized by the proprotional-derivative (PD) control law.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.2
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• pp.151-156
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• 1998

This paper presents an $H_{\infty)$ output feedback controller design method for linear systems with delayed state, delayed control input, and delayed masurement output. Using a Lyapunov functional, the stability for delayed systems is discussed independently of delays. Also, sufficient condition for the existence of $H_{\infty)$ controllers of any order is given in terms of three linear matrix inequalities(LMIs). Based on positive definite solutions of their LMIs, we briefly explain the way to construct $H_{\infty)$ controller, which stabilizes time-delay systems independently of delays and guarantees an $H_{\infty)$norm bound.

• Structural Engineering and Mechanics
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• v.83 no.6
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• pp.709-727
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• 2022

Fastening systems have a significant role in the response of railway slab track systems. Although experimental tests indicate nonlinear behavior of fastening systems, they have been simulated as a linear spring-dashpot element in the available literature. In this paper, the influence of the nonlinear behavior of fastening systems on the slab track response was investigated. In this regard, a nonlinear model of vehicle/slab track interaction, including two commonly used fastening systems (i.e., RFFS and RWFS), was developed. The time history of excitation frequency of the fastening system was derived using the short time Fourier transform. The model was validated, using the results of a comprehensive field test carried out in this study. The frequency response of the track was studied to evaluate the effect of excitation frequency on the railway track response. The results obtained from the model were compared with those of the conventional linear model of vehicle/slab track interaction. The effects of vehicle speed, axle load, pad stiffness, fastening preload on the difference between the outputs obtained from the linear and nonlinear models were investigated through a parametric study. It was shown that the difference between the results obtained from linear and nonlinear models is up to 38 and 18 percent for RWFS and RFFS, respectively. Based on the outcomes obtained, a nonlinear to linear correction factor as a function of vehicle speed, vehicle axle load, pad stiffness and preload was derived. It was shown that consideration of the correction factor compensates the errors caused by the assumption of linear behavior for the fastening systems in the currently used vehicle track interaction models.

• Journal of Mechanical Science and Technology
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• v.14 no.10
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• pp.1051-1060
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• 2000

Linear cyclic systems (LCS's) are a class of systems whose dynamic behavior changes cyclically. Such cyclic behavior is ubiquitous in systems with fundamentally repetitive motions (e. g. all rotating machinery). Yet, the knowledge of the noise and vibration transmission paths in LCS's is quite limited due to the time-varying nature of their dynamics. The first part of this two-part paper derives a generic expression that describes how the noise and/or vibration are transmitted between two (or multiple) locations in the LCS's. An analysis via the Fourier series and Fourier transform (FT) plays a major role in deriving this expression that turns out to be transfer function dependent upon the cycle position of the system. The cyclic nature of the LCS' transfer functions is shown to generate a series of amplitude modulated input signals whose carrier frequencies are harmonic multiples of the LCS' fundamental frequency. Applicability of signal processing techniques used in the linear time-invariant systems (LTIS's to the general LCSs is also discussed. Then, a criterion is proposed to determine how well a LCS can be approximated as a LTIS. In Part II, experimental validation of the analyses carried out in Part I is provided.

• ETRI Journal
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• v.32 no.1
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• pp.93-101
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• 2010

A true random number generator (TRNG) is widely used to generate secure random numbers for encryption, digital signatures, authentication, and so on in crypto-systems. Since TRNG is vulnerable to environmental changes, a deterministic function is normally used to reduce bias and improve the statistical properties of the TRNG output. In this paper, we propose a linear corrector for secure TRNG. The performance of a linear corrector is bounded by the minimum distance of the corresponding linear error correcting code. However, we show that it is possible to construct a linear corrector overcoming the minimum distance limitation. The proposed linear corrector shows better performance in terms of removing bias in that it can enlarge the acceptable bias range of the raw TRNG output. Moreover, it is possible to efficiently implement this linear corrector using only XOR gates, which must have a suitable hardware size for embedded security systems.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.2
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• pp.140-146
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• 2002

We consider a class of large-scale interconnected time delay systems and investigate a decentralized robust passive control problem. sufficient conditions for unforced interconnected uncertain systems with time delay to be robustly stable with extended strictly passivity is given in terms of algebraic Riccati inequality and linear matrix inequality. The decentralized robust passive control problem for norm-bounded and positive real uncertainty is shown to be converted to extended strictly positive real control problem for a modified system which contains neither time delay nor uncertainty.