• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 B
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• pp.452-454
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• 1998

Asymmetric cylinders are usually used as an actuator of active suspensions. The conventional optimal controller design does not include actuator dynamics as a state. and force controller is needed to track the desired force. But the actuator is not ideal, so performance of an active suspension system is degraded. In this paper, we take account nonlinear actuator dynamics and obtain a linear model using a feedback linearization technique then apply optimal control method. For real time application, gain-scheduling method is used. Effectiveness of proposed method is demonstrated by numerical simulation of 1/4 car model.

• 한국해양공학회지
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• 제17권4호
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• pp.66-72
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• 2003

This paper proposes an optimum, problematic design for structural and control systems, taking a 3-D truss structure as an example. The structure is subjected to initial static loads and time-varying disturbances. The structure is controlled by a state feedback H$_{\infty}$ controller which suppress the effects of disturbances. The design variables are the cross sectional areas of truss members. The structural objective function is the structural weight. For the control objective, we consider two types of performance indices, The first function represents the effect of the initial loads. The second function is the norm of the feedback gain, These objective functions are in conflict with each other but are transformed into one control objective by the weighting method. The structural objectives is treated as the constraint, By introducing the second control objective which considers the magnitude of the feedback gain, we can create a design to model errors.

• 전기의세계
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• 제25권5호
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• pp.70-74
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• 1976

In this paper, the problem of controlling deterministic contimuous linear system with a slightly modified quadratic performance criteria is studied. When the number of out put variables is much lesser then that of state variables, either the controller becomes complex or the performance measure becomes much higher with only output feedback. So the design philosphy treated in this paper lies in finding a compromising point between the controller complexity and the performance measure. thd controller is composed of stasic plus dynamic compensator with order equal to the mtmber of output variables. Several unknowns are unknown parameters are bundled into one, and using Pontryagin's minimum principle, conditions and formula for optimum control are induced which are different from that of Kalman optimal regulator.

• 대한의용생체공학회:의공학회지
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• 제18권1호
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• pp.51-64
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• 1997

A dynamic model of the Korean total artificial heart(TAH) which contains a brushless DC motor, all of mechanical components, the pump system with integrated variable volume space(WS) and the circulatory system model including the bronchial circulation were established Two different sets of seven differential equations were separately derived for the left and right systolic period of the Korean TAH operation. Throughout the computer simulation, a full-state fEedback optimal controller that minimizes the power consumption of the Korean TAH and drives the end stage velocity of the energy converter to zero was developed based upon the optimal control theory. Robustness of the controller were also analyzed with the dynamic model of the Korean TAH.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.361-361
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• 2000

In the 2-mass system with flexible shaft, a torsional vibration is often generated because of the elastic elements in torque transmission as the newly required speed response which is very close to the primary resonant frequency. This vibration makes it difficult to achieve quick responses of speed and disturbance rejection. In this paper, 2-mass system is designed by using pole placement based on optimal control theory fur fast speed response and torsional vibration elimination and using neural network for disturbance rejection in particular. The simulation results show that the proposed controller based on neural network and full state feedback controller has better performance than 려ll state feedback controller, especially fur disturbance rejection.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1-6
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• 1991

This paper is concerned with the design of a robust tracking controller using a state observer on a robotic manipulator under the disturbance. The controller is designed to follow a step or ramp reference input without steady state error in the presence of a disturbance and a system parameter variation. In most cases, since all the state vectors are not measured, unmeasurable state vectors must be estimated or reconstructed. A reduced order observer is proposed to estimate unmeasurable state vectors of the non-linear system. Some problems are caused by the Coulomb friction, the disturbance, and the spring effect of a link between the drive motor and the manipulator arm. The state variables, directly measured and estimated by the reduced order observer, are fed back to the controller. When the robot system exhibits the 'limit cycle, the feedback gains initially obtained by optimal control theory are changed. As a result, the limit cycle is eliminated by the new controller gains,

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.317-321
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• 1990

This paper proposes a performance improvement to a control system with optimal state feedback control. In this paper, a simple and direct design procedure is proposed to design the model following controller. The scheme is implemented in a 16 bit micromputer with math corprocessor. Tests on a DC machine have been conducted.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.96-100
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• 1990

Dynamic modelling and controller design technique for constant-frequency series resonant converter with buck type preregulator are mainly described in this paper. An equivalent circuit model is derived and a state equation is developed from this model. To improve the dynamic performance, a negative feedback of inductor current is added to the proportional and integral control of output voltage. Furthermore, an optimization technique with prescribed eigenvalue region is applied to the determination of feedback gains. With the presented design method, much better dynamic performance can be obtained.

• Journal of Power Electronics
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• 제11권4호
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• pp.393-400
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• 2011

The main objective of this paper is to control the speed of Nonlinear Hybrid Electric Vehicle (HEV) by controlling the throttle position. Various control techniques such as well known Proportional-Integral-Derivative (PID) controller in conjunction with state feedback controller (SFC) such as Pole Placement Technique (PPT), Observer Based Controller (OBC) and Linear Quadratic Regulator (LQR) Controller are designed. Some Intelligent control techniques e.g. fuzzy logic PD, Fuzzy logic PI along with Adaptive Controller such as Self Organizing Controller (SOC) is also designed. The design objective in this research paper is to provide smooth throttle movement, zero steady-state speed error, and to maintain a Selected Vehicle (SV) speed. A comparative study is carried out in order to identify the superiority of optimal control technique so as to get improved fuel economy, reduced pollution, improved driving safety and reduced manufacturing costs.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 추계학술대회 논문집 학회본부 B
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• pp.420-422
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• 1998

In this paper, we propose a position-speed control of servo system with a state estimator. And also we utilized two mass modelling in order to deals with real system accurately. The overall control system consists of two parts: the position-speed controller and state estimator. The Kalman filter applied as state - feedback controller is an optimal state estimator applied to a dynamic system that involves random perturbations and gives a linear,unbiased and minimun error variance recursive algorithm to estimate the unknown state optimally. Therefore we consider the error problem about the servo system modelling, the measurement noise at low-speed ranges a stochastic system, and implement a optimal state observer. Performance of the proposed state estimator are demonstrated by computer simulations.