• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.7
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• pp.1447-1456
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• 2011

In this paper, we propose a T-S fuzzy feedback linearization method for controlling a non-linear system with multi-input, and the method is applied for trajectory tracking control of wheeled mobile robot. First, an error dynamic equation of wheeled mobile robot is represented by a T-S fuzzy model, and then the T-S fuzzy model is transformed to a linear control system through the nonlinear fuzzy coordinate change and the nonlinear state feedback input. Simulation results showed that the trajectory tracking controller by using the proposed multi-input feedback linearization method gives better performance than the trajectory tracking controller by using the PDC(Parallel Distributed Compensation) method for controlling the T-S Fuzzy system.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.3
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• pp.318-323
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• 2005

In this paper, we propose a systematic method of a fuzzy-model-based controller for continuous-time nonlinear dynamical systems which may contain uncertainties. The continuous-time uncertain TS fuzzy model is first constructed to represent the uncertain nonlinear system. A parallel distributed compensation (PDC) technique is then used to design a fuzzy model based controller for both stabilization and tracking. Finally, the designed continuous-time controller is converted to an equivalent discrete-time controller by using an intelligent digital redesign method. This new design technique provides a systematic and effective framework for integration of the fuzzy model based control theory and the advanced digital redesign technique for nonlinear dynamical systems with uncertainties. Finally, the single link flexible-joint robot arm is used as an illustrative example to show the effectiveness and the feasibility of the developed design method.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.6
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• pp.560-564
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• 2015

This paper presents a design method of a static output feedback controller for continuous T-S fuzzy systems via parallel distributed compensation (PDC). The existence condition of a set of static output feedback gains is represented in terms of linear matrix inequalities (LMIs). The sufficient condition presented here does not need any transformation matrices and equality constraints and is less conservative than the previous results seen in [20].

• International Journal of Control, Automation, and Systems
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• v.2 no.2
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• pp.182-188
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• 2004

This paper presents a design method of delay-dependent control for T-S fuzzy systems with time delays. Based on parallel distributed compensation (PDC) and a descriptor model transformation of the system, a delay-dependent control is utilized. An appropriate Lyapunov-Krasovskii functional is chosen for delay-dependent stability analysis. A sufficient condition for delay-dependent control is represented in terms of linear matrix inequalities (LMIs).

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2001.05a
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• pp.4-7
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• 2001

A stable TSK-type FLC can be designed by the method of Parallel Distributed Compensation (PDC), but in this case, solving the LMI problem is not a trivial task. To overcome such a difficulty, a Time-Delay based FLC (TDFLC) is proposed. TSK-type TDFLC consists of Time-Delay Control (TDC) and Sliding Mode Control (SMC) schemes, which result in a robust controller basaed upon an integral sliding surface.

• Journal of the Korean Institute of Telematics and Electronics C
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• v.34C no.5
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• pp.43-54
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• 1997

The objective of this paper is to present a controller-design method that can guarantee the global stability for nonlinear systems described by takagi-sugeno fuzzy models, and to apply the method to a typical nonlinear control problem. The presented method gives us a compensated fuzzy controller through the following major steps: First, if each local linear model of a given takagi-sugeno fuzzy system does not have the same input matrix, the method expands the system into the one with a method finds a takagi-sugeno fuzzy controller guaranteeing the global stability of the closed loop via solving relevant linear matrix inequalities. Compared to the conventional PDC (paralled distributed compensation) technique, the presented method has an advantage that trial-and-errors to check the global stability are not necessary. An illustrative simulation on the control of inverted pendulum is performed to demonstrate the applicability of the presented method, and its results show that a controller satisfying the global stability and robustness can be obtained by the method.

• Proceedings of the IEEK Conference
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• 1998.06a
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• pp.227-230
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• 1998

In this paper, we propose the design method of fuzzy robust H$\infty$ controller for the uncertain nonlinear discete-time systems with time delay. First, we represent a nonlinear plant with a modified T-S(Takagi-Sugeno) fuzzy model. Then design method utilizing the concept of PDC (parallel distributed compensation) is employed. For the modified T-S fuzzy model with uncertainty and delay, the sufficient condition of the quadratic stabilization with an H$\infty$ norm bound is presented in terms of Lyapunov stability theory and fuzzy robust H$\infty$ controller design method is given by LMI(linear matrix inequality) approach. Also an illustrative example is given to demonstrate the result of the proposed method.

• Journal of Microbiology and Biotechnology
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• v.25 no.7
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• pp.1154-1162
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• 2015

The emergence of carbapenem resistance among Pseudomonas aeruginosa is an increasing problem in many parts of the world. In particular, metallo-$\beta$-lactamases (MBLs) and AmpC $\beta$lactamases are responsible for high-level resistance to carbapenem and cephalosporin. We studied the diversity and frequency of $\beta$-lactamases and characterized chromosomal AmpC $\beta$lactamase from carbapenem-resistant P. aeruginosa isolates. Sixty-one carbapenem-resistant P. aeruginosa isolates were collected from patients in a tertiary hospital in Daejeon, Korea, from January 2011 to June 2014. Minimum inhibitory concentrations (MICs) of four antimicrobial agents were determined using the agar-dilution method. Polymerase chain reaction and sequencing were used to identify the various $\beta$-lactamase genes, class 1 integrons, and chromosomally encoded and plasmid-mediated ampC genes. In addition, the epidemiological relationship was investigated by multilocus sequence typing. Among 61 carbapenem-resistant P. aeruginosa isolates, 25 isolates (41.0%) were MBL producers. Additionally, 30 isolates producing PDC (Pseudomonas-derived cephalosporinase)-2 were highly resistant to ceftazidime (MIC₅₀ = $256{\mu}g/ml$) and cefepime (MIC₅₀ = $256{\mu}g/ml$). Of all the PDC variants, 25 isolates harboring MBL genes showed high levels of cephalosporin and carbapenem resistance, whereas 36 isolates that did not harbor MBL genes revealed relatively low-level resistance (ceftazidime, p < 0.001; cefepime, p < 0.001; imipenem, p = 0.003; meropenem, p < 0.001). The coexistence of MBLs and AmpC $\beta$-lactamases suggests that these may be important contributing factors for cephalosporin and carbapenem resistance. Therefore, efficient detection and intervention to control drug resistance are necessary to prevent the emergence of P. aeruginosa possessing this combination of $\beta$-lactamases.

• The Proceeding of the Korean Institute of Electromagnetic Engineering and Science
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• v.10 no.3
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• pp.2-17
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• 1999

Interpolated second order polynomials(ISOP's) are proposed to design efficient cascaded integrator-comb(CIC)-based decimation filters for a programmable downconverter. It is shown that some simple ISOP's can effectively reduce the passband droop caused by CIC filtering with little degradation in aliasing attenuation. In addition, ISOP's are shown to be useful for simplifying halfband filters that usually follow CIC filtering. As a result, a modified half band filter(MHBF) is introduced which is simpler than conventional halfband filters. The proposed decimation filter for a programmable downconverter is a cascade of a CIC filter, an ISOP, MHBF's and a programmable finite impulse response(FIR) filter. A procedure for designing the decimation filter is developed. In particular, an optimization technique that simultaneously designs the decimation filter is developed. In particular, an optimization technique that simultaneously designs the ISOP and programmable FIR filters is presented. Design examples demonstrate that the proposed method leads to more efficient programmable downconverters than existing ones.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.35S no.6
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• pp.46-54
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• 1998

This paper presents a method for designing robust fuzzy $H^{\infty}$ controllers which stabilize nonlinear systems with parameter uncertainty adn guarantee an induced $L_{2}$ norm bound constraint on disturbance attenuation for all admissible uncertainties. Takagi and Sugeno's fuzzy models with uncertainty are used as the model for the uncertain nonlinear systems. Fuzzy control systems utilize the concept of so-called parallel distributed compensation(PDC). Using a single quadratic Lyapunov function, the stability condition satisfying decay rate and disturbance attenuation condition for Takagi and Sugeno's fuzzy model with parameter uncertainty are discussed. A sufficient condition for the existence of robust fuzzy $H^{\infty}$ controllers is then presented in terms of linear matrix inequalities(LMIs). Finally, design examples of robust fuzzy $H^{\infty}$ controllers for uncertain nonlinear systems are presented.