• Journal of the Korean Institute of Intelligent Systems
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• v.12 no.3
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• pp.239-245
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• 2002

In this Paper, we present a method for designing fuzzy $H_2/H_{\infty}$ controllers of delayed nonlinear systems with saturating input. Takagi-Sugeno fuzzy model is employed to represent delayed nonlinear systems with saturating input. The fuzzy control systems utilize the concept of the so-called parallel distributed compensation(PDC). Using a single quadratic Lyapunov function, the globally exponential stability and $H_2/H_{\infty}$ performance problem are discussed. And a sufficient condition for the existence of fuzzy $H_2/H_{\infty}$ controllers is given in terms of linear matrix inequalities(LMIs). The designing fuzzy $H_2/H_{\infty}$ controllers minimize an upper bound on a linear quadratic performance measure. Finally, a design example of fuzzy $H_2/H_{\infty}$ controller for uncertain delayed nonlinear systems with saturating input.

• Journal of the Korean Institute of Intelligent Systems
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• v.12 no.6
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• pp.559-564
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• 2002

This Paper Proposes a design method of a fuzzy output feedback controller for the nonlinear systems with the unknown time- delay. Recently, Cao et ai. proposed a stabilization method for the nonlinear time-delay systems using a fuzzy controller when the time-delay is known. However, the time-delay is likely to be unknown in practical. We represent the nonlinear systems with the unknown time-delay by Takagi-Sugeno (T-5) fuzzy model and design the fuzzy observer and the parallel distributed compensation (PDC) law based on this observer. By applying Lyapunov-Krasovskii theorem to the closed-loop system, the sufficient condition for the asymptotic stability of the equilibrium Point is derived and converted into the linear matrix inequality (LMI) Problem.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1846-1847
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• 2011

In this paper, for the trajectory tracking control of mobile robot, firstly, we obtained the T-S fuzzy models from the tracking-error models, one of which has nonlinear form and the other is linearized around the reference trajectory. Then the tracking control inputs are designed using the proposed fuzzy linearization method and the existed PDC method. Lastly, the tracking performance is tested and compared for each model through simulation.

• Transactions on Control, Automation and Systems Engineering
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• v.1 no.1
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• pp.44-49
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• 1999

This paper presents a new T-S(Tae-Sugeno) fuzzy controller design method satisfying the output energy bound. Maximum output energy via a quadratic Lyapunov function to obtain the bound on output energy is derived. LMI(Linear Matrix Inequality) problems which satisfy an output energy bound for both of the continuous-time and discrete-time T-S fuzzy control system are also derived. Solving these LMIs simultaneously, we find a common symmetric positive definite matrix P which guarantees the global asymptotic stability of the system and stable feedback gains K's satisfying the output energy bound. A simple example demonstrates validity of the proposed design method.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.7
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• pp.1247-1253
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• 2008

A design method of a T-S fuzzy model based reduced order nonlinear unknown input observer(NUIO) is presented. The fuzzy NUIO is designed based on the parallel distributed compensation(PDC) concept. It consists of a number of the linear UIOs, each of which is designed for each local linear model in the T-S fuzzy model of a class of nonlinear systems. The fuzzy NUIO provides not only the state estimates insensitive to the unknown inputs, for example, disturbances and faults etc., but also the estimates of the unknown inputs. Therefore, It can be employed in the state feedback control and disturbance rejection control of a class of nonlinear systems with unknown disturbances. It also applied to the robust residual generation for the fault detection and isolation systems and to the design of fault tolerant control systems. As an example, the NUIO is applied to an inverted pendulum system to show the state and disturbance estimation performance and to illustrate the fuzzy reduced order NUIO design method.

• Journal of the Korean Institute of Intelligent Systems
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• v.11 no.8
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• pp.720-725
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• 2001

Derivation of TSK fuzzy model from nonlinear differential equation is fundamental issue in the field of theoretical fuzzy control. The method which does not yield affine local differential equations at off-equilibrium points is proposed in this paper. A prototype TSK fuzzy model which has triangular membership functions for linguistic terms of the antecedent part is derived systematically. And then GA is used to modify the membership functions optimally. Simulation results show the validity of the proposed method.

• Asian-Australasian Journal of Animal Sciences
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• v.27 no.2
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• pp.161-168
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• 2014

This study aimed to investigate dietary concentrate:forage ratios (C:F) and undegraded dietary protein (UDP) on nitrogen balance and urinary excretion of purine derivatives (PD) in lambs. Four Dorper${\times}$thin-tailed Han crossbred castrated lambs with $62.3{\pm}1.9$ kg body weight at 10 months of age were randomly assigned to four dietary treatments in a $2{\times}2$ factorial arrangement of two levels of C:F (40:60 and 60:40) and two levels of UDP (35% and 50% of CP), according to a complete $4{\times}4$ Latin-square design. Each experimental period lasted for 19 d. After a 7-d adaptation period, lambs were moved into individual metabolism crates for 12 d including 7 d of adaption and 5 d of metabolism trial. During the metabolism trial, total urine was collected for 24 h and spot urine samples were also collected at different times. Urinary PD was measured using a colorimetric method and creatinine was measured using an automated analyzer. Intake of dry matter (DM) (p<0.01) and organic matter (OM) (p<0.01) increased as the level of UDP decreased. Fecal N was not affected by dietary treatment (p>0.05) while urinary N increased as the level of UDP decreased (p<0.05), but decreased as dietary C:F increased (p<0.05). Nitrogen retention increased as dietary C:F increased (p<0.05). As dietary C:F increased, urinary excretion of PD increased (p<0.05), but was not affected by dietary UDP (p>0.05) or interaction between dietary treatments (p>0.05). Daily excretion of creatinine was not affected by dietary treatments (p<0.05), with an average value of $0.334{\times}0.005$ mmol/kg $BW^{0.75}$. A linear correlation was found between total PD excretion and PDC index ($R^2$ = 0.93). Concentrations of creatinine and PDC index in spot urine were unaffected by sampling time (p>0.05) and a good correlation was found between the PDC index (average value of three times) of spot urine and daily excretion of PD ($R^2$ = 0.88). These results suggest that for animals fed ad libitum, the PDC index in spot urine is effective to predict daily excretion of PD. In order to improve the accuracy of the spot sampling technique, an appropriate lag phase between the time of feeding and sampling should be determined so that the sampling time can coincide with the peak concentration of PD in the urine.

• Textile Coloration and Finishing
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• v.14 no.3
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• pp.53-58
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• 2002

Cotton fabric was treated with TiO$_2$-PEG600 mixed solution by pad-dry-cure and wet-fixation process to improve the performance properties as well as antibiosis effect and its laundering durability. In this paper, the effects of concentration of $TiO_2/PEG$ and fixation process were investigated on laundering durability and properties of cotton fabric treated with glyoxal. As the concentration of $TiO_2/PEG$ increased fixation, W.I., K/S of treated cotton fabric increased. Application of wet-fixation method provided a further improvement in fixation, laundering durability of treated cotton fabric.

• Textile Coloration and Finishing
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• v.14 no.4
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• pp.223-228
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• 2002

Cotton fabric was treated with $TiO_2$-PEG600 dispersion colloid by pad-dry-cure and wet-fixation process to improve the performance properties as well as UV-cut effect. As the concentration of $TiO_2$/PEG increased tensile strength, crease resistance, stiffness of treated cotton fabric increased. Application of wet-fixation method provided a further improvement in tensile strength, crease resistance, stiffness of treated cotton fabric. Cotton fabric treated with $TiO_2$/PEG was more efficient in UV-cut property than untreated cotton.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.2 no.3
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• pp.231-236
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• 2002

In this paper, we present an analysis and design method fur the control of input-saturated nonlinear systems with the time-delay. The target system is represented by Takagi-Sugeno (T-S) fuzzy model and the parallel distributed compensation (PDC) controller is designed to guarantee the local stability of the equilibrium point. We derive the sufficient condition for the local stability by applying Lyapunov-krasovskii theorem and this condition is converted into the LMI problem.