• 전기의세계
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• 제22권1호
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• pp.28-34
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• 1973

This paper treats with the sub-optimal control problem of noninear systems by approximation method. This method involves the approximation by linearization which provides the sub-optimal solution of non-linear control problems. The result of this work shows that, in the problem in which the controlled plant is characterized by an ordinary differential equation of first order, the solution obtained by this method coincides with the exact solution of problem. In of case of the second or higher order systems, it is proved analytically that this method of linearization produces the sub-optimal solution of the given problem. It is also shown that the sub-optimality of solution by the method can be evaluated by introducing the upper and lower bounded performance indices. Discussion is made on the procedure with some illustrative examples whose performance indices are given in the quadratic forms.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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• pp.95-99
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• 1994

Robot engineering is developed mainly in the field of intelligibility such as a manipulation. Considering the popularization of robots in the future, however, a robot should be studied from a viewpoint of saving energy because a robot is a kind of machine with a energy conversion. This paper deals with minimizing an energy consumption of a manipulator which is driven in a point-to-point control method. When a manipulator carries a heavy payload toward gravitation or the links are de-accelerated for positioning, the motors at joints generate electric energy. Since this energy can be regenerated to the source by using a chopper, the energy consumption of a manipulator is only heat loss by an electric and a frictional resistance of the motors. The minimization of the sum of these losses is reduced Lo a two-points boundary-value problem of an non-linear differential equation. The solutions are obtained by the generalized Newton-Raphson method in this paper. The energy consumption due to the optimum angular velocity patterns of two joints of a two-links manipulator is compared with conventional velocity patterns such as quadratic and trapezoid.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 춘계학술대회 논문집
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• pp.224-229
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• 1997

This paper compares the control techniques for position control experiments of a fixible robot moving in a vertical plane. The flexible manipulator is modeled as an Euler-beroulli beam. Elastic deformantion is representedusing the assumed model method. A comparison function which satisfies all geometric and natural boundary conditions of a cantilever beam with an end mass is used as an assumed mode shape. Lagrange's equation is utilized for the development of a discretized model. Control schemes are developed using PID control,pole placement control and discrete Linear Quadratic Regulater(LQQ). The effectiveness of the developed control schems are compared using computer simulation in view of practical experiment. The simulation results show that PID control is very effective in practical implementation.

• 전기의세계
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• 제22권4호
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• pp.17-24
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• 1973

In the view point of practical engineering the identification problem may be considered as a problem to determine the optimal model in the sense of minimizing a given criterion function using the input-output records of the plant. In the system identification the statistical approach has been known to be very effective when the topological structure of the system and the statistical characteristics of the observation noises are known a priori. But in the practical situation there are many cases when the inforhation about the observation noises or the system noises are not available a priori. Here, the authors propose a new identification method which can be used effectively even in the cases when the variances of observation noises are unknown a priori. In the method, the identification of unknown parameters of a linear diserete system is achieved by minimizing the improved quadratic criterion function which is composed of the term of square equation errors and the term to eliminate the affection of observation noises. The method also gives the estimate of noise variance. Numerical computations for several examples show that the proposed procedure gives satisfactory results even when the short time observation data are provided.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 C
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• pp.1183-1185
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• 1999

The basic purpose of economic dispatch problem is that minimize fuel cost with inequality constraint of generator output. To solve this problem it is very important to express power loss equation that have quadratic function of generator output power included B-coefficient. This Paper presents a method in determining B-coefficient by use A-matrix that is calculated by loss re-distribution algorithm (LRDA) considering voltage dependent load model (VDLM)s. The Proposed algorithm is tested with IEEE 6 bus sample system, which shows the result in each cases by the change of load component factor.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1992년도 하계학술대회 논문집 A
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• pp.276-278
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• 1992

This paper presents a method of hierachical optimal control for time invariant large scale systems via Single Term Walsh Series. It is well known that the optimal control of a large scale system with quadratic performance criteria often involves the determination of time varying feedback gain matrix by solving the matrix Riccati differential equation, which is usually quite difficult. Therefore, in order to solve the problem, this paper is introduced to Single Term Walsh Series. The advantages of proposed method are simple and attractive for the control of large scale system in computation.

• 천문학회지
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• 제47권6호
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• pp.215-218
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• 2014

One-dimensional (1-D) microlens parallaxes can be combined with heliocentric lens-source relative proper motion measurements to derive the lens mass and distance, as suggested by Ghosh et al. (2004). Here I present the first mathematical anlysis of this procedure, which I show can be represented as a quadratic equation. Hence, it is formally subject to a two-fold degeneracy. I show that this degeneracy can be broken in many cases using the relatively crude 2-D parallax information that is often available for microlensing events. I also develop an explicit formula for the region of parameter space where it is more difficult to break this degeneracy. Although no mass/distance measurements have yet been made using this technique, it is likely to become quite common over the next decade.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 추계학술대회논문집A
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• pp.646-653
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• 2001

LQG/LTR Control Methology is recently used for the analysis of multi-variable control in frequency domain. Target filter loop is designed by the demanding requirements such as cross-over frequency, disturbance rejection in low frequency domain, zero steady-state error, identification of maximum and minimum singular values and sensor noise rejection in high frequency domain. Loop transfer recovery is accomplished by solving the cheap control and then simulation close to the target filter loop. In this study, LQG/LTR Control Methodology is applied to the seat suspension system. It is found that this technique is very effective to control the system and improve the ride quality of human body.

• Journal of applied mathematics & informatics
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• 제5권2호
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• pp.507-516
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• 1998

In this study we are concerned with the problem of ap-proximating a locally unique solution of an equation on a Banach space. A semilocal convergence theorem is given for the Super-Halley method in Banach spaces. Earlier results have shown that the order of convergence is four for a certain class of operators [4] [5] [8] These results were not given in affine invariant form and made use of a real quadratic majorizing polynomial. Here we provide our re-sults in affine invariant form showing that the order of convergence is at least four. In cases that it is exactly four the rate of convergence is improved. We achieve these results by using a cubic majorizing polynomial. Some numerical examples are given to show that our error bounds are better than earlier ones.

• 한국정밀공학회지
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• 제13권2호
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• pp.94-101
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• 1996

The equations of motion for a basic industrial robotic system which has a rigid or a flexible arm are derived by Lagrange's equation, respectively. Especially, for the deflection of the flexible arm, the assumed mode method is employed. These equations are highly nonlinear equations with nonlinear coupling between the variables of motion. In order to design the control law for the rigid-arm robot, Hunt-Su's nonlinear transformation method and Marino's feedback equivalence condition are used with linear quadratic regulator(LQR) theory. The control law for the rigid-arm robot is employed to input the desired path and to provide the required nonlinear transformations for the flexible-arm robot to follow. By using the implicit Euler method to solve the nonlinear equations, the comparison of the motions between the flexible and the rigid robots and the effect of flexibility are examined.