• Journal of the Institute of Electronics Engineers of Korea TC
• /
• v.38 no.3
• /
• pp.35-43
• /
• 2001

A method is newly presented to synthesize the modal impedances satisfying the desired coupling factor of a reflective (or hack ward) coupled-line. The synthesis is achieved by optimal perturbations of repeating null points of lobes inherent to the solution of the first order nonlinear differential equation for coupling. It is based on the synthesis method of nonlinear source distribution functions for the prescribed space factor pattern in the one-dimensional array antenna. Here, the conventional synthesis method for the even distribution function is extended to the odd case. Resulting modal impedances will have continuously varying profiles. The design procedure of asymmetrical and symmetrical couplers corresponding to the even and odd distribution functions, is examplified to show the generalization and the simplicity of the proposed method.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.41 no.4
• /
• pp.284-290
• /
• 2013

The authors propose a nonlinear unknown input observer to estimate the angular speed of a satellite and to detect faults of reaction wheels. Input values are necessary to estimate the angular speed. Therefore, estimation errors are inevitable if faults occur in actuators or reaction wheels. Unknown input observers are useful to estimate the states of a system without being affected by unknown faults. The authors have designed a nonlinear unknown input observer by using the SDRE method and verified the proposed observer via numerical simulations. In spite of various and simultaneous faults, we have estimated the states and detected faults exactly by the proposed nonlinear unknown input observer.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.35 no.5
• /
• pp.412-418
• /
• 2007

An inverse optimal problem for homing guidance with angular constraint is addressed. The gains of BPN(Biased PN) are investigated by duality analysis related to the weighting matrices of the performance index in the LQ control problem. Moreover, the criteria for the existence of optimal gains are derived from the generalized Riccati equation. Based on the conditions we achieve the gain set of BPN to be optimal solution to the LQ problem with terminal constraints. To validate and demonstrate the proposed approach 3-DOF simulations are carried out.

• 제어로봇시스템학회:학술대회논문집
• /
• 1991.10a
• /
• pp.213-218
• /
• 1991

A new model which contains the dynamics of the motor system and the kinematics of the timing belt system is derived for an inverted pendulum system in FAPA Lab. Generalized standard compensator configuration(SCC) which contains the variable design parameters Kl, K2, .., K5 is proposed so that any desired design specification can be achieved. The robust controller which has robust property against the influence of sensor noise, system parameter variation and model uncertainty is designed minimizing the H$_{\infty}$-norm of transfer function from exogenous input to controlled output. The method of solving the two Riccati equations in state space and determining the controller uses on iteration method where the unique stabilizing solution to two algebraic Riccati equation must be positive definite and the spectral radius of their product less than .gamma.$^{2}$. Some cases are derived by varying the design parameter for simulation on a digital computer and experimenting the H$_{\infty}$- controller on an analog computer. The design parameters of controller which satisfies the desired control specification is selected on the basis of the simulation result and experimenting. The reasonableness and validity of the simulation and the robustness of the controller is established.d.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
• /
• v.10 no.2
• /
• pp.291-301
• /
• 1999

A method for the synthesis of one-dimensional nonlinear distribution function is presented for the desired inverse scattering pattern. This method is based on the inverse transform of the solution of the Riccati equation derived from one-dimensional inverse scattering problem. Since the solution is analogous to the array factor or normalized space factor in collinear array antenna, the synthesis method for field pattern is applied for the construction of the involved line-source nonlinear distribution function. The suggested method is carried out under the optimization process, and is numerically verified by synthesizing the dispersive transmission line profile within the specified frequency band and control of scattered field on resistive strip.

• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.7
• /
• pp.637-648
• /
• 2007

This paper presents a sensor fusion method based on indirect Kalman filter(IKF) for error compensation of low-cost inertial sensors and its application to the determination of attitude and position of small flying robots. First, the analysis of the measurement error characteristics to zero input is performed, focusing on the bias due to the temperature variation, to derive a simple nonlinear bias model of low-cost inertial sensors. Moreover, from the experimental results that the coefficients of this bias model possess non-deterministic (stochastic) uncertainties, the bias of low-cost inertial sensors is characterized as consisting of both deterministic and stochastic bias terms. Then, IKF is derived to improve long term stability dominated by the stochastic bias error, fusing low-cost inertial sensor measurements compensated by the deterministic bias model with non-inertial sensor measurement. In addition, in case of using intermittent non-inertial sensor measurements due to the unreliable data link, the upper and lower bounds of the state estimation error covariance matrix of discrete-time IKF are analyzed by solving stochastic algebraic Riccati equation and it is shown that they are dependant on the throughput of the data link and sampling period. To evaluate the performance of proposed method, experimental results of IKF for the attitude determination of a small flying robot are presented in comparison with that of extended Kaman filter which compensates only deterministic bias error model.

• 제어로봇시스템학회:학술대회논문집
• /
• 1993.10b
• /
• pp.562-565
• /
• 1993

It is well known that H$_{\infty}$ control problem involves solving an algebraic Riccati equation which includes a pair of parameters (.gamma., .epsilon.). Focusing on .epsilon. the maximum of .epsilon.. We discuss in this paper about the properties between the H$_{\infty}$ norm of a trnsfer function matrix and the parameters(.gamma., .epsilon.). We can change the algebraic relattion between .gamma. and .epsilon. by the similarity transformation of a considered system and we can find a proper transformation to get a simple quadratic algebraic equation between .gamma. and .epsilon.. This relation provide the H$_{\infty}$ norm of a transfer function.on.

• Proceedings of the KIEE Conference
• /
• 1992.07a
• /
• pp.347-350
• /
• 1992

In this note, we propose a method for designing a robot controller which can suppress the effects of both the model uncertainty and noisy velocity measurements. The controller is an output feedback compensator of which the constant gains are given in terms of a Riccati equation and a Lyapunov equation. The controller guarantees not only uniform boundedness but uniform ultimate boundedness. The stability result is local but the region can be arbitrarily enlarged at the expense of large control gain. The control law needs neither the exact knowledge of the physical robot parameters nor clean velocity measurements.

• Journal of applied mathematics & informatics
• /
• v.30 no.1_2
• /
• pp.219-234
• /
• 2012

By using the generalized Riccati transformation and the inequality technique, we establish some new oscillation criterion for the second-order nonlinear delay dynamic equations $$(a(t)(x^{\Delta}(t))^{\gamma})^{\Delta}+q(t)f(x({\tau}(t)))=0$$ on a time scale $\mathbb{T}$, here ${\gamma}{\geq}1$ is the ratio of two positive odd integers with $a$ and $q$ real-valued positive right-dense continuous functions defined on $\mathbb{T}$. Our results not only extend and improve some known results, but also unify the oscillation of the second-order nonlinear delay differential equation and the second-order nonlinear delay difference equation.

• 제어로봇시스템학회:학술대회논문집
• /
• 1990.10b
• /
• pp.858-863
• /
• 1990

A synthesis of feedback control-law with combined H$_{2}$/H$_{\infty}$ perfoemance criteria is proposed for discrete-time systems, under the assumption that the state is available for feedback. An auxiliary minimization problem is defined to enforce the H$_{\infty}$ disturbance attenuation constrain while minimizing the H$_{2}$ performance bound. The design equation is presented in terms of a modified Riccati equation which leads to the standard LQ solution when the H$_{\infty}$ constraint is completely relaxed. The results of the paper clarity the correspondences between H$_{2}$/H$_{\infty}$ results in discrete-time systems and their continuous-time counter-parts.rts.