• Journal of the Institute of Convergence Signal Processing
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• v.6 no.3
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• pp.157-162
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• 2005

This paper presents an adaptive compensator using the fuzzy systems for robot manipulator with unknown frictions. In general, frictions are neglected or dynamic frictions are only considered in robot control theories. The proposed control method considers viscous frictions as well as dynamic frictions. Using the property that the frictions of joints are decoupled, SISO-fuzzy systems are utilized to approximate each friction. The stability of overall control system is proven and the adaptive laws are derived based on Lyapunov stability theorey. To verify the validity of the proposed control strategy, the results of computer simulations are shown for 2-link robot manipulator. The ability of approximating of the fuzzy system is also shown.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.45 no.2
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• pp.44-51
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• 2008

In this paper, we propose a modified clipping scheme for iterative decoding of superposition coding system by losing less power than clipping scheme. Our proposed scheme in superposition coding system shows good performance in peak-to-average power ratio(PAPR) and system performance with the same Clipping Ratio especially in low Clipping Ratio case. Finally in order to alleviate the performance degradation due to clipping noises, we combine a soft compensation algorithm that is combined with soft-input-soft-output(SISO) decoding algorithms in an iterative manner proposed by [1][2]. Simulation results show that with the proposed scheme, most performance loss can be recovered.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.255-260
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• 1988

A robust adaptive control method for a stable nonminimum phase SISO system with unmodelled dynamics is proposed. The robust parameter estimation method of the system with bounded output noise and unmodelled dynamics is employed and a parallel structure is proposed to improve the robustness of adaptive control system. The local stability of the proposed system is shown. Computer simulations are done in order to compare the performance of the proposed structure with the basic structure on various circumstance.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.400-404
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• 1994

In this paper, we will investigate the position estimation problem for autonomous mobile robots. Formulating this as a state estimation problem for nonlinear SISO system, then we will apply several types of nonlinear observers. Simulation results of observer-based navigation control will be also provided.

• Proceedings of the IEEK Conference
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• 2008.06a
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• pp.189-190
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• 2008

In this paper, we evaluate the bit error rate (BER) performance for uplink communication of WiBro system when smart antenna technology is employed. It is shown that, by exploiting beamforming technology, smart antenna-based WiBro system shows improved performance by more than 4 dB in SNR compared to single input single output (SISO) system under one-path Rayhleigh fading channel condition.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.103-105
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• 1995

In this paper, though Simith controller is also used, we propose a new system configuration which can be regarded an SISO continuous nth-order plant with time delay of k-times of a sampling period as a linear discrete (n + k)th order plant of which all state variables can be available. Consequently, we can pply linear control system design techniques which do not consider the existence of time delay to the proposed system.

• The Journal of the Acoustical Society of Korea
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• v.20 no.8
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• pp.3-11
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• 2001

This paper describes an implementation of inverse filter using SVD in order to recover the input in multi-channel system. The matrix formulation in SISO system is extended to MIMO system. In time and frequency domain we investigates the inversion of minimum phase system and non-minimum phase system. To execute an effective inversion of non-minimum phase system, SVD is introduced. First of all we computes singular values of system matrix and then investigates the phase property of system. In case of overall system is non-minimum phase, system matrix has one (or more) very small singular value (s). The very small singular value (s) carries information about phase properties of system. Using this property, approximate inverse filter of overall system is founded. The numerical simulation shows potentials in use of the inverse filter.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.11
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• pp.5202-5207
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• 2011

A temperature control system is very important part in many industrial applications. Typical development procedures for temperature control system consist of several stages such as conceptual system design, construction of physical system, controller design based on the mathematical model for the system, and performance test. Since the mathematical model is usually obtained with the aid of system identification technique based on repeated experiments after construction of the physical system, the above procedures require very large amount of time and cost. It takes also large amount of time in the controller design and performance test procedures. In this paper, a virtual development scheme, which can predict the performance of the temperature control system prior to construction of physical system, for rapid validation of the initial system design is proposed. The effectiveness of the proposed scheme is shown by using SISO (Single Input Single Output) example.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1267-1271
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• 2003

This paper proposes an indirect adaptive fuzzy controller for general SISO nonlinear systems. No a priori information on bounding constants of uncertainties including reconstruction errors and optimal fuzzy parameters is needed. The control law and the update laws for fuzzy rule structure and estimates of fuzzy parameters and bounding constants are determined so that the Lyapunov stability of the whole closed loop system is guaranteed. The computer simulation results for an inverted pendulum system show the performance of the proposed robust adaptive fuzzy controller.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.214-217
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• 1987

In this paper self tuning control of interconnected systems are dealt in view point of large scale system control. The plant model is given in multiple ARMA process. This process is simplified as independent SISO ARMA process having offset terms. This offset was considered as effects of interconnections. In each decentralized system, self tuning controller with instrumental variable method is adopted. As a result, this algorithm enables the parameter estimation to be unbiased and non-drift. This controller contains a new implicit offset rejection technique. Simulation results considers well with the analysis in case of linear interconnection.