• Journal of the Society of Naval Architects of Korea
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• v.61 no.4
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• pp.216-225
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• 2024

The sliding mode controller has characteristics that ensure stability and robustness against system uncertainty and disturbance. However, chattering occurs in the control inputs to compensate for system uncertainties and ensure that the system operates efficiently on the sliding surface. When the disturbance is large, using a sliding mode controller requires a large control gain value, which also increases chattering and reduces performance. Therefore, in this study, a nonlinear disturbance observer was used to compensate for external disturbances such as currents and waves and uncertainty in the control system for autonomous underwater vehicles. Accordingly, a robust controller can be implemented while reducing the control gain. The disturbance observer serves to ensure that the behavior of the actual system is closer to the nominal model by compensating for uncertainties between the actual system model and the nominal model during the control process. Therefore, the simulation results show that the performance and robustness of the autonomous underwater vehicle controller are improved by introducing a disturbance observer.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.26 no.5A
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• pp.849-859
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• 2006

This paper presents an extensive robust analysis of a ${\mu}$-controller in the hybrid system for various uncertainties using the benchmark cable-stayed bridge. The overall system robustness may be deteriorated by introducing active devices and the active controller may cause instability due to small margins. Therefore, a ${\mu}$-synthesis method that simultaneously guarantees the performance and stability of the closed-loop system (robust performance) with uncertainties is used for active devices to enhance the robustness in company with the inherent reliability of passive devices. The robustness of the ${\mu}$-synthesis method is investigated with respect to the additional mass on the deck, structural stiffness matrix perturbation, time delay of actuator, and combinations thereof. Numerical simulation results show that the proposed control system has the good robustness without loss of control performances with respect to various uncertainties under earthquakes considered in this study. Furthermore, the control system robustness is more affected by the perturbation of structural stiffness matrix than others considered in this study. Therefore, the hybrid system controlled by a ${\mu}$-synthesis method could be proposed as an improved control strategy for a seismically excited cable-stayed bridge containing many uncertainties.

• Journal of the Korean Institute of Intelligent Systems
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• v.11 no.6
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• pp.477-486
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• 2001

In this paper , we study the problem of designing TS(Takagi-Sugeno) fuzzy controllers for the systems that can be approximated or represented by the TS fuzzy model. The main strategy used in this paper is the inverse optimal approach, in which the cost function is determined later than the Lyapunov function and its corresponding control input satisfying the design requirements such as stability, decay rate, and robustness against uncertainty. This approach is useful because it yields controllers satisfying the inherent robustness of optimal controllers as well as the considered design goals. The design procedures established in this paper are all in the from of solving LMIs(Iinear matrix inequalities). Since the LMIs arising in the design procedures can be solved within a given tolerance by the interior point methods. the design method of the paper are efficient in practice. The applicability of the proposed design procedures is demonstrated by design examples.

• Journal of the Institute of Convergence Signal Processing
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• v.1 no.2
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• pp.169-176
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• 2000

Deadbeat property is well established in digital control system design in time domain. But in continuous time system, deadbeat is impossible because of it's ripples between sampling points inspite of designs using the related digital control system design theory. But several researchers suggested delay elements. A delay element is made from the concept of finite Laplace Transform. From some specifications such as internal model stability, physical realizations as well as finite time settling, unknown coefficents and poles in error transfer functions with delay elements can be calulted so as to satisfy these specifications. For the application to the real system, robustness property can be added. In this paper, error transfer function is specified with 1 delay element and robustness condition is considered additionally. As the criterion of the robustness, a weighted sensitive function's $H_{infty}$ norm is used. For the minimum value of the criterion, error transfer function's poles are calculated optimally. In this sense, optimal design of the continuous time deadbeat controller is obtained.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.25 no.1
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• pp.18-23
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• 1989

An approach for robustness recovery of the observer-based control system is presented. The approach is developed by adding a loop with appropriate constant matrix to the observer-based closed-loop system. It will be shown that if there exists an added-loop matrix M satisfying F=MC for a feedback gain F and output matrix C, then the observer-based control systems have the same loop transfer functions as full-state feedback implementations, in other words, the former has the same relative stability and robustness as the latter.

• Journal of Navigation and Port Research
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• v.47 no.4
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• pp.256-270
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• 2023

In this study, a sliding mode (SM) controller for dynamic positioning (DP) was specifically designed for a turret connection operation of a ship or an offshore structure in which an arbitrary point on the structure could be controlled as the motion center instead of the center of mass. The SM controller allows control of the arbitrary point and provides capability to manage uncertainties in the dynamics of ships and offshore structures, external forces caused by unknown changing marine environments, and transient performance of DP systems. The Jacobian matrix included in kinematic equations of the controlled object was modified to design the SM controller to control based on an arbitrary point of ships or offshore structures. To ensure robustness of the controller, the Lyapunov stability theory was applied in the design of the SM controller. In general, for robustness in DP control, gain scheduling based on a proportional-derivative (PD) control algorithm is employed. However, finding appropriate gains for gain scheduling complicates the application of DP systems. Therefore, in this study, the SM control algorithm was considered to mitigate the complexity of the DP controller for ships and offshore structures. To validate the proposed SM control algorithm, time-domain simulations were conducted and utilized to evaluate the performance of the control algorithm. The effectiveness of the proposed SM controller was assessed by comparing simulation results with results of a conventional PD control algorithm applied in DP control.

• Geomechanics and Engineering
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• v.31 no.4
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• pp.339-352
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• 2022

Studying slope stability is an important branch of civil engineering. In this way, engineers have employed machine learning models, due to their high efficiency in complex calculations. This paper examines the robustness of various novel optimization schemes, namely equilibrium optimizer (EO), Harris hawks optimization (HHO), water cycle algorithm (WCA), biogeography-based optimization (BBO), dragonfly algorithm (DA), grey wolf optimization (GWO), and teaching learning-based optimization (TLBO) for enhancing the performance of adaptive neuro-fuzzy inference system (ANFIS) in slope stability prediction. The hybrid models estimate the factor of safety (F_S) of a cohesive soil-footing system. The role of these algorithms lies in finding the optimal parameters of the membership function in the fuzzy system. By examining the convergence proceeding of the proposed hybrids, the best population sizes are selected, and the corresponding results are compared to the typical ANFIS. Accuracy assessments via root mean square error, mean absolute error, mean absolute percentage error, and Pearson correlation coefficient showed that all models can reliably understand and reproduce the F_S behavior. Moreover, applying the WCA, EO, GWO, and TLBO resulted in reducing both learning and prediction error of the ANFIS. Also, an efficiency comparison demonstrated the WCA-ANFIS as the most accurate hybrid, while the GWO-ANFIS was the fastest promising model. Overall, the findings of this research professed the suitability of improved intelligent models for practical slope stability evaluations.

• Transactions on Electrical and Electronic Materials
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• v.17 no.6
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• pp.341-350
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• 2016

The current study is dedicated to design a novel coordinated controller to effectively increase power system rotor angle stability. In doing so, the coordinated design of an AVR (automatic voltage regulator), PSS2B, and TCSC (thyristor controlled series capacitor)-based POD (power oscillation damping) controller is proposed. Although the recently employed coordination between a CPSS (conventional power system stabilizer) and a TCSC-based POD controller has been shown to improve power system damping characteristics, neglecting the negative impact of existing high-gain AVR on the damping torque by considering its parameters as given values, may reduce the effectiveness of a CPSS-POD controller. Thus, using a technologically viable stabilizer such as PSS2B rather than the CPSS in a coordinated scheme with an AVR and POD controller can constitute a well-established design with a structure that as a high potential to significantly improve the rotor angle stability. The design procedure is formulated as an optimization problem in which the ITSE (integral of time multiplied squared error) performance index as an objective function is minimized by employing an IPSO (improved particle swarm optimization) algorithm to tune adjustable parameters. The robustness of the coordinated designs is guaranteed by concurrently considering some operating conditions in the optimization process. To evaluate the performance of the proposed controllers, eigenvalue analysis and time domain simulations were performed for different operating points and perturbations simulated on 2A4M (two-area four-machine) power systems in MATLAB/Simulink. The results reveal that surpassing improvement in damping of oscillations is achieved in comparison with the CPSS-TCSC coordination.

• Journal of the Korean Society for Railway
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• v.12 no.2
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• pp.267-275
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• 2009

Max-plus algebra is a nonlinear system comprised of two operations, maximization (max) and addition (Plus), which are corresponding to the addition and the multiplication in conventional algebra, respectively. This methodology is applicable to many discrete event systems containing the state transition with the maximization and addition operation. Timetable with connection is one of such systems. We present the method based on max-plus algebra, which can make up timetable considering transfer and analyse its stability and robustness. In this study, it will be shown how to make up the timetable of the urban train and analyse its stability using Max-Plus algebra.

• Analytical Science and Technology
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• v.36 no.1
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• pp.32-43
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• 2023

This study reports for the first time about a stability indicating RP-HPLC method for qualitative and quantitative determination of acalabrutinib in bulk and dosage form and in presence its impurities 1, 2 and 3. The chromatographic separation was carried on Zorbax XDB-C18 (250×4.6 mm; 5 µ id) as stationary phase, Phosphate buffer pH 6.4 and methanol 80:20 (v/v) as mobile phase at a flow rate of 1.0 mL/min, UV detection was carried at wavelength of 238 nm and the analysis was completed with a run time of 15 min. In these conditions the retention time of acalabrutinib and its impurities 1, 2 and 3 was observed to be 3.50, 4.83, 8.40 and 9.93 min respectively. The method was validated for system suitability, range of analysis, precision, specificity, stability and robustness. Spiked recovery at 50 %, 100 % and 150 % was carried for both standard and impurities and the acceptable % recovery of 98-102 was observed for acalabrutinib and both impurities studied and the % RSD in each spiked level was found to be less than 2. Stability tests were done through exposure of the analyte solution to five different stress conditions i.e expose to 1N hydrochloric acid, 1 N sodium hydroxide, 3 % peroxide, 80 ℃ temperature and UV radiation at 254 nm. In all the degradation condition, standard drug acalabrutinib was detected along with both the impurities studied and the degradation products were successfully separated. In the formulation analysis there is no other chromatographic detection of other impurities and formulation excipients. Hence the developed method was found to be suitable for the quantification of acalabrutinib and can separate and analyse impurities 1 and 2.