• Earthquakes and Structures
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• v.3 no.6
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• pp.805-820
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• 2012

An enhanced and efficient methodology is proposed for evaluating the robustness of an uncertain structure with passive dampers. Although the structural performance for seismic loads is an important design criterion in earthquake-prone countries, the structural parameters such as storey stiffnesses and damping coefficients of passive dampers are uncertain due to various factors or sources, e.g. initial manufacturing errors, material deterioration, temperature dependence. The concept of robust building design under such uncertain structural-parameter environment may be one of the most challenging issues to be tackled recently. By applying the proposed method of interval analysis and robustness evaluation for predicting the response variability accurately, the robustness of a passively controlled structure can be evaluated efficiently in terms of the so-called robustness function. An application is presented of the robustness function to the design and evaluation of passive damper systems.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.7
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• pp.1096-1103
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• 2015

Electromagnetic levitation system(EMLS) is one of the well known nonlinear systems due to its high degree of nonlinearities. Moreover, when there are uncertain parameters in EMLS, it is not easy to have an accurate control of EMLS. In this paper, we first apply a standard input-output feedback linearzing controller to EMLS and investigate the possible control error caused by uncertain coil resistor. Then, as a remedy, we design and apply a robust controller using Lyapunov redesign technique to deal with this uncertain coil resistor in the system. The validity of our robust controller is verified via system analysis and experimental results.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.2
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• pp.153-158
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• 1999

We consider single-input nonlinear systems with unknown unmodelled time-varying parameters or disturbances which are bounded. The main goal is to identify classes of uncertain systems for which the control exist and to provide constructive design procedures. Assuming that the undisturbed nominal system ( ,g) is partially state feedback linearizable, that a strict triangularity condition, a linear parametrization condition, and {{{{ { G}_{r-1 } }}}} hold for the uncertain terms, and that some condition is satisfied in the transformed partially linear system, we design an adaptive regulating dynamic control. At first, we identify classes of nonlinear uncertain systems and give a systematic procedure for the design of a robust regulation for the nonlinear systems.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.39 no.9
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• pp.944-955
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• 1990

A high-performance robotic controller is proposed for uncertain robots by using an adaptive control method, which guarantees the boundedness of uncertain systems with partially known uncertainty bounds. In order to improve the tracking performance of the robotic controller, a linear compensator is introduced to the robotic system which has been linearized via a nonlinear feedback. The above adaptive method is then utilized to guarantee the ultimate boundedness of the tracking errors. The performance of the robotic controller is compared with that of the computed torque method by computer simulations under uncertain environments. The simulation results show that the proposed method gives better performance than the computed torque method. Since the proposed method has a small number of parameters to be estimated, the controller is simpler to implement than other existing adaptive controller for robots. Hence, the proposed robotic control method is expected to be well suited for high-performance operation of robots under uncertain environment.

• Geomechanics and Engineering
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• v.36 no.6
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• pp.601-618
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• 2024

The joint probability distribution of uncertain geomechanical parameters of geotechnical strata is a crucial aspect in constructing the reliability functional function for roof structures. However, due to the limited number of on-site exploration and test data samples, it is challenging to conduct a scientifically reliable analysis of roof geotechnical strata. This study proposes a Copula method based on small sample exploration and test data to construct the intensity characteristics of roof geotechnical strata. Firstly, the theory of multidimensional copula is systematically introduced, especially the construction of four-dimensional Gaussian copula. Secondly, data from measurements of 176 groups of geomechanical parameters of roof geotechnical strata in 31 coal mines in China are collected. The goodness of fit and simulation error of the four-dimensional Gaussian Copula constructed using the Pearson method, Kendall method, and Spearman methods are analyzed. Finally, the fitting effects of positive and negative correlation coefficients under different copula functions are discussed respectively. The results demonstrate that the established multidimensional Gaussian Copula joint distribution model can scientifically represent the uncertainty of geomechanical parameters in roof geotechnical strata. It provides an important theoretical basis for the study of reliability functional functions for roof structures. Different construction methods for multidimensional Gaussian Copula yield varying simulation effects. The Kendall method exhibits the best fit in constructing correlations of geotechnical parameters. For the bivariate Copula fitting ability of uncertain parameters in roof geotechnical strata, when the correlation is strong, Gaussian Copula demonstrates the best fit, and other Copula functions also show remarkable fitting ability in the region of fixed correlation parameters. The research results can offer valuable reference for the stability analysis of roof geotechnical engineering.

• Structural Engineering and Mechanics
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• v.18 no.3
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• pp.331-342
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• 2004

The vibration control problem of structures with random parameters is discussed, which is approximated by a deterministic one. A method for calculating the standard deviations of eigenvalues of the closed-loop systems is presented by using the random perturbation. The method presented in this paper will not require the distribution function of the random parameters of the systems other than their means and variances. Similarly, the distribution function of the random eigenvalues will not be computed other than their means and variances. The standard deviations of eigenvalues of the uncertain closed-loop systems can be used to estimate the stability robustness. The present method is applied to a vibration control system to illustrate the application. The numerical results show that the present method is effective.

• Journal of Electrical Engineering and Technology
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• v.3 no.1
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• pp.135-142
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• 2008

This paper deals with the design of a robust PI controller for a vehicle suspension system. A method, which is related to computation of all stabilizing PI controllers, is applied to the vehicle suspension system in order to obtain optimum control between passenger comfort and driving performance. The PI controller parameters are calculated by plotting the stability boundary locus in the $(k_p,\;k_i)$-plane and illustrative results are presented. In reality, like all physical systems, the vehicle suspension system parameters contain uncertainty. Thus, the proposed method is also used to compute all the parameters of a PI controller that stabilize a vehicle suspension system with uncertain parameters.

• Water Engineering Research
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• v.3 no.4
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• pp.215-234
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• 2002

Uncertainty in dam breach flood routing results was analyzed in order to provide the basis fer the investigation of their effects on the flood damage assessments and dam safety risk assessments. The Monte Carlo simulation based on Latin Hypercube Sampling technique was used to generate random values for two uncertain input parameters (i.e., dam breach parameters and Manning's n roughness coefficients) of a dam breach flood routing analysis model. The flood routing results without considering the uncertainty in two input parameters were compared with those with considering the uncertainty. This paper showed that dam breach flood routing results heavily depend on the two uncertain input parameters. This study indicated that the flood damage assessments in the downstream areas can be critical if uncertainty in dam breach flood routing results are considered in a reasonable manner.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.347-350
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• 1996

With only the classical PID controller applied to control of a DC motor, a good (target) performance characteristic of the controller can be obtained, if all the model parameters of DC motor and operating conditions such as external load torque, disturbance, etc. are exactly known. However, in case when some of system parameters or operating conditions are uncertain or unknown, the fixed PID controller does not guarantee the good performance which is assumed with precisely known system parameters and operating conditions. In view of this and robustness enhancement of DC motor control system, we propose a PID learning controller which consists of a set of learning rules for PID gain tuning and learning of an auxiliary input. The proposed PID learning controller is shown to drive the state of uncertain DC motor system with unknown system parameters and external load torque to the desired one globally asymptotically. Computer simulation results are given to demonstrate the effectiveness of the proposed PID learning controller, thereby showing whose superiority to the conventional fixed PID controller.

• Journal of applied mathematics & informatics
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• v.40 no.1_2
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• pp.351-370
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• 2022

The design of mechanical structures aims to meet criteria, together with the safety of operators and lives in the vicinity of the equipment. Thus, there are several cases that meeting the desired specification causes the mechanical device to perform unstable and, sometimes, chaotic behavior. In these cases, control methods are applied in order to stabilize the device when in operation, aiming at the physical integrity of the component and the device operators. In this work, we will develop a study about the influence of a controller applied in a non-ideal capsule system operating with uncertain parameters, being non-existent in the literature. For this, two initial conditions were used: one that the capsule starts from rest and another that it is already in motion. Thus, the effectiveness of the controller can be assessed in both initial conditions, restricting the movement of the internal vibration-impact system to the capsule.