• Bulletin of the Korean Mathematical Society
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• v.32 no.1
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• pp.85-91
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• 1995

For a locally compact Hausdorff space, we denote by $C_0(X)$ the Banach space of all continuous complex valued functions defined on X which vanish at infinity, equipped with the usual sup norm. In case X is compact, we write C(X) instead of $C_0(X)$. A well-known Banach-Stone theorem states that the existence of an isometry between the function spaces $C_0(X)$ and $C_0(Y)$ implies X and Y are homemorphic. D. Amir [1] and M. Cambern [2] independently generalized this theorem by proving that if $C_0(X)$ and $C_0(Y)$ are isomorphic under an isomorphism T satisfying $\left\$\mid$ T \right\$\mid$ \left\$\mid$ T^1 \right\$\mid$ < 2$, then X and Y must also be homeomorphic.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.44-47
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• 1996

An optimal preview controller based on the discrete-time $H_{.inf}$ control is presented. The preview controller is synthesized by considering the bounded unknwon disturbances as well as previewable commands and disturbances. The controller derivation procedure is analogous to the LQ-based scheme. The designed preview gain matrix has a similar structure as the LQ-based one. As the infinity norm .gamma. of the transfer function matrix tends to .inf., the preview gains obtained by $H_{\infty}$ control method approach to the gains by the LQR. The LQ-based preview gains are verified to be subsets of the $H_{.inf}$ -based preview gains..

• Journal of Institute of Control, Robotics and Systems
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• v.2 no.1
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• pp.35-44
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• 1996

A design method for a teleoperator robot system is presented in this paper. The control system consists of two phases; approach phase and contact one. The end-effector position of the estimated slave robot and the contact force between the end-effector and wall are displayed on the monitors at control site, using which the operator controls the teleoperator system. The approach phase controller is designed using Smith's principle and the contact one designed based upon the structured singular value ${\mu}$ in order to increase the robustness of the system. The uncertainatices such as communication time delay and the variations of system parameters are considered as a muliplicative pertubation. Computer simulations are conducted in order to evaluate the performance of the proposed design method. It is found that desirable control performance, especially in the contact phase, is obtained if the control mode is switched into contact phase when the estimated position of the slave robot end-effector is in front of the wall.

• Journal of the Institute of Convergence Signal Processing
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• v.5 no.1
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• pp.66-72
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• 2004

PID control has been well used for several decades. For PID algorithms, some tuning methods are used for selecting PID parameters and with these selected parameters, PID control system is designed. But in some cases various kinds of performance indices are used instead of well-known tuning rules, and so variable type of performance index must be tested so that the designed control system meets the some specifications. For 2 DOF PID controller design this paper presents a linear combinational type of performance indices constituting of index for robust performance, which is obtained by h infinity norm of a weighted complementary sensitivity function, including other time domain indices such as error, energy and changing rate of control input. By numerical methods, the optimal 2 DOF PID parameters are obtained. Therefore various types of 2 degree of freedom PID controllers such as I-PD controller are used so that this two degree of freedom PID controllers may give more desirable output characteristics. Simulations are done with MATLAB m file and mdl files.