• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.45 no.5
• /
• pp.1-7
• /
• 2008

This paper presents not only the robust stabilization technique but also robust non-fragile controller design method for discrete-time singular systems and static state feedback controller with multiplicative uncertainty. The condition for the existence of robust stabilization controller, the admissible controller design method, and the measure of non-fragility in controller are proposed via LMI(linear matrix inequality) approach. In order to get the maximum measure of non-fragility, the obtained sufficient condition can be rewritten as LMI optimization form in terms of transformed variable. Therefore, the presented robust non-fragile controller for discrete-time singular systems guarantees robust stability in spite of parameter uncertainty and controller fragility. Finally, a numerical example is given to show the validity of the design method.

• Earthquakes and Structures
• /
• v.12 no.4
• /
• pp.425-436
• /
• 2017

Vibration control using a tuned mass damper (TMD) is an effective technique that has been verified using analytical methods and experiments. It has been applied in mechanical, automotive, and structural applications. However, the damping of a TMD cannot be adjusted in real time. An excessive mass damper stroke may be introduced when the mass damper is subjected to a seismic excitation whose frequency content is within its operation range. The semi-active tuned mass damper (SATMD) has been proposed to solve this problem. The parameters of an SATMD can be adjusted in real time based on the measured structural responses and an appropriate control law. In this study, a stiffness-controllable TMD, called a leverage-type stiffness-controllable mass damper (LSCMD), is proposed and fabricated to verify its feasibility. The LSCMD contains a simple leverage mechanism and its stiffness can be altered by adjusting the pivot position. To determine the pivot position of the LSCMD in real time, a discrete-time direct output-feedback active control law that considers delay time is implemented. Moreover, an identification test for the transfer function of the pivot driving and control systems is proposed. The identification results demonstrate the target displacement can be achieved by the pivot displacement in 0-2 Hz range and the control delay time is about 0.1 s. A shaking-table test has been conducted to verify the theory and feasibility of the LSCMD. The comparisons of experimental and theoretical results of the LSCMD system show good consistency. It is shown that dynamic behavior of the LSCMD can be simulated correctly by the theoretical model and that the stiffness can be properly adjusted by the pivot position. Comparisons of experimental results of the LSCMD and passive TMD show the LSCMD with less demand on the mass damper stroke than that for the passive TMD.

• Journal of the Optical Society of Korea
• /
• v.17 no.2
• /
• pp.177-181
• /
• 2013

We present an all-fiberized power-scalable, sub-nanosecond mode-locked laser based on a frequency-shifted-feedback ring cavity comprised of an erbium-doped fiber, a downshifting acousto-optic modulator (AOM), and a bandpass filter (BPF). With the aid of the frequency-shifted feedback mechanism provided by the AOM and the narrow filter bandwidth of 0.45 nm, we generate self-starting, mode-locked optical pulses with a spectral bandwidth of ~0.098 nm and a pulsewidth of 432 to 536 ps. In particular, the output power is readily scalable with pump power while keeping the temporal shape and spectral bandwidth. This is obtained via the consolidation of bound pulse modes circulating at the fundamental repetition rate of the cavity. In fact, the consolidated pulses form a single-entity envelope of asymmetric Gaussian shape where no discrete internal pulses are perceived. This result highlights that the inclusion of the narrow BPF into the cavity is crucial to achieving the consolidated pulses.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.529-534
• /
• 2005

In this paper, a new type of output feedback control, called a $H_2/H_{\infty}$ fnite memory control (FMC), is proposed for deterministic state space systems. Constraints such as linearity, unbiasedness property, and finite memory structure with respect to an input and an output are required in advance to design $H_2/H_{\infty}$ FMC in addition to the performance criteria in both $H_2$ and $H_{\infty}$ sense. It is shown that $H_2$, $H_{\infty}$, and mixed $H_2/H_{\infty}$ FMC design problems can be converted into convex programming problems written in terms of linear matrix inequalities (LMIs) with some linear equality constraints. Through simulation study, it is illustrated that the proposed $H_2/H_{\infty}$ FMC is more robust against uncertainties and faster in convergence than the existing $H_2/H_{\infty}$ output feedback control schemes.

• The Journal of Korean Academy of Sensory Integration
• /
• v.19 no.1
• /
• pp.54-68
• /
• 2021

Objective : This study aimed to analyze and classify the task-oriented training methods used to improve the daily lives of children with cerebral palsy. Methods : The search period from January 2008 to August 2020, and the CINAHL, MEDLINE and PubMed was databases were used. A total of 18 studies was selected, and the PICO method was applied to conduct the systematic review. The training methods were then classified according to task, practice, and feedback as strategies to learn or to exercise control based on prior research. Results : Of the selected studies, 13 reported significant results in the area of motor skills, two of which related to Activities of Daily Living. Discrete and closed were the most common forms of task, and the most used types of practice were whole, part, and blocked, in that order. Finally, feedback was not specifically provided in most studies, followed by extrinsic feedback. Conclusion : Based on this review, task-oriented training for children with cerebral palsy can be made more effective in clinical practice in the future through the systematic selection of techniques that promote exercise control and the presentation of specific methods.

• Journal of Institute of Control, Robotics and Systems
• /
• v.6 no.12
• /
• pp.1133-1145
• /
• 2000

In this paper a model following flight control system design using the discrete time quasi-sliding mode control method is described. The quasi-sliding mode is represented as the sliding mode band, not as the sliding surface. The quasi-sliding mode control is composed of the equivalent control for the nominal system without uncertainties and disturbances and the additive control compensating the uncertainties and disturbances. The linearized plant on the equilibrium point is used in designing a flight control system and the stability conditions are proposed for the model uncertainties. Pseudo-state feedback control which uses the model variables for the unmeasured states is proposed. The proposed method is applied to the design of the roll attitude and pitch load factor control of a bank-to-turn missile. The performance is verified through the nonlinear six degrees of freedom flight simulation.

• 제어로봇시스템학회:학술대회논문집
• /
• 1990.10b
• /
• pp.884-889
• /
• 1990

In this paper, a new hybrid position control algorithm for the direct drive arm is proposed. The proposed control is composed of discrete feedforward component and continuous feedback component. The discrete component is the nominal torque which approximately compensates the strong nonlinear coupling torques between the links, while the continuous control is a modified version of sliding mode control which is known to have a robust property to the disturbances of system. For the proposed control law, we give sufficient condition which guarantees the bounded tracking error in spite of the modeling errors, and the efficiency of the proposed algorithm is demonstrated by the numerical simulation of a three link manipulator position control with payloads and parameter errors.

• The Transactions of the Korean Institute of Electrical Engineers
• /
• v.35 no.1
• /
• pp.26-35
• /
• 1986

In this paper, non-linear state equations for a 3-phase, 220V, 0.4 KW, squirrel cage induction motor have been derived using the d-q transformation and then these equations have been linearized around an operating point by a small perturbation method. Root loci on the s-plane with repect to the changes of slip S and supply frequency f have been studied. Based on the above results, the derived linear state equations have been augmented to the 6th order, including the output velocity feedback and a discrete PI speed controller. Using the new state equations, stability regions on the Kp-Kl plane have been investigated for slip S and sampling time T. In designing a discrete PI controller, the coefficients Kp and Kl around the normal operating point (220V,1,692rpm,60Hz)have been chosen under the assumptions that each response to a perturbation input of reference speed and load torque be underdamped and dominated by a pair of complex poles. Step responses in the experimental system using an Intel SDK-86 and an optimized PWM inverter show satisfactory results that the maximum overshoots and damped frequency are well coincided with ones from the computer simulation.

• 제어로봇시스템학회:학술대회논문집
• /
• 1988.10b
• /
• pp.934-938
• /
• 1988

In this paper we present a method of determining the unknown degree of any 2D discrete linear shift-invariant system which is characterized only by the coefficients of the double power series of a transfer function, i.e. a 2D impulse response array. Our method is based on a 2D extension of Berlekamp-Massey algorithm for synthesis of linear feedback shift registers, and it gives a novel approach to identification and approximation of 2D linear systems, which can be distinguished in its simplicity and potential of applicability from the other 2D Levinson-type algorithms. Furthermore, we can solve problems of 2D Pade approximation and 2D system reduction on a reasonable assumption in the context of 2D linear systems theory.

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.40 no.4
• /
• pp.251-263
• /
• 2003

This paper presents matrix inequality conditions for Η$_2$control and Η$_2$controller design method of linear time-invariant descriptor systems with parameter uncertainties in continuous and discrete time cases, respectively. First, the necessary and sufficient condition for Η$_2$control and Η$_2$ controller design method are expressed in terms of LMI(linear matrix inequality) with no equality constraints in continuous time case. Next, the sufficient condition for Hi control and Η$_2$controller design method are proposed by matrix inequality approach in discrete time case. Based on these conditions, we develop the robust Η$_2$controller design method for parameter uncertain descriptor systems and give a numerical example in each case.