• International Journal of Fuzzy Logic and Intelligent Systems
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• v.3 no.1
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• pp.58-65
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• 2003

In this paper, a new model, which is a Takagi-Sugeno fuzzy model, for mobile robot is presented. A controller, consisting of two loops the one of which is the inner state feedback loop designed for stability and the outer loop is a PI controller designed for tracking the reference input, is suggested. Because the robot dynamics is nonlinear, it requires the controller to be insensitive to the nonlinear term. To achieve this objective, the model is developed by well known T-S fuzzy model. The design algorithm of inner state-feedback loop is regional pole-placement. In this paper, regions, for which poles of the inner state feedback loop are lie in, are formulated by LMI's. By solving these LMI's, we can obtain the state feedback gains for T-S fuzzy system. And this paper shows that the PI controller is equivalent to the state feedback and the cost function for reference tracking is equivalent to the LQ(linear quadratic) cost. By using these properties, it is also shown in this paper that the PI controller can be obtained by solving the LQ problem.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1993.06a
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• pp.1090-1093
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• 1993

In this paper, the design technique of fuzzy controller using pole placement method and the stability analysis of the system are discussed. The consequent parts of the fuzzy model representing the fuzzy control system are descrived by linear stated equations. It cannot be guaranteed that the total fuzzy system is stable even if all subsystems are stable. The range of the consequent parameters of fuzzy feedback controller which is stable for each fuzzy subspace of the input space are derived, using a rather simplified stability criterion. Then, the consequent parameters of fuzzy controller is determined with the sufficient condition that the fuzzy feedback controller maintain robust stability for the model of other subspace.

• Journal of Power Electronics
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• v.19 no.5
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• pp.1235-1247
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• 2019

Zero-Voltage-Switching (ZVS) operation for a Wireless Power Transfer (WPT) system can be achieved by designing a ZVS controller. However, the performance of the controller in some industrial applications needs to be designed tightly. This paper introduces a ZVS controller design method for WPT systems. The parameters of the controller are designed according to the desired performance based on the closed loop dominant pole placement method. To describe the dynamic characteristics of the system ZVS angle, a nonlinear dynamic model is deduced and linearized using the small signal linearization method. By analyzing the zero-pole distribution, a low-order equivalent model that facilitates the controller design is obtained. The parameters of the controller are designed by calculating the time constant of the closed-loop dominant poles. A prototype of a WPT system with the designed controller and a five-stage multistage series variable capacitor (MSVC) is built and tested to verify the performance of the controller. The recorded response curves and waveforms show that the designed controller can maintain the ZVS angle at the reference angle with satisfactory control performance.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1930-1933
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• 1991

In this paper, the robustness of self turning controller on the continuous time-delay system is investigated. The polynomial identification method using continuous time exponentially weighted least square algorithm is used for estimating the time.-delay system parameters. The pole-zero and pole placement method are adopted for the control algorithm. On considering the control weighting factor and reliability filter the effect of unmodeled dynamics of the plant are examined by the simulation.

• Proceedings of the KIPE Conference
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• 1999.07a
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• pp.76-79
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• 1999

A study on simulation using Matlab shows the dynamic condition of a beam on feed-back with encorder. A controller for rapid response interpreted the stability on simulation with pole-placement technique. The effect of response was considered feed-back gain. The result of feed-back is described that various feed-back coefficient shows stable controll systems. It would be expected each result according to controllers.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.67.6-67
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• 2001

In this paper, we present an attitude control of self-standing for a two-wheeled inverted-pendulum-like mobile robot based on the nonlinear control theory. Nonlinear dynamic equations are linearized by using the Lie derivative, and a pole placement controller is designed. Characteristics of the controller are examined by numerical simulations to show the self-standing attitude of the mobile robot in standing and in moving.

• Proceedings of the KIEE Conference
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• 1990.07a
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• pp.496-499
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• 1990

In this paper, the robustness of implict self tunning controller on the continuous time system is investigated. Continuous time exponentially weighted least square algorithm is used for estimating the system parameters. The pole-zero placement method is adapted for the control algorithm. On considering the control weighting factor and realizability filter the effects of unmodeled dynamics of the plant are examined by the simulation.

• Journal of IKEEE
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• v.24 no.1
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• pp.106-119
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• 2020

In this paper, we propose a control scheme for quadrotor system using a pole placement method. When using a state feedback controller, a lot of trial and error in selection of control gains are often required to improve system performance. In order to relax this complicated process, we analyze the closed-loop system associated with control gains. Then, we present a control gain selection algorithm for control gains using a pole placement method to improve the system performance. The proposed control method is applied to the actual quadrotor system to illustrate the validity of the proposed method.

• Proceedings of the KIEE Conference
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• 1999.07b
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• pp.859-861
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• 1999

This paper describes the development of a fuzzy gain scheduling scheme of PID controller for inverted pendulum system. Fuzzy rules and reasoning are utilized on-line to determine the controller parameters based on the error signal and its difference. Simulation results demonstrate that better control performance can be achieved in comparison with PID controller using pole placement to control of a Inverted pendulum.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.361-361
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• 2000

In the 2-mass system with flexible shaft, a torsional vibration is often generated because of the elastic elements in torque transmission as the newly required speed response which is very close to the primary resonant frequency. This vibration makes it difficult to achieve quick responses of speed and disturbance rejection. In this paper, 2-mass system is designed by using pole placement based on optimal control theory fur fast speed response and torsional vibration elimination and using neural network for disturbance rejection in particular. The simulation results show that the proposed controller based on neural network and full state feedback controller has better performance than 려ll state feedback controller, especially fur disturbance rejection.