• Journal of Institute of Control, Robotics and Systems
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• v.20 no.11
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• pp.1142-1146
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• 2014

This paper addresses on a $H_{\infty}$ sampled-data stabilization of a Takagi-Sugeno (T-S) fuzzy system. The sampled-data stabilization problem is formulated as a discrete-time stabilization one via a direct discrete-time design approach. It is shown that the sampled-data fuzzy control system is asymptotically stable whenever its exactly discretized model is asymptotically stable. Based on an exact discrete-time model, sufficient design conditions are derived in the format of linear matrix inequalities (LMIs). An example is provided to illustrate the effectiveness of the proposed methodology.

• Journal of Power Electronics
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• v.19 no.4
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• pp.1000-1010
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• 2019

The use of internal-model-based linear controller, such as resonant controller, is a well-established technique for the current control of grid-connected systems. Attractive properties for resonant controllers include their two-sequence tracking ability, the simple control structure, and the reduced computational burden. However, in the case of continuous-designed resonant controller, the transient performance is inevitably degraded at a low switching frequency. Moreover, available design methods for resonant controller is not able to realize the direct design of transient performances, and the anticipated transient performance is mainly achieved through trial and error. To address these problems, the zero-order-hold (ZOH) characteristic and inherent time delay in digital control systems are considered comprehensively in the design, and a corresponding hold-equivalent discrete model of the grid-connected converter is then established. The relationship between the placement of closed-loop poles and the corresponding transient performance is comprehensively investigated to realize the direct mapping relationship between the control gain and the transient response time. For the benefit of automatic tuning and real-time adaption, analytical expressions for controller gains are derived in detail using the required transient response time and system parameters. Simulation and experimental results demonstrate the validity of the proposed method.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.3 no.2
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• pp.161-171
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• 1999

Aerodynamic sensitivity analysis codes are developed via the hand-differentiation using a direct differentiation method and an adjoint method respectively from discrete two-dimensional compressible Navier-Stokes equations. Unlike previous other researches, Baldwin-Lomax algebraic turbulence model is also differentiated by hand to obtain design sensitivities with respect to design variables of interest in turbulent flows. Discrete direct sensitivity equations and adjoint equations are efficiently solved by the same time integration scheme adopted in the flow solver routine. The required memory for the adjoint sensitivity code is greatly reduced at the cost of the computational time by allowing the large banded flux jacobian matrix unassembled. Direct sensitivity code results are found to be exactly coincident with sensitivity derivatives obtained by the finite difference. Adjoint code results of a turbulent flow case show slight deviations from the exact results due to the limitation of the algebraic turbulence model in implementing the adjoint formulation. However, current adjoint sensitivity code yields much more accurate sensitivity derivatives than the adjoint code with the turbulence eddy viscosity being kept constant, which is a usual assumption for the prior researches.

• Proceedings of the KIEE Conference
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• 1991.07a
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• pp.777-780
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• 1991

The practical implementation of model reference adaptive systems(MRAS) using digital computer requires the derivation of discrete-time adaptation laws. This is specially important in the case of direct driver robot and light weight manipulator where inertia changes ang gravity effects are significant. We develope a discrete-time model reference adaptive control scheme for trajectory tracking of robot manipulator. Instead of the conventional Lyapunov approach hyperstabillty theory is more appealing than the Lyapunov approach. It is better suited to discrete time systems and offers more flexibility in design by providing additional free design parameters.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1671-1676
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• 1991

Direct digital design of computed torque controllers for a robot manipulator is discussed in this paper. A simple discrete-time model of the robot manipulator obtained by Euler's method is used for the design. Taking account of computation delay in the digital processor, we propose predictor-based designs of the PD and PID type controllers. The PID type controller is designed based on a modified version of the discrete-time integral controller proposed by Mita. For both controllers, the same formulas can be used to determine the feedback gains. A simulation example is presented to compare the robustness of the proposed controllers against physical parameter variations.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.35S no.3
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• pp.76-85
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• 1998

In this paper, a fuzzy tuning method of a control gain in the discrete-time repetitive controller is proposed for precise tracking control of a system whose reference signal is repetitive. The control gain is modified by fuzzy rules which use the magnitude and the variation ofthe maximum output error in the previous repetitive period. The proposed method is applied to a direct drive 2-axis SCARA-type robot and, it is illustratedby computer simulations and real-time experimentation that better performance can be obtained that the fixed gain-based repetitive controller.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.10 no.5
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• pp.258-265
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• 1985

A design method for a single-input single-output discrete time model reference adaptive system is described in this paper. By using the state-variable filters into inputs and outputs in reference model and unknown system, a simple adaptive structure which use all accessible signals can be constructed. Some papers for the adaptive shstem is which thw relative degree of unknown system have one or two have been reported, but the resulting adaptive system are intricate in structures and the design theories for the model reference adaptive system are not generalized. In this paper, for having two or more relative degrees, it has been verified that an adaptive scheme can be obtained by introducing a simple linear filter.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.61 no.1
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• pp.117-124
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• 2012

In this paper, we present some remarks on the correlations between s and w domains when a discrete-time transfer function is converted from z-plane by using the w-transform. With time response specifications, when a digital filter or controller is designed in z-plane, the w-transform is useful for the purpose if only the w-transformed system closely approximates to the continuous-time system. It will be shown that the approximation is accomplished only in the specific region depending on sampling time. Also, it is noted that such an approximation should be carefully dealt with for the case where a discrete-time reference transfer function is synthesized for the use of direct digital design.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.277-281
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• 2004

The following paper proposes the new design of digital sine wave generator which allows users to define the phase shift of the out put sinewave according to user's demands. This new sinewave generator will have 2 outputs, cos(${\omega}_0n$) and cos(${\omega}_0n$+${\phi}$) The design of the new system starts from the construction of discrete time system with impulse response as cos(${\omega}_0n$) in a pair of conjugate complex poles and a pair of zeros at the origin and the real axis. If users want to make a phase shift of sign wave, users can change the position of zero at the real axis. The results of the experiment have shown that the new design of sign wave generator has generated sine wave with the correct phase shift according to the theory.

• International Journal of Control, Automation, and Systems
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• v.2 no.1
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• pp.1-14
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• 2004

This paper surveys some existing direct adaptive feedback control schemes for linear time-invariant systems with actuator failures characterized by the failure pattern that some inputs are stuck at some unknown fixed or varying values at unknown time instants, and applications of those schemes to aircraft flight control system models. Controller structures, plant-model matching conditions, and adaptive laws to update controller parameters are investigated for the following cases for continuous-time systems: state tracking using state feed-back, output tracking using state feedback, and output tracking using output feedback. In addition, a discrete-time output tracking design using output feedback is presented. Robustness of this design with respect to unmodeled dynamics and disturbances is addressed using a modified robust adaptive law.