• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1999년도 제14차 학술회의논문집
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• pp.112-115
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• 1999

A new method to solve a Lyapunov equation for a discrete delay system is proposed. Using this method, a Lyapunov equation can be solved from a simple linear equation and N-th power of a constant matrix, where N is the state delay. Combining a Lyapunov equation and frequency domain stability, a new stability condition is proposed. The proposed stability condition ensures stability of a discrete state delay system whose state delay is not exactly known but only known to lie in a certain interval.

• 대한기계학회논문집
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• 제16권6호
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• pp.1089-1098
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• 1992

본 연구에서는 이산제어 관점에서 비병치제어를 고려한다. 연소시간계에서 많은 장점을 가진 병치제어는 이산시간계로 변환되면 샘플링과 홀딩에서 야기되는 시 간지연 요소때문에 그 특성이 달라진다.따라서 본 논문에서는 연속시간계에서 제안 된 시간지연을 갖는 비병치제어를 이산시간계로 확장하고 제어기 설계 방법을 제시코 저 한다.

• 제어로봇시스템학회논문지
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• 제18권10호
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• pp.895-901
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• 2012

The stability robustness problem of linear discrete systems with time-varying unstructured uncertainty of delayed states with time-varying delay time is considered. The proposed conditions for stability can be used for finding allowable bounds of timevarying uncertainty and delay time, which are solved by using LMI (Linear Matrix Inequality) and GEVP (Generalized Eigenvalue Problem) known as powerful computational methods. Furthermore, the conditions can imply the several previous results on the uncertainty bounds of time-invariant delayed states. Numerical examples are given to show the effectiveness of the proposed algorithms.

• 한국음향학회지
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• 제37권2호
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• pp.110-117
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• 2018

본 논문에서는 음성/오디오 부호화기를 위한 저지연 윈도우 스위칭 MDCT(Modified Discrete Cosine Transform) 방법을 제안한다. 윈도우 스위칭 알고리즘을 사용하여 신호의 특성이 빨리 변하는 전이 구간에서 음질 저하를 개선하고, 저지연 TDAC(Time Domain Aliasing Cancellation)를 사용하여 알고리즘 지연을 1/2로 줄일 수 있는 MDCT 방법을 제안한다. 제안된 윈도우 스위칭 방법은 기존 윈도우 스위칭 알고리즘이 다른 길이의 중첩합(overlap-add)을 사용하는 것과 달리, 일정한 길이의 중첩합을 사용하여 알고리즘 지연을 1/2로 줄일 수 있었고, 신호의 특성에 따라 윈도우의 종류를 2개로 줄여 프레임 상태를 표현하는 정보 비트를 1 bit 감소시킬 수 있었다. 제안한 알고리즘을 MDCT 기반의 음성/오디오 부호화기인 ITU-T(International Telecommunication Union - Telecommunication) G.729.1 부호화기에 적용하여 성능을 확인하였으며, 알고리즘 지연을 절반으로 감소시키면서 동일한 음질을 유지할 수 있었다.

• 전기학회논문지
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• 제59권4호
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• pp.788-792
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• 2010

The problem of delay-dependent and parameter-dependent robust stability condition for discrete-time uncertain singular systems with polytopic uncertainty and interval time-varying delay is considered. A new robust stability condition based on parameter-dependent Lyapunov function is derived in terms of LMI (linear matrix inequality). Moreover, the proposed robust stability condition is a general condition for both singular and non-singular systems. A numerical example is presented to demonstrate the effectiveness of the proposed method.

• 한국항행학회논문지
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• 제18권5호
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• pp.501-507
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• 2014

음이 아닌 입력에 대하여 음이 아닌 초기상태에서 출발한 모든 상태변수 값들이 시간에 대하여 항상 음이 아닌 값을 유지하는 시스템은 양의 시스템으로 정의된다. 본 논문에서는 상태변수에 시변 지연시간이 있는 양의 시변 선형 이산 구간 시스템의 안정조건을 새롭게 제안한다. 시변 지연시간은 최소와 최대 지연시간 범위에서 변하는 것으로 고려된다. 제안된 안정조건은 리아프노프 방정식의 상한 해 한계를 이용하여 유도되며, 매우 간단한 부등식의 형태로 표현된다. 수치예제를 통하여 새로운 안정조건들이 안정성 판단에 간단하고 효과적으로 적용될 수 있음을 확인한다.

• Transactions on Control, Automation and Systems Engineering
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• 제2권3호
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• pp.163-168
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• 2000

The problems of mixed $H_2/H_{\infty}$ filtering design fer continuous and discrete time linear systems with time delay are investigated. The main purpose is to design a stable mixed $H_2/H_{\infty}$ filter which minimizes the H$_2$Performance measure satisfying a prescribed H$_{\infty}$ norm bound on the closed loop system in continuous-time case and discrete-time case, respectively. The sufficient conditions of existence of filter, the mixed $H_2/H_{\infty}$ filter design method, and the upper bound of performance measure are proposed by LMI(linear matrix inequality) techniques in terms of all finding variables. Also, we present optimization problems in order to get the optimal mixed $H_2/H_{\infty}$ filter in continuous and discrete time case, respectively.

• 드라이브 ㆍ 컨트롤
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• 제14권4호
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• pp.23-28
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• 2017

Time-delay control with internal model (TDCIM) is the controller for robot manipulators that applies the time-delay estimation and the concept of internal model control (IMC). TDCIM is robust against unknown dynamics and non-linear friction like coulomb friction and static friction. It is simple and computationally efficient. This study presents the relationship between the discrete TDCIM and the discrete PID controller. The PID controller is the most popular control law in the real application. But often the PID controller can be difficult to achieve the desired level of control performance. The result in this study provides a good candidate solution to these situations.

• 전기학회논문지
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• 제62권4호
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• pp.529-535
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• 2013

This paper considers the problem of robust stability for uncertain discrete-time interval time-varying delayed descriptor systems using any combinations of quantization and overflow nonlinearities. First, delay-dependent linear matrix inequality (LMI) condition for discrete-time descriptor systems with time-varying delay and quantization/overflow nonlinearities is presented by proper Lyapunov function. Second, it is shown that the obtained condition can be extended into descriptor systems with uncertainties such as norm-bounded parameter uncertainties and polytopic uncertainties by some useful lemmas. The proposed results can be applied to both descriptor systems and non-descriptor systems. Finally, numerical examples are shown to illustrate the effectiveness and less conservativeness.

• 제어로봇시스템학회논문지
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• 제15권2호
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• pp.121-127
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• 2009

This paper deals with the design problem of robust stabilization and non-fragile controller for discrete-time singular systems with parameter uncertainties and time-varying delays in state and input by delay-dependent Linear Matrix Inequality (LMI) approach. A new delay-dependent bounded real lemma for singular systems with time-varying delays is derived. Robust stabilization and robust non-fragile state feedback control laws are proposed, which guarantees that the resultant closed-loop system is regular, causal and stable in spite of time-varying delays, parameter uncertainties, and controller gain variations. A numerical example is given to show the validity of the design method.