• Proceedings of the KIEE Conference
• /
• 1999.07c
• /
• pp.1321-1323
• /
• 1999

In this paper, a robust $H_{\infty}$ optimal design problem under a structure-specified PSS is investigated for power systems with parameter variation and disturbance uncertainties. Genetic algorithm is employed for optimization method of PSS parameters. It is shown that the proposed $H_{\infty}$ PSS tuned using genetic algorithm is more robust than conventional PSS.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.74.3-74
• /
• 2001

This paper proposes a nonlinear adaptive controller based on back-stepping method for tracking reference substrate concentration by manipulating dilution rate in a continuous baker´s yeast cultivating process in stirred tank bioreactor. Control law is obtained from Lyapunov control function to ensure asymptotical stability of the system. The Haldane model for the specific growth rate depending on only substrate concentration is used in this paper. Due to the uncertainty of specific growth rate, it has been modified as a function including the unknown parameter with known bounded values. The substrate concentration in the bioreactor and feed line are measured. The deviation from the reference is observed when the external disturbance such as the change of the feed is introduced to the system ...

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.32.6-32
• /
• 2001

This paper describes the steering control and geomagnetism cancellation for an autonomous mobile robotusing MR sensors. The magnetic-resistive (MR) sensor obtains the vector summation of the magnetic fields from embedded magnets and the Earth. The robot is controlled by the magnetic fields from embedded magnets. So, geomagnetism is the disturbance in the steering control system. In this paper, we propose a new method of the sensor arrangement in order to remove the geomagnetism and robotbody interference. The proposed method uses two MR sensors located in a level plane and the steering controller has been developed. The controller has three input variables (dBx, dBy, dBz) using the measured magnetic field difference, and an output variable (the steering angle) ...

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.75.5-75
• /
• 2001

In this paper, we study design of a ILQ(Inverse Linear Quadratic optimal control) looper control system for hot strip mills. The looper which is placed between stands plays an important role in controlling strip width by regulating strip tension variation generated from the velocity difference of main work rolls. A Looper servo controller is designed by ILQ control theory which is an inverse problem of LQ(Linear Quadratic optimal control) control. The mathematical model for looper system is obtained by Taylor´s linearization of nonlinear differential equations. Then we designed linear controller for linearization model by using the ILQ control algorithm. Thereafter this controller is applied to the nonlinear model for model identification. As a result, we show the controller´s robustness for the model error, external disturbance and sensor noise.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.121.6-121
• /
• 2001

This paper introduce basic study how to restrain the vibration of multi-layer structure. We have modeled mathematically for four-layer-structure and have gotten a reduced nominal model through model analyzing method. And the H$\infty$ control theory was used in this control system to get robust controller. Its shown that the desirable performance is confirmed through the mathematical simulation and the experiments. That is the robustness of this control system which use H$\infty$ control theory is confirmed for ability of disturbance rejection and modeling error.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.170.1-170
• /
• 2001

This paper developed the model for electro hydraulic force control system by identification method via ARMAX model. Implementation of Identification is performed on Pin-On-Disk type tribotester. The wear mechanism is an important mechanic property to select a material´s life and a optimum work condition. Pin-on-disk type tribotester is popular wear analysis experimental equipment and its mechanism is that adding a force on a rotating disk to simplify two surface contact´s wear experimental condition. Material´s rotating velocity and eccentricity rotation makes disturbance and it affects adding constant force. To get a high performance of force adding part, DDV(Direct Drive Valve) which has pressure control loop is used. To obtain a tribotester´ s ARMAX model, prediction error method(PEM) is used in case force adding part and rotating part is ...

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.124.1-124
• /
• 2001

Control of pH neutralization process plays a very important role in some chemical process. Because of their high nonlinearity, frequent disturbance, and time-varying characteristics, it is difficult to control and estimate pH processes. For the adaptive control of pH processes, a lot of researchers have made an efforts in the modeling and control of pH processes. It is very difficult to obtain information of influent stream such as concentrations and dissociation constants and the titration curve equation is very complex. Therefore, several simple models, which hate small number of unknown parameters and estimate the titration curve, have been available, These models were considered here and were transformed into forms that can applied the linear least square method.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.129.5-129
• /
• 2001

When a robot manipulator performs some task like grinding or assembling, not only the position control but also the force control of the tools connected to the robot must be controlled. But at this time We were received the uncertainty problems of system information for the force control, for example disturbance, senor resolution and measurement noise. Therefore we proposed fuzzy logic control method instead of existing control theory for the robot manipulator control, for example PID control method. In this paper, We proposed hybrid position/force control of robot manipulator using fuzzy logic control method. To show the validity of the proposed fuzzy controller, We compared fuzzy controller with conventional PID controller.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.166.2-166
• /
• 2001

This paper is concerning a vector control of wound-rotor induction motor from the secondary side. When the wound-rotor induction motor is vector controlled from the secondary side, it has the possibility that the vector control can be accurately done because the disturbance input, that is, primary voltage and all state variables, that is, primary currents and secondary currents can be detected. We consider it is deserve research that the vector control of wound-rotor induction motor from the secondary side, because there is the merit that we can reduce the inverter capacity to on the order of half of the motor capacity when we choose twice of the synchronous speed to the rated speed, though there is the problem of the brush maintenance. In this paper, the vector control method of wound-rotor induction ...

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.150.5-150
• /
• 2001

This paper deals with a modified repetitive control method for compensating automatic gauge control (AGC) to reduce the effect of skid mark which directly influence the quality of products in plate mill process. Since the skid mark on the plate have thermal difference, it makes a different stretching rate and deflection of thickness. Firstly, the (AGC) system and the plate mill process are described by considering function in each control levels. The skid mark of the plate in practical control fields is shown. Also, its frequency variation is given by on-line FFT analysis method. Secondly, a key idea of the modified repetitive control method with time varying period disturbance is represented and compared with standard repetitive control method. Lastly, in simulation ...