• Transactions on Control, Automation and Systems Engineering
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• v.2 no.2
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• pp.104-109
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• 2000

In this paper, the output feedback stabilizing problem is solved using any given state feedback control law. Compared to the linear systems is not so straightforward for nonlinear systems. We briefly explain the intrinsic obstructions for this problem and provide new output feedback scheme which achieves the semi-global stabilization with the high-gain state observer. THe overall uniform observability of the plant. Therefore, the result can be regarded as an extension of the separation principle for linear systems in some aspect.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.260-265
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• 1992

This paper presents an adaptive control scheme for flexible joint robot manipulators. This control scheme is based on the Lyapunov direct method with the arm energy-based Lyapunov function. The proposed adaptive control scheme uses only the position and velocity feedback of link and motor shaft. The adaptive control system of flexible joint robots is asymptotically stable regardless of the joint flexibility value. Therefore, the assumption of weak joint ealsticity is not needed. Also, joint flexibility value is unknown. Simulation results are presented to show the feasibility of the proposed adaptive control scheme.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.197-202
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• 1991

Recently, an output feedback variable structure control scheme(OFVSCS) is proposed to remove the assumption of full state availability and to make the application of VSC scheme to the high order systems with unmeasurable state variables possible. In this paper, a design method of an output feedback variable structure control system (IOFVSCS) that guarantees the invariance of the sliding mode against process parameter variation and external disturbance is proposed. The IOFVSCS is composed of two components; dynamic switching surface driven by measured I/0 informations and switching control input generator driven by switching surface information and measured output, where the two components are constructed by adopting unknown vector modelling approach. The invariance condition for the IOFVSCS is proved to be the same as that of the conventional VSCS. Simulation results show that the IOFVSCS can be designed to have robust properties better than that of the conventional VSCS in spite that the IOFVSCS is driven by small amount of measured information.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.969-974
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• 2003

A simple and cost-effective method for the electrostatic suspension of thin plates like silicon wafers is proposed which is based on a switched voltage control scheme. It operates according to a relay feedback control and deploys only a single high-voltage power supply that can deliver a dc voltage of positive and/or negative polarity. This method possesses the unique feature that no high-voltage amplifiers are needed which leads to a remarkable system simplification relative to conventional methods. It is shown that despite the inherent limit cycle property of the relay feedback based control, an excellent performance in vibration suppression is attained due to the presence of a relatively large squeeze film damping origination from the air between the electrodes and levitated object. Using this scheme, a 4-inch silicon wafer was levitated stably with airgap variation decreasing down to 1 $\mu\textrm{m}$ at an airgap of 100 $\mu\textrm{m}$

• Journal of the Korean Society for Precision Engineering
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• v.22 no.10 s.175
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• pp.56-64
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• 2005

A simple and cost-effective method for the electrostatic suspension of thin plates like silicon wafers is proposed which is based on a switched voltage control scheme. It operates according to a relay feedback control and deploys only a single high-voltage power supply that can deliver a DC voltage of positive and/or negative polarity. This method possesses the unique feature that no high-voltage amplifiers are needed which leads to a remarkable system simplification relative to conventional methods. It is shown that despite the inherent limit cycle property of the relay feedback based control, an excellent performance in vibration suppression is attained due to the presence of a relatively large squeeze film damping origination from the air between the electrodes and levitated object. Using this scheme, a 4-inch silicon wafer was levitated stably with airgap variation decreasing down to $1 {\mu}m$ at an airgap of $100{\mu}m$.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.9
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• pp.1821-1826
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• 2009

An adaptive neural controller for perturbed strict-feedback nonlinear system is proposed. All the previous adaptive neural (or fuzzy) controllers are based on the backstepping scheme where the universal approximators are employed in every design steps. These schemes involve virtual controls and their time derivatives that make the stability analysis and implementation of the controller very complex. This fact is called 'explosion of complexty ' since the complexity grows exponentially as the system dynamic order increases. The proposed adaptive neural control scheme adopt the backstepping design procedure only for determining ideal control law and employ only one neural network to approximate the finally selected ideal controller, which makes the controller design procedure and stability analysis considerably simple compared to the previously proposed controllers. It is shown that all the time-varing signals containing tracking error are stable in the Lyapunov viewpoint.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2437-2438
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• 2001

In this paper new, inverter control system for TG feedback a formula Control was developed. The motor control system with TG feedback controller as an effect of load disturbance, it is very difficult to guarantee the robustness of control system. The function of the implementation are TG feedback type, and temperature scheme. The Inverter Control System approach is based on master-slave control concept. To show validity of the developed new inverter control system, severial experiments are illustrated.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.49-52
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• 1996

The control of diamond turning is usually achieved through a laser-interferometer feedback of slide position. The limitation of this control scheme is that the feedback signal does not account for additional dynamics of the tool post and the material removal process. If the tool post is rigid and the material removal process is relatively static, then such a non-collocated position feedback control scheme may surfice. However, as the accuracy requirement gets tighter and desired surface contours become more complex, the need for a direct tool-tip sensing becomes inevitable. The physical constraints of the machining processprohibit any reasonable implementation of a tool-tip motion measurement. It is proposed that the measured force normalto the face of the workpice can be filterd through an appropriate admittance transfer function to result in the estimated depth of cut. This can be compared to the desired depth of cut to generate the adjustment cotnrol action in addition to position feedback control. In this work, the design methodology on the admittance model-based control with a conventional controller is presented. Based on the empirical data of the cutting dynamics, simulation results are shown.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2493-2494
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• 2002

In this paper new inverter control system for TG feedback a formula Control was developed. The motor control system with TG feedback controller as an effect of load disturbance, it is very difficult to guarantee the robustness of control system. The function of the implementation are TG feedback type, and temperature scheme. The Inverter Control System approach is based on master-slave control concept. To show validity of the developed new inverter control system, severial experiments are illustrated.

• Journal of KIISE:Information Networking
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• v.27 no.1
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• pp.58-67
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• 2000

The paper presents a representative-based feedback mechanism and rate adaptation policy for congestion control in multicast traffic for multimedia applications. In multicast congestion control, feedback implosion occurs as many receivers send feedback to a sender. We propose to use representatives to avoid the feedback implosion. In our scheme, receivers feedback packet loss information periodically and a sender adapts the sending rate based on the information collected through a hierarchy of representatives. A representative is selected in each region and roles as a filter to decrease the number of feedbacks. The simulation results show that the proposed scheme solves the feedback implosion problem and well adapts in a congested situation.