• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.6 no.1
• /
• pp.52-57
• /
• 2006

In this paper, we have proposed a new adaptive fuzzy control algorithm based on Takagi-Sugeno fuzzy model. The regulation problem for the uncertain SISO nonlinear system is solved by the proposed algorithm. Using the advanced stability theory, the stability of the state, the control gain and the parameter approximation error is proved. Unlike the existing feedback linearization based methods, the proposed algorithm can guarantee the global stability in the presence of the singularity in the inverse dynamics of the plant. The performance of the proposed algorithm is demonstrated through the problem of balancing and swing-up of an inverted pendulum on a cart.

• Proceedings of the KIEE Conference
• /
• 2000.07d
• /
• pp.2277-2279
• /
• 2000

We consider the design of a state feedback $H_{\infty}$ controller for seismic-excited building with bounded actuators capability. A controller is obtained by minimizing ${\gamma}$($L_2$ gain from the disturbance to measured output) satisfying three LMI's, and this can be easily done by well-known LMI control toolbox. Finally, the usefulness of a proposed technique is illustrated by numerical simulation of a six-story building subjected to the Pacoima earthquake.

• ETRI Journal
• /
• v.37 no.5
• /
• pp.906-916
• /
• 2015

High-speed I/O channels require adaptive techniques to optimize the settings for filter tap weights at decision feedback equalization (DFE) read channels to compensate for channel inter-symbol interference (ISI) and crosstalk from multiple adjacent channels. Both ISI and crosstalk tend to vary with channel length, process, and temperature variations. Individually optimizing parameters such as those just mentioned leads to suboptimal solutions. We propose a joint optimization technique for crosstalk cancellation (XTC) at DFE to compensate for both ISI and XTC in high-speed I/O channels. The technique is used to compensate for between 15.7 dB and 19.7 dB of channel loss combined with a variety of crosstalk strengths from $60mV_{p-p}$ to $180mV_{p-p}$ adaptively, where the transmit non-return-to-zero signal amplitude is a constant $500mV_{p-p}$.

• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.3
• /
• pp.258-266
• /
• 2012

This paper describes a biped walking algorithm for a hydraulic humanoid robot on inclined floors. To realize stable and robust biped walking, the walking algorithm was divided into five control strategies. The first is a joint position control strategy. This strategy is for tracking desired joint position trajectories with a gain switching. The second is a multi-model based ZMP (Zero Moment Point) control strategy for dynamic balance. The third is a walking pattern flow control strategy for smooth transition from step to step. The fourth is an ankle compliance control, which increases the dynamic stability at the moment of floor contact. The last is an upright pose control strategy for robust walking on an inclined floor. All strategies are based on simple pendulum models and include practical sensory feedback in order to implement the strategies on a physical robot. Finally, the performance of the control strategies are evaluated and verified through dynamic simulations of a hydraulic humanoid on level and inclined floors.

• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.2
• /
• pp.121-127
• /
• 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.

• Journal of the Optical Society of Korea
• /
• v.8 no.1
• /
• pp.13-16
• /
• 2004

A widely tunable SG-DFB (Sampled Grating Distributed Feedback) laser diode is proposed and its feasibility is confirmed through simulation. The new SG-DFB laser diode is composed of a pair of sampled gratings, some parts of which are gain sections and the other parts of which are phase control sections. It is shown that a few tens of nanometers can be tuned through the adjustment of two currents into the phase control sections. Higher output power is expected compared with a SG-DBR laser diode with similar parameters. The dynamic single mode operation is also observed in the time-domain simulation.

• Journal of the Korean Society for Precision Engineering
• /
• v.25 no.1
• /
• pp.151-159
• /
• 2008

The parameter-based cardiovascular impedance simulator that is able to overcome the limits of conventional mock circulatory systems is critical for the development and test of biomedical devices including artificial heart. The concept of impedance simulator was validated mathematically in a previous study using high-gain feedback linearization control which, however, may cause serious difficulties and limits for practical implementation. In this study, therefore, practical applicability of the impedance simulator is investigated considering the physical limits such as motor speed and torque. Simple PID controller which do not require complex model of the simulator is used considering the practical implementation. Design guidelines of the impedance simulator are also provided based on the results.

• Proceedings of the KIEE Conference
• /
• 1983.07a
• /
• pp.135-138
• /
• 1983

This paper studies a variable structure adaptive model following control system which can control a plant in which the parameters of the controlled plant can not be estimated because they vary with time and in which the controlled plant has noise. The values of the feedback gain matrices for given states are obtained the equivalent control law, and the adaptive controller has been designed using the adaptive mechanism which switches the matrices. The adaptive controller minimizes the state error vector, that is, the difference between the state vector of the model and the state vector of the controlled plant. A controlled plant which has time varying parameters, a controlled plant which has only noise, and a controlled plant which has both have been controlled by the designed adaptive controller. The continuous single input-output system has been analysed by computer. This control system may be used to control practical systems by the addition of a microcomputer.

• Proceedings of the KIEE Conference
• /
• 1996.07b
• /
• pp.1056-1059
• /
• 1996

In this study, a new OSA controller is proposed for controlling discrete-time chaotic systems efficiently. A new OSA controller uses NARMAX models, and its feedback gain is designed on the basis of conventional linear control theory. In order to evaluate the performance of a new OSA controller, a new OSA controller is applied to Henon system which is a discrete-time chaotic system, and then the control performance of a new OSA controller are compared with that of the previous model-base controller through computer simulations.

• Proceedings of the KIEE Conference
• /
• 1996.07b
• /
• pp.1131-1133
• /
• 1996

In this paper, we consider the mixed $L_1/H_{\infty}$ problems of finding internally stabilizing controllers which minimize the peak-to-peak gain of a certain closed loop transfer function with $H_{\infty}$-norm constraint on other closed loop transfer function(or vise versa). This problem is a useful framework for designing a controller with the norm constraints upon time and frequency domain. We formulate the mixed $L_1/H_{\infty}$ problem as LMI problems by using the reachable set. This paper offers the sufficient condition for the existence of suboptimal state feedback controller, and shows that suboptimal solution can be obtained by solving a finite-dimensional convex optimization and a line search.