• Journal of the Korea Academia-Industrial cooperation Society
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• 제17권2호
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• pp.697-702
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• 2016

To control permanent magnet synchronous motors smoothly, it is important to know the exact parameter values of the stator resistance, various inductances, and the flux linkage of the permanent magnet. In practice, these parameters vary due to a variable operating point, temperature change, or a fault. This paper proposes a MRAS (Model Reference Adaptive System) based parameter estimator and adaptive control scheme. Owing to the non-linearity of the system equation with respect to these parameters, although many schemes proposed previously assumed that some parameters are known, all the parameters were assumed to be unknown. The simulation results revealed the effectiveness of the proposed algorithm.

• Journal of the Korean Institute of Intelligent Systems
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• 제9권6호
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• pp.605-614
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• 1999

This paper addresses analysis and design of a class of complex single-input single-output fuzzy control systems. In the proposed method, the fuzzy model, which represents the local dynamic behavior of the given nonlinear system, is utilized to construct the controller. The overall controller consists of the local compensators which compensate the local dynamic linear model and the feed-forward controller which is designed via sliding mode control theory. Therefore, the globally stable fuzzy controller is designed without finding a common Lyapunov matrix. and shows improved perfonnance and tracking results by taking the advantages of fuzzy-model-based control theory and sliding mode control theory. Furthennore, stability analysis is conducted not Ibr the fuzzy model but for the real underlying nonlinear system. Two numerical examples are included to show the effcctiveness and feasibility of the proposed fuzzy control method.

• Journal of the Korean Institute of Intelligent Systems
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• 제10권4호
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• pp.357-367
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• 2000

A new robust load-frequency control methodology is proposed for nonlinear power systems with valve position limits of the governor in the presence of parametric uncertaines. The TSK fuzzy model is adopted and formulated for fuzzy modeling of the nonlinear power system. A sufficient condition of the robust stabilitry is presented in the sense of lyapunov for the TSK model with parametric uncertainties. The intekkigent digital redesign technique for the uncertain power systems is also studied. The effectiveness of the robust digital fuzzy controller disign mothod is demonstrated through a numerical simulation.

• Journal of the Korean Institute of Intelligent Systems
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• 제26권1호
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• pp.50-55
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• 2016

This paper discusses a sampled-data controller design problem for nonlinear systems including singular perturbation. The concerned system is assumed to be modeled in Takagi--Sugeno (T--S) form. By introducing a novel Lyapunov function and an identity equation, the stability of the sampled-data closed-loop dynamics of the singularly perturbed T--S fuzzy system is analyzed. The design condition is represented in terms of linear matrix inequalities. A few discussions on the development are made that propose future research topics. Numerical simulation shows the effectiveness of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.494-494
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• 2000

This paper demonstrates that the largest Lyapunov exponent $\lambda$ of recurrent neural networks can be controlled by a gradient method. The method minimizes a square error $e_{\lambda}=(\lambda-\lambda^{obj})^2$ where $\lambda^{obj}$ is desired exponent. The $\lambda$ can be given as a function of the network parameters P such as connection weights and thresholds of neurons' activation. Then changes of parameters to minimize the error are given by calculating their gradients $\partial\lambda/\partialP$. In a previous paper, we derived a control method of $\lambda$via a direct calculation of $\partial\lambda/\partialP$ with a gradient collection through time. This method however is computationally expensive for large-scale recurrent networks and the control is unstable for recurrent networks with chaotic dynamics. Our new method proposed in this paper is based on a stochastic relation between the complexity $\lambda$ and parameters P of the networks configuration under a restriction. Then the new method allows us to approximate the gradient collection in a fashion without time evolution. This approximation requires only $O(N^2)$ run time while our previous method needs $O(N^{5}T)$ run time for networks with N neurons and T evolution. Simulation results show that the new method can realize a "stable" control for larege-scale networks with chaotic dynamics.

• Proceedings of the KOSOMBE Conference
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• 대한의용생체공학회 1997년도 추계학술대회
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• pp.323-326
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• 1997

In this study, we investigated the circardian rhythm of complexity of cardiac dynamics in humans. Dynamic 24-hour electrocardiographic recordings were obtained from 30 healthy ambulant subjects aged 41 to 50 years. or each recordings, normalized low frequency (0.04-0.1 hertz) and high frequency (>0.15 hertz) component are calculated. our different indexes obtained from separate algorithms of nonlinear dynamics - approximate entropy, correlation dimension, Lyapunov exponent and fractal dimension - were calculated. During early morning, low frequency component rose rapidly with concomitant withdrawl of high frequency component. All the our indexes of nonlinear dynamics showed remarkably same circardian rhythm: an early morning dip preceded by a steep decline during late night, a gradual recovery during evening and a peak around midnight. These data indicate that the simultansous losses of all of the our different mechanisms of nonlinear control of heart rate during early morning, concomitent with the surge of symapathetic activity and reduction of vagal activity, may contribute to the increased incidence of cardiovascular events during morning hours.

• Journal of the Korean Society for Precision Engineering
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• 제34권2호
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• pp.125-131
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• 2017

2-Axis Pan and Tilt Motion Platform, a complex multivariate non-linear system, may incur any disturbance, thus requiring system controller with robustness against various disturbances. In this study, we designed an adaptive backstepping compensated controller by estimating the disturbance and error using the Radial Basis Function Neural Network (RBF NN). In this process, Uniformly Ultimately Bounded (UUB) was demonstrated via Lyapunov and stability was confirmed. By generating progressive disturbance to the irregular frequency and amplitude changes, it was verified for various environmental disturbances. In addition, by setting the RBF NN input vector to the minimum, the estimated disturbance compensation process was analyzed. Only two input vectors facilitated compensatory function of RBF NN via estimating the modeling and control error values as well as irregular disturbance; the application of the process resulted in improved backstepping controller performance that was confirmed through simulation.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• 제18권2호
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• pp.255-262
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• 2008

In this study, seismic response control performance of decentralized response-dependent MR damper which generates the control force using only the response of damper-installed floor, was experimentally investigated through the tests of a full-scale structure installed with large MR dampers. The performance of the decentralized control algorithm was compared to those of the centralized ones such as Lyapunov, modulated homogeneous friction, and clipped-optimal control. Hybrid mass damper were controlled to induce seismic response of the full-scale structure under El Centro earthquake. Experimental results indicated that the proposed decentralized MR damper provided superior or equivalent performance to centralized one in spite of using damper-installed floor response for calculating input voltage to MR damper.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• 제21권6호
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• pp.878-884
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• 2012

In this paper, we consider the sway suppression control problem for container cranes with the frictions between the trolley and the rail. If the friction effects in the system can be modelled, there is an improved potential to design controllers that can cancel the effects. The proposed control improves the trolley positioning and sway suppressing against various frictions. The proposed synthesis combines a variable structure control and the adaptive control to cope with various frictions including the unknown constants. First, the variable structure control with the simple switching action is designed, which is based on a class of feedback lineariztion methods for the fast stabilization of the under-actuated sway dynamics of container. Second, the adaptive control with a parameter estimation is designed, which is based on Lyapunov stability methods for suppressing the oscillation of the trolley travelling, especially due to Coulomb friction in the vicinity of the target position. The asymptotic stability of the overall closed-loop system is assured irrespective of variations of rope length. Simulation are shown under initial sway, external wind disturbances, and various frictions.

• Proceedings of the KIEE Conference
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• 대한전기학회 1988년도 전기.전자공학 학술대회 논문집
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• pp.898-901
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• 1988

Up to now, using adaptive control method, Identification deals with system whose entire state variables and prameters are accessible for measurement. In practical situations, all the state variables cannot be measured and it is impossible to directly apply since the parameters of the system are unknown. Therefore, in this paper, using only input-output data, such a model of the system is not available since the parameters of the system are unknown. this leads to the concept of an adptive observer in which both the parameters and the state variable of the system are identified simultaniously. Lyapunov's direct method and Kalman-Yakubovich (K-Y) lemma are employed to ensure the stability of this schemes. The feature is that the signal and adaptive gain which is generated from filter is imposed upon feedback vector and then state variables and the unknown parameters can be identified. To show the usefulness of the proposed schemes, computer simulation result of unknown second-order system shows the effectiveness of the proposed schems.