• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2296-2298
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• 2000

Fuzzy control has been researched for application of industrial processes which have no accurate mathematical model and could not controlled by conventional methods because of a lack of quantitative input-output data. Intelligent control approach based on fuzzy logic could directly reflex human thinking and natural language to controller comparing with conventional methods. In this paper, fuzzy controller is implemented to acquire operator's knowledge. The tested system is constructed for sending a ball to the goal position using wind from two DC motors in the path. This system contains non-linearity and uncertainty because of the characteristic of aerodynamics inside the path. Ball position is measured by a vision camera. The system used in this experiment could be hardly modeled by mathematic methods and could not be easily controlled by linear control manners. The controller, in this paper is designed based on the input-output data and experimental knowledge obtained by trials.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.8
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• pp.987-995
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• 1999

A new robust controller design methodology for single-input single-output systems is proposed, where the proposed controller consists of a conventional or optimal servo controller at the outer loop as well as the robust internal-loop compensator(RIC) to eliminate the model uncertainty and external disturbance. It is shown that RIC with finite gain can make actual systems be nominal models within a prespecified error bound. And, it is also shown that RIC-based system is robustly stable regardless of input saturation. Several numerical examples are illustrated to show validities of the proposed robust controller.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1-4
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• 2004

The dual-mode strategy has been adopted in many constrained MPC methods. The size of stabilizable regions of states of MPC methods depends on the size of underlying feasible and positively invariant set and number of control moves. These results, however, could be conservative because the definition of positive invariance does not allow temporal leave of states from the set, In this paper, a concept of periodic invariance is introduced in which states are allowed to leave a set temporarily but return into the set in finite steps. The periodic invariance can defined with respect to sets of different state feedback gains. These facts make it possible for the periodically invariant sets to considerably larger than ordinary invariant sets. The periodic invariance can be defined for systems with polyhedral model uncertainties. We derive a MPC method based on these periodically invariant sets. Some numerical examples are given to show that the use of periodic invariance yields considerably larger stabilizable sets than the case of using ordinary invariance.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.342-345
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• 2003

This paper presents an adaptive PID control scheme for nonlinear system. TSK(Takagi-Sugeno-Kang) fuzzy model is used to estimate the error of control input, and the parameter of PID controller are adapted using the error. The parameters of TSK fuzzy model are also adapted to plant. The proposed algorithm allows designing adaptive PID controller which is adapted to the uncertainty of nonlinear plant and the change of parameters. The usefulness of the proposed algorithm is also certificated by the several simulations.

• Proceedings of the Korean Nuclear Society Conference
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• 1996.11a
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• pp.79-84
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• 1996

The robust controller for the nuclear reactor power control system is designed. The reactor model is set up by use of the point kinetics equations and the singly lumped energy balance equations. Since the model is different from the actual plant, the controller which makes the system robust is necessary. The perturbation of the actual plant is investigated with respect to several possible sources of uncertainty. Then the overall system is configured into the two port model and the $H_{\infty}$ controller is designed. The loop shaping and the permissible control rod speed are considered as the design constraints. The designed $H_{\infty}$ controller provides the sufficient margins for the robustness, and the system output as well as the control input satisfy their relevant requirements.

• Proceedings of the KIEE Conference
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• 1992.07a
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• pp.381-385
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• 1992

In this paper, dynamic modeling and adaptive control problems for a space robot system are discussed. The space robot consist of a robot manipulator mounted on a free-floating base where no attitude control is applied. Using an extended robot model, the entire space robot can be viewed as an under-actuated robot system. Based on nonlinear control theory, the extended space robot model can then be decomposed into two subsystems: one is input-output exactly linearizable, and the other is unlinearizable and represents an internal dynamics. With this decomposition, a normal form-augmentation approach and an augmented state-feedback control are proposed to facilitate the design of adaptive control for the space robot system against parameter uncertainty, unknown dynamics and unmodeled payload in space applications. We demonstrate that under certain conditions, the entire space robot can be represented as a full-actuated robot system to avoid the inclusion of internal dynamics. Based on the dynamic model, we propose an adaptive control scheme using Cartesian space representation and demonstrate its validity and design procedure by a simulation study.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.99-104
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• 1991

An adaptive predictive control method for SISO and MIMO plants is proposed. In this method, future predictions of process output based on a bilinear CARIMA model are used to calculate the control input. Also, a classical recursive adaptation algorithm, equation error method, is used to decrease the uncertainty of the process model. As a result of the application on distillation process, the ability of the set-point tracking and the disturbance rejection is acceptable to apply to the industrial distillation processes.

• Journal of the Korean Institute of Telematics and Electronics
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• v.24 no.6
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• pp.930-935
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• 1987

This paper presents a decentralized model reference adaptive control scheme for an interconnected continuous linear system composed of a number of single input single output subsystems. The scheme can treat the unknown strengh of interconnections as well as the uncertainty of subsystems. The scheme automatically adjusts the local feedback gains so that the output of each subsystem exponetially tracks that of the reference model.

• Earthquakes and Structures
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• v.2 no.1
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• pp.25-42
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• 2011

This paper discusses a mechanical model for the vulnerability assessment of old masonry building aggregates that takes into account the uncertainties inherent to the building parameters, to the seismic demand and to the model error. The structural capacity is represented as an analytical function of a selected number of geometrical and mechanical parameters. Applying a suitable procedure for the uncertainty propagation, the statistical moments of the capacity curve are obtained as a function of the statistical moments of the input parameters, showing the role of each one in the overall capacity definition. The seismic demand is represented by response spectra; vulnerability analysis is carried out with respect to a certain number of random limit states. Fragility curves are derived taking into account the uncertainties of each quantity involved.

• Journal of Soil and Groundwater Environment
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• v.25 no.1
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• pp.37-52
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• 2020

Sensitivity analysis of hydrodynamic and reaction parameters in conceptual model reflecting aquifer characteristics of Korea was performed to evaluate the uncertainty in the predicted concentrations. Among the hydrodynamic input parameters, both hydraulic conductivity (K_x) and hydraulic gradient (I) affected transport behaviors of contaminants, and resulted in same convergence concentrations with continuous injections of contaminant. However, longitudinal dispervisity (α_L) affected both transport behaviors and the convergence concentrations of contaminants. Compared to the hydrodynamic parameters, growth kinetic and degradation parameters (μ_m & K_c) more significantly affected both transport behaviors and the convergence concentrations of contaminants, indicating those parameters had higher sensitivity indices causing the uncertainties of model predictions. Considering that the sensitivity indices of both hydrodynamic and reaction parameters were a function of transport distance of groundwater, the parameters with higher sensitivity indices, a priori, need to be investigated using conceptual model reflecting site-specific aquifer characteristics before field investigation. After determining the parameters with higher sensitivity indices, the detail field investigations for the selected hydrodynamic and reaction parameters were warranted to reduce the uncertainties of model predictions.