• Journal of IKEEE
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• v.23 no.4
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• pp.1265-1272
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• 2019

We analyze the robustness of the existing predictor feedback controller for discrete-time linear systems with constant input delays against the structured model uncertainty. By modeling the constant input delay with a first-order PdE (Partial difference Equation), we replace the input delay with the PdE states. By applying a backstepping transformation, we build a target system that enables to construct an explicit Lyapunov function. Constructing the explicit Lyapunov function that covers the entire state variables, we prove the existence of an allowable maximum size of the structured model uncertainty to maintain stability and establish the robustness of the predictor feedback controller. The numerical example demonstrates that the stability of closed-loop system is maintained in the presence of the structured model uncertainty, and verifies the robustness of the predictor feedback controller.

• Journal of Coastal Disaster Prevention
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• v.6 no.3
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• pp.111-120
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• 2019

In coastal morphological modelling, there are a number of input factors: wave height, water depth, sand particle size, bed friction coefficients, coastal structures and so forth. Measurements or estimates of these input data may include uncertainties due to errors by the measurement or hind-casting methods. Therefore, it is necessary to consider the uncertainty of each input data and the range of the uncertainty during the evaluation of numerical results. In this study, three uncertainty factors are considered with regard to the prediction of coastal erosion in Ilsan beach located in Ilsan-dong, Ulsan metropolitan city. Those are wave diffraction effect of XBeach model, wave input scenario and the specification of the coastal structure. For this purpose, the values of mean wave direction, significant wave height and the height of the submerged breakwater were adjusted respectively and the followed numerical results of morphological changes are analyzed. There were erosion dominant patterns as the wave direction is perpendicular to Ilsan beach, the higher significant wave height, and the lower height of the submerged breakwater. Furthermore, the rate of uncertainty impacts among mean wave direction, significant wave height and the height of the submerged breakwater are compared. In the study area, the uncertainty influence by the wave input scenario was the largest, followed by the height of the submerged breakwater and the mean wave direction.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.9 no.5
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• pp.65-72
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• 2000

This paper presents the study of the tension control in a web transfer system. In this study the sliding mode controller is applied to a time-varying nonlinear mathematical model. The model was derived to consider the effects of changing the roll radius in tension variation during winding and unwinding. The uncertainty in modeling may be due to unmodelled dynamics, on variations in system model. Designed sliding mode controller made the system error always staying in the suggested surface from the beginning. Through this, system is maintained to be robust against a disturbance and uncertainty. To verify the designed controller has a good performance, various inputs such as desired velocity, step input, and trapezoidal input are applied. When the sliding mode controller was used, the system(the tension control) performance was improved comparing to the PID controller. The robustness of the controller with respect to an estimation error was verified through simulations.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.4
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• pp.289-295
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• 2002

In this paper, a linear matrix inequality(LMI)-based robust control method, which combines model predictive control(MPC) with the feedback linearization(FL), is presented for constrained nonlinear systems with parameter uncertainty. The design procedures consist of the following 3 steps: Polytopic description of nonlinear system with a parameter uncertainty via FL, Mapping of actual input constraint by FL into constraint on new input of linearized system, Optimization of the constrained MPC problem based on LMI. To verify the performance and usefulness of the control method proposed in this paper, some simulations with application to a flexible single link manipulator are performed.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.64.6-64
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• 2002

This paper presents a procedure of implementing a robust controller for a paper-making plant in DCSs. A paper-making process generally has triple problems to automatically tune its output qualities : Long transport delays which are not able to be simply linearized. The transfer matrix of the process is not square. And every plant model has some uncertainty in low and middle frequency region. To tackle these problems, a multi-input / multi-output (MIMO) plant model having some uncertainty was derived by considering some physical and mechanical principles of the process. Then a MIMO robust \ulcornercontroller is designed and implemented in a real DCS as function block type. Som...

• Journal of Korean Society on Water Environment
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• v.36 no.5
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• pp.373-384
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• 2020

Hydrological models are based on a combination of parameters that describe the hydrological characteristics and processes within a watershed. For this reason, the model performance and accuracy are highly dependent on the parameters. However, model uncertainties caused by parameters with stochastic characteristics need to be considered. As a follow-up to the study conducted by Choi et al (2020), who developed a relatively simple semi-distributed hydrological model, we propose a tool to estimate the posterior distribution of model parameters using the Metropolis-Hastings algorithm, a type of Markov-Chain Monte Carlo technique, and analyze the uncertainty of model parameters and simulated stream flow. In addition, the uncertainty caused by the parameters of each version is investigated using the lumped and semi-distributed versions of the applied model to the Hapcheon Dam watershed. The results suggest that the uncertainty of the semi-distributed model parameters was relatively higher than that of the lumped model parameters because the spatial variability of input data such as geomorphological and hydrometeorological parameters was inherent to the posterior distribution of the semi-distributed model parameters. Meanwhile, no significant difference existed between the two models in terms of uncertainty of the simulation outputs. The statistical goodness of fit of the simulated stream flows against the observed stream flows showed satisfactory reliability in both the semi-distributed and the lumped models, but the seasonality of the stream flow was reproduced relatively better by the distributed model.

• Journal of Radiation Protection and Research
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• v.16 no.2
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• pp.67-74
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• 1991

Parameter uncertainty and sensitivity of KFOOD model for calculating the ingestion dose via terrestrial food-chain pathway was analyzed with using Monte-Carlo approach. For the rice ingestion pathway, estimated values from KFOOD code were very conservative. Most sensitive input parameters in model were deposition velocities and soil-to-plant transfer coefficient of radionuclides.

• Journal of Korea Water Resources Association
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• v.44 no.3
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• pp.209-220
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• 2011

Input uncertainty is one of the major sources of uncertainty in hydrologic modeling. In this paper, first, three alternate rainfall inputs generated by different interpolation schemes were used to see the impact on a distributed watershed model. Later, the residuals of precipitation interpolations were tested as a source of ensemble streamflow generation in two river basins in the U.S. Using the Monte Carlo parameter search, the relationship between input and parameter uncertainty was also categorized to see sensitivity of the parameters to input differences. This analysis is useful not only to find the parameters that need more attention but also to transfer parameters calibrated for station measurement to the simulation using different inputs such as downscaled data from weather generator outputs. Input ensembles that preserves local statistical characteristics are used to generate streamflow ensembles hindcast, and showed that the ensemble sets are capturing the observed steamflow properly. This procedure is especially important to consider input uncertainties in the simulation of streamflow forecast.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.1
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• pp.17-25
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• 2005

This paper provides sufficient conditions for the robustness of Affine linear TFM(Transfer Function Matrix) MIMO (Multi-Input Multi-Output) uncertain systems based on Rosenbrock's DNA (Direct Nyquist Array). The parametric uncertainty is modeled through a Affine TFM MIMO description, and the unstructured uncertainty through a bounded perturbation of Affine polynomials. Gershgorin's theorem and concepts of diagonal dominance and GB(Gershgorin Bands) are extended to include model uncertainty. For this type of parametric robust performance we show robustness of the Affine TFM systems using Nyquist diagram and GB, DNA(Direct Nyquist Array). Multiloop PI/PB controllers can be tuned by using a modified version of the Ziegler-Nickels (ZN) relations. Simulation examples show the performance and efficiency of the proposed multiloop design method.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.1
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• pp.1-8
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• 1997

In order to reject the steady-state tracking error, it is common to introduce integral compensators in servosystems for constant reference signals. However, if the mathematical model of the plant is exact and no disturbance input exists, the integral compensation is not necessary. From this point of view, a two-degree-of-freedom(2DOF) servosystem has been proposed, in which the integral compensation is effective only when there is a modeling error or a disturbance input. The present paper considers robust stability of this 2DOF servosystem incorporating an observer to the structured and unstructured uncertainties of the controlled plant. A robust stability condition is obtained using Riccati inequality, which is written in a linear matrix inequality (LMI) and independent of the gain of the integral compensator. This result impies that if the plant uncertainty is in the allowable set defined by the LMI condition, a high-gain integral compensation can be carried preserving robust stability to accelerate the tracking response.