• Journal of Institute of Control, Robotics and Systems
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• v.3 no.2
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• pp.149-155
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• 1997

본 논문에서는 비선형 시변 시스템을 제어할 경우 제어시스템의 안정성을 보장하고 성능을 향상시키기 위한 새로운 적응제어 구조를 전개하였다. 주어진 플랜트가 선형 시불변이라는 가정하에 표준 기준 모델 적응제어기가 적용될 경우 발생되는 출력오차는 플랜트의 비선형 시변특성으로 인하여 점근적으로 0에 수렴되지 않는다. 이때 미지의 출력오차를 점근적으로 0에 수렴시키는 방법으로 퍼지보상기를 사용하였으며 결과적으로 플랜트의 비선형 시변 특성을 보상하는 효과를 얻을 수 있었다. 퍼지 보상기로는 출력오차등의 조건에 따라 이득이 변하는 퍼지 PID 보상기를 도입하여 안정하게 설계되도록 노력하였다. 또한 출력오차를 점근적으로 0에 수렴시키는 것은 표준 기준 모델 적응제어기 내부의 모든 파라미터와 신호가 유한하게 됨을 의미하기 때문에, 제어시스템 전체의 안정도를 보장할 뿐만 아니라 결과적으로 과도응답 성능을 향상시킬 수 있게 되었다. 몇가지 예제를 대상으로 시뮬레이션을 수행하고 그 결과를 분석함으로써 비선형 시변 시스템을 제어할 경우 본 논문에서 전개된 새로운 적응제어 구조의 타당성을 확인하였다.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.15 no.3
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• pp.93-101
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• 2016

This study presents a simple genetic algorithm to systematically design a PID controller for a hydraulic positioning system operated by a proportional solenoid valve. The inverse dead-zone compensator with nonlinear characteristics is used to cancel out the dead-zone phenomenon in the hydraulic system. The object function considering overshoot, settling time, and control input is adopted to search for optimal PID gains. The designed PID controller is compared with the LQG/LTR controller to check the performance of the hydraulic positioning system in the time and frequency domains. The experimental results show that the hydraulic servo system with the proposed PID controller responds effectively to the various types of reference input.

• Proceedings of the KIEE Conference
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• 2008.10b
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• pp.187-192
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• 2008

A saturation and deadzone compensator is designed for robot systems using fuzzy logic (FL) and neural network (NN). The classification property of FL system and the function approximation ability of the NN make them the natural candidate for the rejection of errors induced by the saturation and deadzone. The tuning algorithms are given for the fuzzy logic parameters and the NN weights, so that the saturation and deadzone compensation scheme becomes adaptive, guaranteeing small tracking errors and bounded parameter estimates. Formal nonlinear stability proofs are given to show that the tracking error is small. The NN saturation and FL deadzone compensator is simulated on a robot system to show its efficacy.

• International Journal of Automotive Technology
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• v.5 no.2
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• pp.135-144
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• 2004

In this paper, the model-matching control in the longitudinal autonomous driving system is investigated by vehicle dynamics simulation, which contains nonlinear subcomponents and simplified subcomponents. The design of the robust model-matching controller is performed by the characteristics of the 2 degrees of freedom controller, which is composed of the feedforward compensator and the feedback compensator. It makes the characteristics of tractive and brake force to be equivalent to the specific transfer function, which is suggested as the reference model. Mathematical models of vehicle dynamic analysis including the model-matching control are constructed for computer simulation. Then, simple examples on open-loop simulation without any controller and closed loop simulation with the model-matching controller are applied to check the validity of the robust controller. As the practical example, the autonomous driving system in the longitudinal direction is adopted. It is proved that the model-matching control is effective and adequate to the disturbances and the perturbations, which are shown in the responses of the change of a vehicle mass and a road gradient.

• International Journal of Aeronautical and Space Sciences
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• v.6 no.2
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• pp.23-32
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• 2005

An experimental control system is proposed for the attitude control of a simplified 2-DOF helicopter model. The main rotor is a rigid one, and the fuselage is simply supported by a fixed hinge point where the longitudinal motion is decoupled from the lateral one since the translations and the rolling rotation are completely removed. The yaw trim of the helicopter is performed with a tail rotor, by which the azimuthal attitude can be adjusted on the rotatable post in the yaw direction. The robust sliding mode control tracking a given attitude angle is proposed based on the flight dynamics. A pitch damper is inserted for the control of pitching angle while the compensator to reaction torque is used for the control of azimuth angle. Several parameters of the system are selected through experiments. The results shows that the proposed control method effectively counteracts nonlinear perturbations such as main rotor disturbance, undesirable chattering, and high frequency dynamics.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.2
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• pp.232-238
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• 2009

Flicker, also known as voltage fluctuation, is a newest problem of power quality issues, because it is caused by nonlinear loads such as electrical arc furnace and large-scale induction motor, which are country-widely used as the heavy industries of a country develop. An international standard, International Electrotechnical Commission (IEC) 61000-4-15, was published in 1997 and revised in 2003. With increasing concerns about flicker, its mitigation methods have been also studied. General countermeasures for flicker are divided into three categories: a) enhancing the capacity of supplying system, b) Series elements including series reactor and series capacitor and c) power electronic devices including static VAR compensator (SVC) and static synchronous compensator (STATCOM). This paper introduces how to mitigate the voltage flicker at the point of common coupling (PCC) and presents how to simulate and compare the flicker alleviating effects by each mitigation method, using IEC flickermeter based on the Matlab/Simulink program.

• The Transactions of the Korean Institute of Power Electronics
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• v.3 no.1
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• pp.77-84
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• 1998

This paper describes a control system design for the transmission STATCOM by applying a no-linear state feedback, and the performance analysis of the control system by simulations and scaled-model experiments. A mathematical model for the STATCOM was derived using a 3-phase equivalent circuit and a perturbation state equation with respect to a typical operating point. A transfer function to describe the dynamics of STATCOM was derived by considering nonlinear state feedback. A controller design was completed by analyzing the feedback system stability with root locus method. The performance analysis of the conceived control system was verified by simulations with the EMTP and experiments with scaled model, assuming that the STATCOM is connected to an 154kV transmission system. The results show that the conceived control system has excellent performance to control the reactive power of the transmission system.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.19 no.1
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• pp.26-34
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• 2015

In this paper, a fuzzy compensated PID control system is proposed for formation control of mobile robots. The control system consists of a kinematic controller based on the leader-follower approach and a dynamic controller to handle dynamics effects of mobile robots. To maintain the desired formation of mobile robots, the dynamic controller is equipped with a PID controller; however, the PID controller has poor performance in nonlinear and changing environments. In order to improve these problem, we applied the additional fuzzy compensator. Finally, the proposed control system has been evaluated through computer simulation to demonstrate the improved results.

• Journal of Power Electronics
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• v.18 no.6
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• pp.1855-1865
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• 2018

This paper presents a control strategy for voltage-controlled multi-function distributed generation (DG) combined with an active power filter (APF) and a reactive power compensator. The control strategy is based on droop control. As a result of local nonlinear loads, the voltages of the point of common coupling (PCC) and the currents injecting into the grid by the DG are distorted. The power quality of the PCC voltage can be enhanced by using PCC harmonic compensation. In addition, with the PCC harmonic compensation, the DG offers a low-impedance path for harmonic currents. Therefore, the DG absorbs most of the harmonic currents generated by local loads, and the total harmonic distortion (THD) of the grid connected current is dramatically reduced. Furthermore, by regulating the reactive power of the DG, the magnitude of the PCC voltage can be maintained at its nominal value. The performance of the DG with the proposed control strategy is analyzed by bode diagrams. Finally, simulation and experimental results verify the proposed control strategy.

• Journal of the Korean Institute of Intelligent Systems
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• v.12 no.1
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• pp.33-38
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• 2002

In this paper, a Two-Degree-of-Freedom-Controller(TDFC) for DC motors based on inverse dynamics and the fuzzy technique is presented. The proposed controller includes the inverse dynamic model of a DC motor system, a prefilter and a fuzzy compensator. The model of the system is characterized by a nonlinear equation with coulomb friction. The prefilter eliminates high frequency effects occurring when the inverse dynamic model is implemented. The fuzzy compensator is designed for tracking the change of the reference input and simultaneously regulating the error between the reference input and the system output which can be caused by disturbances. The optimal parameters of both the model and the compensator are identified by a real-coded genetic algorithm. An experimental work on a DC motor system is carried out to verify the performance of the proposed controller.