• Journal of the Korean Society for Precision Engineering
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• v.20 no.3
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• pp.89-96
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• 2003

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear abetments, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable but also accurate trajectory control for the autonomous assembly tasks using hydraulic manipulators. In this report, we propose a two-degree-of-freedom control including parallel feedforward compensator (PFC) where PFC plays a very important role in the stability of a proposed control system. In the experimental results of the 6-link electro hydraulic manipulator, it is verified that the stability and the model matching performance are improved by using the proposed control method.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.8
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• pp.1188-1194
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• 1997

In this paper, we design output feedback nonlinear dynamic control law by using state feedback nonlinear dynamic compensator and PI observer and show that the controller can stabilize globally and asymptotically a class of nonlinear systems with mismatched uncertainties. We also show that it is possible for a nonlinear system to use the output of PI observer in place of state variables in case that the nonlinear dynamic control law is used, similarly as in the linear system. The effectiveness of the proposed control law is demonstrated by a numerical simulation.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.8
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• pp.1184-1184
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• 1997

In this paper, we design output feedback nonlinear dynamic control law by using state feedback nonlinear dynamic compensator and PI observer and show that the controller can stabilized globally and asymptotically a class of nonlinear systems with mismatched uncertainties. We also show that it is possible for a nonlinear system to use the output of PI observer in place of state variables in case that the nonlinear dynamic control law is used, similarly as in the linear system. The effectiveness of the proposed control law is demonstrated by a numerical simulation.

• The Transactions of the Korean Institute of Power Electronics
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• v.4 no.4
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• pp.368-376
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• 1999

This paper studies the operational characteristics of thyristor controlled shunt compensator in a simple power t transmission system. With Fourier series representation of the thyristor switching action and the system parameters, t the thyristor current equations are derived, which transmit the required real power of the simple power transmission s system. Bisection algorithm is used to solve the thyristor current equations, which informs the thyristor firing an밍e, t the thyristor conduction an밍e, the power flows and the harmonic characteristics. The stability analysis is performed w with the theory of Poincare mapping for the nonlinear discrete periodic dynamic system. EMTP simulations at the v various operating points show the transient characteristics of the thyristor controlled shunt compensator and C correspond to the results calculated with Fourier series representation and the stability analysis.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.7
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• pp.1332-1340
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• 1992

A novel approach based on a nonlinear compensator is prposed to prevent 'windup', which is caused by the saturation of the acutator and the integral action of the controller. The anti-windup compensator is located between the conventional linear controller, designed neglecting the saturation, and the actuator. It was proven based on the describing function method that, if the closed loop control systems are stable assuming no saturation, then there may exist a range of compensator gain which prevents any limit-cycle. The computer simulation results show that the compensator proposed in the manuscript can eliminate the limit cycle and improve the transient response.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.558-561
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• 1993

The main difference between a linear system and a nonlinear system is the existence of direct interactions between input signals. These interactions will be classified into three types, (1) self-interaction among different order terms of control signals, (2) static mutual interactions between the control signals, and (3) dynamic interactions through the coefficient venctor fields of the control variables. In this paper, we will show that interactions of type (2) and (3) can be avoided by applying an appropriate dynamic compensator, while the interaction of type (1) is fatal.

• Proceedings of the KIEE Conference
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• 1986.07a
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• pp.547-550
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• 1986

• Journal of the Korean Institute of Intelligent Systems
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• v.10 no.2
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• pp.152-160
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• 2000

This paper addresses the analysis and design of fuzzy-model-based controller for nonlinear systems using extended PDC and optimal pole-placement schemes. In the design procedure, we represent the nonlinear system using a Takagi-Sugeno fkzy model and formulate the controller rules by using the extended parallel distributed compensator (EPDC) and construct an overall fuzzy logic controller by blending all local state feedback controllers with an optimal pole-placement scheme. Unlike the commonly used parallel distributed compensation technique, by blending a newly extended parallel distributed compensator and the optimal poleplacement schemes, we can design not only a local stable k z y controller but also an overall stable fuzzy controller to perform the tacking control objective. Furthermore, a stability analysis is carried out not only for the fuzzy model but also for a real nonlinear system. Finally. the effectiveness and feasibility of the proposed fizzy model-based controller design method has been shown through a simulation example.

• Journal of Electrical Engineering and Technology
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• v.8 no.5
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• pp.991-1001
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• 2013

Instead of building new substations or transmission lines, proper installation of flexible AC transmission systems (FACTS) devices can make the transmission networks accommodate more power transfers with less expansion cost. In this paper, the problem to maximize power system loadability by optimally installing two types of FACTS devices, namely static var compensator (SVC) and thyristor controlled series compensator (TCSC), is formulated as a mixed discrete-continuous nonlinear optimization problem (MDCP). To reduce the complexity of the problem, the locations suitable for SVC and TCSC installations are first investigated with tangent vector technique and real power flow performance index (PI) sensitivity factor and, with the specified locations for SVC and TCSC installations, a set of schemes is formed. For each scheme with the specific locations for SVC and TCSC installations, the MDCP is reduced to a continuous nonlinear optimization problem and the computing efficiency can be largely improved. Finally, to cope with the technical and economic concerns simultaneously, the scheme with the biggest utilization index value is recommended. The IEEE-14 bus system and a practical power system are used to validate the proposed method.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.5
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• pp.577-584
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• 1999

In this paper, the double inverted pendulum having a single actuator is built and the controller for the system is proposed. The lower link of the target pendulum system is hinged on the plate to free for rotation in the specified range($10^{\cire}$) on the x-z plane. The upper link is connected to the lower link through a DC motor. The double inverted pendulum built can be kept upright posture by controlling the position of the upper link even though it has no actuator in lower hinge. The algorithm to control the inverted pendulum consists of a state feedback controller within a linearizable range and a fuzzy logic controller coupled with a nonlinear feedback compensator for the rest of the range. Conventional state feedback control is employed, and the fuzzy controller is responsible for generating the reference joint angle of the upper link for the nonlinear feedback compensator which drives a DC motor to generate an indirect torque to the lower joint. As a result, we can get the upright posture of the proposed pendulum system. Simulations and experiments are conducted to show the validity of the proposed controller.