• 제어로봇시스템학회논문지
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• 제9권12호
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• pp.977-983
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• 2003

An output feedback stabilizing controller far non-minimum phase nonlinear systems is presented. We first perform the standard input-output linearization of the system and then transform the zero dynamics into a special normal form in which the antistable part is not affected by the stable part and the antistable part is given in approximately linear form. Under the assumption that the nonlinear system satisfies the observability rank condition, we can design an observer f3r the extended system that is made of the augmentation of a chain of integrators. The proposed output feedback stabilizing controller can then be designed by combining the observer and the state feedback controller.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제5권2호
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• pp.145-150
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• 2005

We proposed the indirect adaptive fuzzy model based sliding mode controller to control nonaffine nonlinear systems. Takagi-Sugano fuzzy system is used to represent the nonaffine nonlinear system and then inverted to design the controller at each sampling time. Also sliding mode component is employed to eliminate the effects of disturbances, while a fuzzy model component equipped with an adaptation mechanism reduces modeling uncertainties by approximating model uncertainties. The proposed controller and adaptive laws guarantee that the closed-loop system is stable in the sense of Lyapunov and the output tracks a desired trajectory asymptotically.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.208-208
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• 2000

In realistic control systems, the nonlinear salutation attributes of the control actuator due to physical limitations should be taken into account. This nonlinear saturation of actuators may cause not only deterioration of the control performance but also a large overshoot during start-up and shut-down. As the overshoot increases, the system may become oscillatory unstable. In this paper, the supervisor implementation which guarantees good performance lot saturation operation and prevents reset wind-up is presented. Moreover, the sufficient conditions of the stability for saturated systems using supervisory control with a dynamic controller are provided in the discrete-time domain. A numerical example is illustrated to depict the efficiency of supervisory control for a typical saturated production-distribution system controlled by a discrete-time dynamic controller and to validate basic results by simulation.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제50권7호
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• pp.347-355
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• 2001

The conventional output filter design methods of a voltage source inverter includes two main problems: the performance is not sure to satisfy the specification under the nonlinear load; the designed filter must be occasionally modified when the controller is designed. In this paper, we analyze the relation between both linear and nonlinear loads, the output voltage magnitude, LC lowpass filter parameters, and the control response time. Upon the basis, both filter and controller are simultaneously designed for the performance to satisfy the specification under the nonlinear load as well as linear load. The proposed method sharply enhances the reliability of the performance. P.U is used for the method to be applied to all the quantities of the system. The simulation and the experiment of the proposed method carried out respectively to verify the validity.

• 대한전기학회논문지:전력기술부문A
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• 제53권4호
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• pp.227-233
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• 2004

In stressed power system due to the presence of increased nonlinearity and the existence of nonlinear modal interactions. there exist some limitations to the use of conventional linear system theory to identify the optimum sites for a controller. This paper suggests an approach based on the method of normal forms to identify the optimum sites for controllers with incorporating the nonlinear interaction . In this paper, nonlinear participation factors and coupling factors are proposed as measures of the nonlinear interactions, and identification procedure of optimum sites for a controller is also proposed. The proposed procedure is applied to the 10-generator New England System and the KEPCO System in the year of 2010, and the results illustrate its capabilities.

• 전자공학회논문지B
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• 제33B권7호
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• pp.32-39
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• 1996

In this paper, we describe the algorithm which controls an unknown nonlinear system with multilayer neural network. The multilayer neural netowrk can be used to approximate any continuous function to any desired degree of accuracy. With the former fact, we approximate unknown nonlinear function on the nonlinear system by using of multilayer neural netowrk. The weights on the hidden layer of multilayer neural network are updated by gradient method. The weight-update rule on the output layer is derived to satisfy lyapunov stability. Also, we obtain secondary controller form deriving step. The global control system consists of controller using feedback linearization method and secondary controller is order to satisfy layapunov stability. The proposed control algorithm is verified through computer simulation.

• 전기전자학회논문지
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• 제18권2호
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• pp.206-213
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• 2014

In this note, a new robust nonlinear output feedback variable structure controller is first systematically and generally designed for the output control of more affine uncertain nonlinear systems with mismatched uncertainties and matched disturbance. A transformed integral output feedback sliding surface with a most simple form is applied in order to remove the reaching phase problems. The closed loop exponential stability and the existence condition of the sliding mode on the integral output feedback sliding surface is investigated with a corresponding output feedback control input in Theorem 1. For practical application the continuous implementation of the control input is made by the modified saturation function. The effectiveness of the proposed controller is verified through a design example and simulation study.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제53권4호
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• pp.227-227
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• 2004

In stressed power system due to the presence of increased nonlinearity and the existence of nonlinear modal interactions. there exist some limitations to the use of conventional linear system theory to identify the optimum sites for a controller. This paper suggests an approach based on the method of normal forms to identify the optimum sites for controllers with incorporating the nonlinear interaction . In this paper, nonlinear participation factors and coupling factors are proposed as measures of the nonlinear interactions, and identification procedure of optimum sites for a controller is also proposed. The proposed procedure is applied to the 10-generator New England System and the KEPCO System in the year of 2010, and the results illustrate its capabilities.

• 제어로봇시스템학회논문지
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• 제7권12호
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• pp.967-972
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• 2001

In this paper, an adaptive robust nonlinear predictive controller is developed for the continuous time nonlinear systems whose control objective is composed of the system output and its desired value. The basic control law is derived from the continuous time prediction model and its feedback dynamcis shows another from if input and output linearization. In order to cope with the parameter uncertainty, robust control is incorporated into the basic control law and the asymptotic convergence of tracking error to a certain bounded region is guaranteed. For stability and performance improvement within the bounded region, an adaptive control is introduced. Simulation tests for the motion control of an underwater wall-ranging robot confirm the performance improvement and the robustness of this controller.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2002년도 추계학술대회 및 정기총회
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• pp.113-117
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• 2002

PID controllers, which have been widely used in industry, have a simple structure and robustness to modeling error. But it is difficult to have uniformly good control performance in system parameters variation or different velocity command. In this paper, we propose a nonlinear adaptive PR controller based on an Immune feedback mechanism and a gradient descent teaming. This algorithm has a simple structure and robustness to system parameters variation. To verify performances of the proposed nonlinear adaptive PID controller, the speed control of nonlinear DC motor Is peformed. The simulation results show that the proposed control systems are effective in tracking a command velocity under system parameters variation