• Journal of Institute of Control, Robotics and Systems
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• v.9 no.2
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• pp.117-123
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• 2003

Rotational machines such as optical disk drives, hard disk drives, and so on are subject to periodic disturbances caused by their mechanical characteristics. In the meanwhile, it is well known that repetitive control rejects periodic disturbance effectively. This paper presents a practical application of repetitive control to the track-following servo of an optical disk drive. The repetitive control system is composed of two repetitive controllers which compensate for periodic disturbances generated by track geometry and eccentric rotation of disk and a feedback controller stabilizing the feedback loop. A robust stability for all plant uncertainties is proved using linear matrix inequalities (LMIs). In the controller design, a weighting function is introduced for the feedback controller to ensure a minimum loop gain and a sufficient phase margin. The repetitive controllers and the feedback controller are designed by solving an optimization problem which can consider the robust stability condition and the system performance. The developed repetitive control system is implemented in the digital control system with a 16-bit fixed-point digital signal processor (DSP). Through simulation and experiment. The feasibility of the proposed repetitive control system is verified.

• Proceedings of the KIEE Conference
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• 2008.10b
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• pp.268-269
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• 2008

Moving object detection is a fundamental technique in visual surveillance. Robust technique to enhance performance of moving object detection is required for several bad conditions in real external circumtance. In case of sudden illumination change in outdoor condition, many objects are determined as moving object though they are not really moving, but just their illumination changes. This makes the detection result untrustworthy. In this paper, robust moving object detection to sudden illumination change using gaussian mixture background model and new texture information using background from the weighted sum of recent images is proposed.

• IE interfaces
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• v.20 no.3
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• pp.288-297
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• 2007

Success of semiconductor/LCD industry depends on its yield and quality of product. For the purpose, FDC (Fault Detection and Classification) system is used to diagnose fault state in main manufacturing processes by monitoring time series data collected by equipment sensors which represent various conditions of the equipment. The data set is segmented at the start and end of each product lot processing by a trigger event module. However, in practice, segmented sensor data usually have the features of data asynchronization such as different start points, end points, and data lengths. Due to the asynchronization problem, false alarm (type I error) and missed alarm (type II error) occur frequently. In this paper, we propose a robust process fault detection system by integrating a process event detection method and a similarity measuring method based on dynamic time warping algorithm. An experiment shows that the proposed system is able to recognize abnormal condition correctly under the asynchronous data situation.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.1199-1205
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• 1993

It has been well known that the assumption of full state availability is one of the most important restrictions to the practical realization of VSCS. And several attempts to alleviate the assumption had been made. However, it is not easy to find a positive scheme among them. Recently, an output feedback variable structure control system(OFVSCS) was proposed and the effectiveness of the scheme was validated for the disturbance free systems. The purpose of this study is to propose a robust OFVSCS that have the robust properties against process parameter variations and external distrubances by extending the basic OFVSCS and to evaluate its control performances through power system stabilizer design example. The ROFVSCS is composed of dynamic switching function and output feedback switching control inputs that are constructed by the use of the unknown vector modeling technique. With the proposed scheme, existence of sliding mode is guaranteed and any nonzero bias can be suppressed in the face of disturbances and process parameter variations as far as well-known matching condition is satisfied. Due to the fact that the ROFVSCS is driven by small number of measured informations, the practical application of VSCS for the systems with unmeasurable states and for high order systems that conventional schemes cannot be applied, is possible with the proposed scheme. It is noticeable that the implementation cost of VSCS can be considerably reduced without sacrifice of control performances by adopting ROFVSCS since there is no need measure the states with high measurement cost.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.4
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• pp.295-301
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• 2012

This paper deals with the design of robust DSMC (Discrete-Time Sliding Mode Control) scheme in order to overcome system uncertainty in steering system with mechanically joined structure. The proposed control scheme is one of robust control schemes based on system dynamics. Therefore, system dynamics required is not obtained from physical law but SCM (Signal Compression Method) through experiment in order to avoid complicate mathematical development and save time. However, SCM has a shortcoming that is the limitation of with $2^{nd}$ order linear model which does not include the dynamic of high-frequency band. Thus, considering system uncertainty, DSMC is designed. In addition, to reduce the chattering problem of DSMC, DSMC is derived from the reaching law and the Lyapunov stability condition. It is found that the proposed control scheme has robustness in spite of the perturbation of system uncertainty through computer simulation.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.46 no.4
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• pp.39-48
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• 2009

Asynchronous sequential machines, or clockless logic circuits, have several advantages over synchronous machines such as fast operation speed, low power consumption, etc. In this paper, we propose a novel robust controller for input/output asynchronous sequential machines with uncertain state transitions. Due to model uncertainties or inner failures, the state transition function of the considered asynchronous machine is not completely known. In this study, we present a formulation to model this kind of asynchronous machines ana using generalized reachability matrices, we address the condition for the existence of an appropriate controller such that the closed-loop behavior matches that of a prescribed model. Based on the previous research results, we sketch design procedure of the proposed controller and analyze the stable-state operation of the closed-loop system.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.19 no.8
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• pp.1874-1882
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• 2015

In this paper, robust backstepping controller for IPMSM is proposed based on the PID integral sliding mode control. Because of the unmatching condition of load, the sliding mode control is difficult to be used for IPMSM without backstepping. However, the backstepping control has the difficulty of deriving error dynamics which is derived by differentiating the previous input. This difficulty is avoided by adopting PID as a nominal controller for the integral sliding mode control. The proposed controller can be achieved easily by adding integral sliding controller to the conventional PID controller.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.26 no.1
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• pp.18-26
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• 2002

With the introduction of Fractal notation, various fields of engineering adopted fractal notation to express characteristics of geometry involved and one of the most frequently applied areas was turbulence. With research on turbulence regarding the surface as fractal geometry, attempts to analyze turbulent premised flame as fractal geometry also attracted attention as a tool for modeling, for the flame surface can be viewed as fractal geometry. Experiments focused on disclosure of flame characteristics by measuring fractal parameters were done by researchers. But robust principle or theory can't be extracted. Only reported modeling efforts using fractal dimension is flame speed model by Gouldin. This model gives good predictions of flame speed in unstrained case but not in highly strained flame condition. In this research, approaches regarding fractal dimension of flame as one representative value is pointed out as a reason for the absence of robust model. And as an extort to establish robust modeling, Presents methods treating fractal dimension as statistical variable. From this approach flame characteristics reported by experiments such as Da effect on flame structure can be seen quantitatively and shows possibility of flame modeling using fractal parameters with statistical method. From this result more quantitative model can be derived.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.05a
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• pp.110-113
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• 2006

This paper describes the development process of body and full vehicle for reduced idle vibration through the data level of frequency and sensitivity. The vibration mode map is used to separate body structure modes from resonance of engine idle nm and steering system. This paper describes the analysis approach process to reduce the variation of uncertainties for idle vibration performance at initial design stage. The robust design method is performed to increase the stabilization performance under vehicle vibration. It is used to predict the effects of the stiffness deviation according to the spot welding condition of the body structure. The tolerance associated with hood over slam bumper is analyzed for the quality deviation of the moving system in full vehicle. And the glass sealant stiffness and weight difference is considered for the deviation characteristic. The design guideline is suggested considering sensitivity about body and full vehicle by using mother car at initial design stage. It makes possible to design the good NVH performance and save vehicles to be used in tests. These improvements can lead to shortening the time needed to develop better vehicles.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.43 no.3
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• pp.458-467
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• 1994

It has been well known that the assumption of full state availability is one of the most important restrictions to the practical realization of VSCS. And several attempts to alleviate the assumption had been made. however, it is not easy to find a positive scheme among them. Recently, an output feedback variable structure control system(OFVSCS) was proposed and the effectiveness of the scheme was validated for the disturbance free systems. The purpose of this study is to propose a robust OFVSCS that have the robust properties against process parameter variations and external disturbances by extending the basic OFVSCS and to evaluate its control performances. The ROFVSES is composed of dynamic switching function and output feedback switching control inputs that are constructed by the use of the unknown vector modeling technique. With the proposed schems, existence of sliding mode is guaranteed and any nonzero bias can be suppressed in the face of disturbances and process parameter variations as far as well-known matching condition is satisfied. Due to the fact that the ROFVSCS is driven by small number of measured informations, the practical application of VSCS for the systems with unmeasurable states and for high order systems, the conventional schemes cannot be applied, is possible with the proposed scheme. It is noticeable that the implementation cast of VSCS can be considerably reduced without sacrifice of control performances by adopting ROFVSCS since there is no need to measure the states with high measurement cost.