• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.439-445
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• 1990

All models of dynamical systems invariably have some measure of uncertainties associated with some of their dynamics. The recent approaches to establish robustness of stabilizing feedback control against the possible uncertainties have a serious limitation, that is their applicability only to the systems that satisfy the matching conditions. Such conditions are rarely met in general applications. If a particular system satisfies the matching conditions, the addition of an actuator will destroy the satisfaction of such conditions. In this paper, we develop robust control algorithm for uncertain multivariable systems in which the matching conditions are not necessarily met. We empoly Lyapunov's second method to derive robust stabilizing controllers which guarantee asymptotic stability against prescribed uncertainties. The derivation consists of transforming the original uncertain system to controllable canonical form and constructing a constant switching surface by designing the closed-loop characteristics as a function of the uncertainties. Numerical examples are discussed as illustrations.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2010.05a
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• pp.988-991
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• 2010

This paper presents a control design for networked control systems (NCS) with uncertain time delay using model matching. The dynamics of the time delay are approximated through the Pade linearization and the uncertain delay term is recursively estimated by the recursive least square (LS) algorithm. Computer simulation illustrates that the proposed control compares favorably with a recently published control approach.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.34.3-34
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• 2001

The design method of H$\infty$ filter for discrete-time uncertain linear systems with multiple state delays is investigated. The uncertain parameters are assumed to be unknown but belonging to known convex compact set of polytope type less conservative than norm bounded parameter uncertainty. The modified H$\infty$ performance measure is introduced to consider the initial states values which affect the performance of filter. The objective is to design a stable H$\infty$ filter guaranteeing asymptotic stability of filtering error dynamics and minimizing H$\infty$ norm bound. The sufficient condition for the existence of filter and the filter design method are established by LMI (linear matrix inequality) approach.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.404-408
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• 1986

While the engine dynamics is, in nature, a uncertain nonlinear system, practical control methods for nonlinear systems are presently limited. This paper discusses important issues of engine control such as fuel economy, exhaust emission control, and driveability. Recent development in engine control technologies is reviewed. New control methods which appear to be useful for engine control are introduced.

• Journal of Institute of Control, Robotics and Systems
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• v.2 no.1
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• pp.9-13
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• 1996

슬라이딩 모드 제어기의 실현시 발생하는 고주파 chattering 현상을 제거하기 위하여 본 논문에서는 스위칭 표면 행렬의 Range-space 동특성을 이용한 연속 시간 스위칭 다이나믹을 제안한다. 전체 폐루프 시스템은 정칙 변환에 의해 빠른 부시스템과 느린 부시스템으로 분해되어, 결국 전체 폐루프 시스템의 고유치는 각각 스위칭 표면 행렬의 Range-space와 Null-space의 동특성을 지배하는 부시스템들의 고유치들로 구성됨을 보인다. 그리고, 정합된 불확실성이 존재하는 경우 제안된 스위칭 다이나믹을 가진 제어 시스템의 응답은 일정 시간이 경과된 후 스위칭 평면의 임의의 영역으로 균일하게 유계된다는 것을 증명한다. 또한, 제어 입력의 크기에 대한 제약성을 만족하면서도 전체 제어 시스템의 정상 상태 오차를 감소시키기 위하여 두개의 스위칭 다이나믹을 도입한 수정된 슬라이딩 모드제어기를 제안한다.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.44 no.1
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• pp.1-8
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• 2021

As a nation experiencing rapid economic growth, South Korea and its government have made a continuous effort toward efficient research investments to achieve transformation of the Korean industry for the fourth industrial revolution. To achieve the maximum effectiveness of the research investments, it is necessary to evaluate its funding's worth and default risk. Thus, incorporating the concepts of the Black-Scholes-Merton model and the Greeks, this study develops a default-risk evaluation model in the foundation of a system dynamics methodology. By utilizing the proposed model, this study estimates the monetary worth and the default risks of research funding in the public and private sectors of Information and Communication technologies, along with the sensitivity of the R&D economic worth of research funding to changes in a given parameter. This study finds that the public sector has more potential than the private sector in terms of monetary worth and that the default risks of three types of research funding are relatively high. Through a sensitivity analysis, the results indicate that uncertainty in volatility, operation period, and a risk-free interest rate has trivial impacts on the monetary worth of research funding, while volatility has large impacts on the default risk among the uncertain factors.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.9
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• pp.757-763
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• 2002

A newly designed haptic interface enables an operator to control a remote robot precisely. It transmits position information to the remote robot and feeds back the interaction force from it. A control algorithm of haptic interface has been studied to improve the robustness and stability to uncertain dynamic environments with a proposed contact dynamic model that incorporates human hand dynamics. A simplified hybrid parallel robot dynamic model fur a 6 DOF haptic device was proposed to from a real time control system, which does not include nonlinear components. LQC/LTR scheme was adopted in this paper for the compensation of un-modeled dynamics. The recovery of the farce from the remote robot at the haptic interface was demonstrated through the experiments.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.20 no.8
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• pp.42-47
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• 2006

In this paper, we propose a sliding mode control with the bound estimation for robot manipulators without requiring exact knowledge of the robot dynamics. For the bound estimation, the upper bound of the uncertain nonlinearities of robot dynamics is represented as a Fredholm integral equation of the first kind and we propose an adaptive scheme which is only dependent on the sliding surface function. Also, we prove the asymptotic stability for the robot systems using two important properties in the robot dynamics: skew-symmetry and positive-definiteness of robot parameters.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2672-2674
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• 2000

In this paper. feedback linearization and the sliding mode control(SMC) are used together for uncertain nonlinear system. An advantage of feedback linearization technique is to make linear control theories can be used for nonlinear system and the SMC have the robustness. But the dynamics of the SMC has the dynamics lower order than that of the original system. Therefore the linear control theory can not be used with the SMC. The novel sliding surface of the SMC can have the dynamics of the nominal non linear system controlled by the feedback linearization. The proposed method can be used for the control of induction motors.

• Asian Journal of Innovation and Policy
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• v.8 no.2
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• pp.180-207
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• 2019

This article explores the historical evolutionary process of the biopharmaceutical industry of Korea, and how intentional and unintentional policy interventions have triggered the creation of the industry's system dynamics and paved the way for the generation of a few global leading products, including biosimilar, as well as next-generation therapeutics of gene and cell. The policies cover the simple technology transfer of API synthesis to overcome the endemic parasitic disease, new substance patent adoption and new drug development consortia, human resource development, various national initiatives influenced by the Human Genome Project, and venture promotion schemes. The scope and implementation tools under these policies have been aligned and refined to transform traditional fine chemical-based pharmaceuticals, to stimulate large companies' participation and to create technology-based venture companies in the biopharma business of Korea.