• 전기의세계
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• v.29 no.3
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• pp.193-200
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• 1980

A new algorithm for power system stability calculations is developed which considers the nonlinear state equations of 8 state variables for each generator dynamics, expollential load models in respect to bus voltages for nonlinear loads, network equations expressed in terms of bus-injected current sources, various kinds of generator and transmission line outages, abrupt changes in loads, and operations of various kinds of portective relaying systems such as distance relaying, reclosing load shedding by under-frequency relays. In the algorithm are included efficient and reliable schemes for solving network equations by means of the Newton-Raphson iterative method and the Optimally-Ordered Triangular Factorization Technique, and simple procedures for determining fault-point negative and zero sequence impedances for unbalanced line faults. An application of the Optimally-Ordered Triangular Factorization Techniques results in remarkable savings in computing time and memory requirements.

• Proceedings of the KIEE Conference
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• 1997.07b
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• pp.418-421
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• 1997

A control synthesis scheme is presented for nonlinear single-input-single-output (SISO) systems with parametric uncertainty which have completely unstable zero dynamics. The approach involves the derivation of an input-output linearizing control law which achieves internal stability for a nonlinear minimum phase approximation to the original system using Fliess normal form. A vector of unknown constant parameters is also considered. A Lyapunov-based additional control law is shown to stabilize the full system.

• The Journal of Korea Robotics Society
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• v.1 no.2
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• pp.197-202
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• 2006

We present the synergy effect of humanoid robot walking down on a slope and support vector machines in this paper. The biped robot architecture is highly suitable for the working in the human environment due to its advantages in obstacle avoidance and ability to be employed as human substitutes. But the complex dynamics in the robot and ground makes robot control difficult. The trajectory of the zero moment point (ZMP) in a biped walking robot is an important criterion used for the balance of the walking robots. The ZMP trajectory as dynamic stability of motion will be handled by support vector machines (SVM). Three kinds of kernels are also employed, and each result from these kernels is compared to one another.

• International Journal of Control, Automation, and Systems
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• v.4 no.3
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• pp.308-317
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• 2006

To control the tip position of a flexible-link manipulator, a neural network (NN) controller is proposed in this paper. The dynamics error used to construct NN controller is derived based on output redefinition approach. Without the filtered tracking error, the proposed NN controller can still guarantee the closed-loop system uniformly asymptotically stable as well as NN weights bounded. Furthermore, the tracking error of desired trajectory can converge to zero with the proposed controller. For comparison an NN controller with filtered tracking error is also designed for the flexible-link manipulator. Finally, simulation studies are carried out to verify the theoretic results.

• The Bulletin of The Korean Astronomical Society
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• v.38 no.1
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• pp.36.1-36.1
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• 2013

I present a simple scheme for the treatment of gravitational interactions on galactic scales. In analogy with known mechanisms of quantum field theory, I assume ad hoc that gravitation is mediated by virtual exchange particles - gravitons - with very small but non-zero masses. The scheme predicts the asymptotic flattening of galactic rotation curves, the Tully-Fisher/Faber-Jackson relations, the mass discrepancy-acceleration relation of galaxies, and the surface brightness-acceleration relation of galaxies correctly; additional (dark) mass components are not required. The well-established empirical scaling laws of Modified Newtonian Dynamics follow naturally from the model. The scheme I present is not a consistent theory of gravitation; rather, it is a toy model providing a convenient scaling law that simplifies the description of gravity on galactic scales.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.37 no.5
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• pp.319-326
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• 1988

In the presence of unmodeled dynamics, the robustness of adaptive pole assignment control using new pseudo-plant is presented. The pseudo-plant proposed by Donati et al. is modified as the gain of low pass filter can be set from zero to one. This modified pseudo-plant results in the reduction of modeling error. It is shown that not only this approach is insensitive to input frequency but also it improves the conic condition developed by Ortega et al. which is required to assure stability of adaptive control system despite the model-plant mismatch. A simple method to compensate the tracking error due to the use of pseudo-plant is considered.

• International Journal of Control, Automation, and Systems
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• v.6 no.1
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• pp.142-148
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• 2008

In this paper, we deal with the problem of reducing the order of the detection filter for the linear time-invariant system. Even if the detection filter is generally designed in the form of full order linear observer, we show that it is possible to reduce its order when the response of fault signals is limited to a subspace of the estimation state space. We propose a method to extract the subspace using the observer canonical form considering the dynamics related to the remaining subspace acts as a disturbance. We designed a reduced order detection filter to reject the disturbance as well as to guarantee fault detection and isolation. A simulation result for a 5th order system is presented as an illustrative example of the proposed design method.

• Journal of Environmental Science International
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• v.4 no.1
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• pp.71-80
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• 1995

A discrete state space model for a multiple-reach river system is formulated using the dynamics of biochemical oxygen demand(BOD) and dissolved oxygen(DO). A hierarchical optimization technique, which is applicable to large-scale systems with time-delays in states, is also described to control stream quality in a river as an optimal manner based on the interaction prediction method. The steady state tracking error of the proposed method is determined analytically and a necessary and sufficient condition on which a constant target tracking problem has zero steady-state error is derived. Computer simulations for the river pollution model illustrate the algorithm.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1998.10a
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• pp.123-128
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• 1998

This paper proposes design of LFT-based fuzzy controllers for model-following, which are better than the previous input-output linearization controllers, which are not able to follow the model system states and which do not guarantee the stability of all states. The method proposed in this paper provides a LFT-based Takagi-Sugeno(T-S) fuzzy controller with guaranteed stability and model-following via the following steps: First, using LFT(Linear Fractional Transformation) and T-S fuzzy model, controllers, are obtained. Next, error dynamics are obtained for model-following, and errors go to 0(zero). Finally, a T-s fuzzy controller that can stabilizxe the system with the requirement on the control input satisfied is obtained by solving the LMIs with the MATLAB LMI Control Toolbox and a model-following controller is obtained. Simulations are performed for the LFT-based T-S fuzzy controller designed by the proposed method, which show better performance than the results of input-out ut linearization controller.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.38 no.11
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• pp.941-949
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• 1989

This two-part paper presents a control method that allows for stable interaction of a robot manipulator with environment. In part 1, we focus on the input output relationships (unstructured modeling) of the robot and environment dynamics. This analysis leads to a general condition for stability of the robot and environment taken as a whole. This stability condition, for stable maneuver, prescribes a finite sensitivity for robot and environment where sensitivity of the robot (or the environment) is defined as a mapping forces into displacement. According to this stability condition, smaller sensitivity either in robot or in environment leads to narrower stability range. In the limit, when both systems have zero sensitivity, stability cannot be guaranteed. These models do not have any particular structure, yet they can model a wide variety of industrial and research robot manipulators and environment dynamic behavior. Although this approach of modeling may not lead to and design procedure, it will allow us to understand the fundamental issues in stability when a robot interacts with an environment.