• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.535-535
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• 2000

This paper presents an adaptive receding horizon H$_{\infty}$ controller for the linear parameter varying systems in the deterministic environment, which combines a parameter range estimator and a robust receding horizon H$_{\infty}$ controller using the parameter bounds. Using parameter set inclusion and terminal inequality condition, the closed-loop system stability is guaranteed. It is shown that the stabilizing adaptive receding horizon H$_{\infty}$ controller guarantees the H$_{\infty}$ norm bound.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.751-753
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• 1996

The $H_{2}$/$H_{\infty}$ robust controller is designed by using polynomial approach. This controller can minimise a $H_{2}$ norm of error under the fixed bound of $H_{\infty}$ norm of mixed sensitivity function by employing the Youla parameterization and using polynomial approach at the same time. It is easy to apply this controller to adaptive system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.46-51
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• 1991

An algorithm of finding a solution to an $H^{\infty}$-minimization problem is proposed, and the solution is obtained explicity in terms of closed-form. We construct an optimal controller subject to the interpolation constraints such that $H^{\infty}$-norm and the minimized value of transfer function matrix are equal.l.

• 한국지능시스템학회논문지
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• 제14권5호
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• pp.571-576
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• 2004

본 논문은 시간지연을 갖는 비선형 시스템에 대한 지연 종속 $H_{\infty}$ 제어기 설계 방법을 제안한다. 지연 종속 Lyapunov 함수를 이용하여 지수 함수적 안정화와 $H_{\infty}$ 성능 문제를 고려한다. 제어기의 존재성에 대한 충분조건을 유도하고 선형행렬부등식(LMI: linear matrix inequality)으로 나타낸다. 제어기 설계는 병렬 분산 보상의 개념을 이용하고, 필터는 LMI 해를 구함으로써 바로 구할 수 있다. 제안한 방법의 설계과정 및 타당성을 시뮬레이션 예제를 통하여 나타낸다. 지연종속 제어기는 제어기 존재 조건을 나타내는 선형 행렬 부등식에 시간지연항의 크기를 포함하고 있으므로 시간지연항의 크기에 상관없이 시스템을 안정화시키는 기존의 지연 독립적인 제어기보다 더 효과적인 설계 방법이다.

• 제어로봇시스템학회논문지
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• 제6권5호
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• pp.356-366
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• 2000

In this paper, a nonlinear $H_2/H_\infty/LTR$ control for the flexible inverted pendulum of a parallel type with Coulomb friction is presented. The dynamic equation for this system is derived by the Hamilton's principle and assumed-mode method. This hard nonlinear system can be modeled by a the quasi-linear state space model using the REF method. It is shown that the $H_2/H_\infty$ control can be applied to the nonlinear controller design of the system having Coulomb frictions if the proper LTR conditions are satisfied. In order to present the usefulness of the suggested control method, the nonlinear $H_2/H_\infty/LTR$ controller is designed to control the Position of the end point of the flexible inverted pendulum that has Coulomb frictions present in actuator parts. The results are given via computer simulations.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.331-331
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• 2000

This paper presents the mixed $H_2/H_{\infty}$ output feedback controIler design method for linear systems with delayed state. The objective is to design the output feedback controller which minimizes the H$_2$-norm of one transfer function while ensuring the H$_{\infty}$-norm of the other is held below a chosen level. When objective is tormulated in terms of a common Lyapunov function, the sufficient conditions of existence of mixed $H_2/H_{\infty}$ controller are given in terms of LMIs. terms of LMIs.

• 제어로봇시스템학회논문지
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• 제6권2호
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• pp.146-154
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• 2000

An $H\infty$ controller is designed for active suspensions of vehicles using 7-degree-of-freedom full-car model. Its performance robustness as well as stability robustness to system parameter variations and unmodelled dynamics are assured through the $\mu$-framework. The performance of the $H\infty$ controller is compared with that of a LQC controller in compute simulations. From the simulations it is found that the active suspension with the $H\infty$ controller reduces the acceleration and motion of the sprung mass in the heaving rolling and pitching directions when the car is driven on a normal road or through an asymmetric bump. The suspension stroke and the road holding capability are also improved with a relatively small level of power consumption. Overall the $H\infty$ controller shows a more robust performance than that of the LQG design.

• 제어로봇시스템학회논문지
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• 제5권3호
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• pp.257-266
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• 1999

The aim of this paper is to suggest a design method of the optimal multivariable $H_{\infty}$ control system using genetic algorithm (GA). This $H_{\infty}$ control system is designed by applying GA to the optimal determination of weighting functions and design parameter $\gamma$ that are given by Glover-Doyle algorithm which can design $H_{\infty}$ controller in the state space. The first method to do this is that the gains of weighting functions and $\gamma$ are optimized simultaneously by GA with tournament method. And the second method is that not only the gains and $\gamma$ but also the dynamics of weighting functions are optimized at the same time by eA with roulette-wheel method. The effectiveness of this $H_{\infty}$ control system is verified by computer simulation.

• 제어로봇시스템학회논문지
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• 제2권1호
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• pp.1-4
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• 1996

This paper presents a state feedback $H^{\infty}$ controller design method for linear systems with delayed states and inputs. We derive a sufficient condition that the closed-loop system is asymptotically stable for all time-delays and that the $H^{\infty}$-norm of the closed-loop transfer function is less than or equal to some prescribed level $\gamma$. And we propose a sufficient condition for the existence of a state feedback $H^{\infty}$ controller using a form of linear matrix inequality(LMI). Furthermore, we show that the state feedback $H^{\infty}$ controllers can be obtained from solutions satisfying LMI.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.498-503
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• 1993

In this paper, a robust and reliable H$_{\infty}$ control problem is considered for linear uncertain systems with time-varying norm-bounded uncertainty in the state matrix, which performs well despite of actuator outages. Using linear static state feedback and the quadratic stabilization with H$_{\infty}$-norm bound, a robust and reliable H$_{\infty}$ controller is obtained that stabilizes the plant and guarantees an H$_{\infty}$-norm bound constraint on disturbance attenuation for all admissible uncertainties and normal state as well as faulty state of actuators. It provides a sufficient condition for robust and reliable stabilization with H$_{\infty}$-norm bound. Reliability is guaranteed provided actuator outages only occur within a prespecified subset of actuators.tors.