• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.269-269
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• 2000

This paper presents a predictive control with H$_{\infty}$ suboptimal performance which is robust to disturbances and has a guaranteed stability. In order to derive the control law conveniently, state-space based approach, where the state variable is involved explicitly in the controller design and implementation is allowed. So an input-output model is converted to an equivalent observable canonical state-space form. The suggested control guarantees the norm bounded system output values from disturbances. A systematic way using the LMI method is presented to obtain appropriate parameters for Quadratic stability condition and optimization problem.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.754-759
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• 1992

In this paper, we proposed a mixed H$_{2}$/H$_{\infty}$ optimal controller design method using the parameterization of H$_{2}$ suboptimal controller. The method is based on the minimization of H$_{2}$ performance measure with an H$_{\infty}$-norm constraint. We also derived the necessary and sufficient conditions for existence of solution from the decoupled Riccati equations. And the designed controller has state-space representation.n.

• International Journal of Control, Automation, and Systems
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• v.6 no.6
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• pp.954-959
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• 2008

This paper is concerned with the reliable $H_{\infty}$ controller design problem for uncertain linear systems against actuator failures. In the design, the $H_{\infty}$ performance of the closed-loop system is optimized during normal operation(without failures) while the system satisfies a prescribed $H_{\infty}$ performance level in the case of actuator failures. Single and parameter-dependent Lyapunov function approaches are applied in designing suboptimal reliable $H_{\infty}$ controllers. Simulation studies are presented to demonstrate the effectiveness of the proposed design procedures.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.5
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• pp.345-355
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• 2000

In this paper, the depth controller of an underwater vehicle based on an $H_\infty$ servo control is designed for the depth keeping of the underwater vehicle under wave disturbances. The depth controller is designed in the form of the $H_\infty$ servo controller, which has robust tracking property, and an $H_\infty$ servo problem is considered for the $H_\infty$ servo controller design. In order to solve the $H_\infty$ servo problem for the underwater vehicle, this problem is modified as an $H_\infty$ control problem for the generalized plant that includes a reference input mode, and a suboptimal solution that satisfies a given performance criteria is calculated with the LMI (Linear Matrix Inequality) approach. The $H_\infty$ servo controller is designed to have robust stability about the perturbation of the parameters of the underwater vehicle and the robust tracking property of the underwater vehicle depth under wave force and moment disturbances. The performance, robustness about the uncertainties, and depth tracking property, of the designed depth controller is evaluated by computer simulation, and finally these simulation results show the usefulness and applicability of the proposed $H_\infty$ depth control system.

• Proceedings of the KIEE Conference
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• 1997.11a
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• pp.146-148
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• 1997

An LMI-based parameterization of all $\gamma$-suboptimal reduced-order unbiased $H_{\infty}$ filters is provided in terms of a free matrix, using the unbiasedness condition, bounded real lemma and the general solution of the basic LMI. Also, by sequentially solving the generalized eigenvalue minimization and basic LMI problem, the optimal filter coefficient matrix can be obtained with the best achievable performance.

• Proceedings of the KIEE Conference
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• 1998.07b
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• pp.436-439
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• 1998

In this paper, we propose a centralized $H^{\infty}$ state estimator for the multi state estimation problem using the result suboptimal $H^{\infty}$ filter is a special form of Ka filter whose state equations are defined in md inner product spaces. Con- ventional decentr filters are based on Kalman filter assumes precesses and measurements noises are w Gaussian noise. Therefore, Kalman based decent filter design hasn't robust performance in situation. Simulation results show that decent $H^{\infty}$ filter has robust perfotmance in worst case sensor fault situation.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.36S no.2
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• pp.38-45
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• 1999

In this paper, A novel approach on $H_{\infty}-LTR$ design scheme is presented. The proposed scheme provides a design toll which can trade-off the recovery error against the control input. In the first stage, Kalman filter is designed to shape the loop to satisfy the required performance specifications. The designed Kalman filter, together with the plant transfer function, is used as a target transfer function. In the second stage, sensitivity function weighted $H_{\infty}-LTR$suboptimal LTR is designed to recover the target loop transfer function. Simulation results of LQG/LTR, $H_{\infty}-LTR$are compared to demonstrate the good property of the proposed scheme.

• Journal of Electrical Engineering and information Science
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• v.3 no.3
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• pp.306-315
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• 1998

In this paper, a unified approach to the H\ulcorner controller design is proposed under the $\delta$-form for both continuous and discrete systems. Most of important basic concepts of H\ulcorner control, such as inner, co-inner, GCARE and GFARE, are reformulated by the unified form. The NLCF(Normalized left Comprime Factor) plant description has been reviewed in the $\delta$-form, and some corresponding results are proposed. And the unified H\ulcorner controller is designed which is based on the McFarlane and Glover{1]. The state-space parameterization for all suboptimal controllers is given under the NLCF model which may not be strictly proper, and the central controller is derived by using the solution to Hankel norm approximation problem[2]. The unified controller is applied to the industrial boiler control problem to exemplify the performance of the controller.