• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.3
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• pp.214-219
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• 2013

This paper proposes the robust high-gain observer based SOC estimatro for uncertain RC model of Li-Ion batteries. In general, RC battery model has inevitable uncertainties and it cause some negative effect to estimate the accurate SOC of Li-Ion batteries. The proposed estimator overcomes such weakness with two techniques; high-gain observer design technique and sliding mode control technique. A high-gain observer provides the robustness against model uncertainties to the proposed estimator. A sliding mode control technique helps the proposed estimator by reducing the side effect of adopting a high-gain observer such as peaking phenomenon and perturbation. The performance of the proposed estimator is verified by some simulation.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.47 no.2
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• pp.8-15
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• 2010

This paper proposes a robust high-gain observer design scheme for nonlinear systems and its stability is analyzed based on Lyapunov theory. It is assumed that their states are unmeasurable. The proposed high-gain observer has the integrator of the estimation error in dynamics. It improves the performance of high-gain observers and makes the proposed observer robust to noisy measurements, uncertainties and peaking phenomenon as well. Its stability is analyzed by the Lyapunov approach. In order to verify the effectiveness of the proposed scheme, it is applied to output feedback controllers and some comparative simulation result with the existed observer based output feedback controllers and state feedback controllers is given.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.1
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• pp.7-14
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• 2015

To implement an automatic picking system (APS) in distribution center with high precision and high dynamics, this paper presents a high gain observer-based robust speed controller design for a linear induction motor (LIM) drive. The force disturbance as well as the mechanical parameter variations such as the mass and friction coefficient gives a direct influence on the speed control performance of APS. To guarantee a robust control performance, the system uncertainty caused by the force disturbance and mechanical parameter variations is estimated through a high gain disturbance observer and compensated by a feedforward manner. While a time-varying disturbance due to the mass variation can not be effectively compensated by using the conventional disturbance observer, the proposed scheme shows a robust performance in the presence of such uncertainty. A Simulink library has been developed for the LIM model from the state equation. Through comparative simulations based on Matlab - Simulink, it is proved that the proposed scheme has a robust control nature and is most suitable for APS.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.37 no.1
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• pp.1-9
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• 2000

In this paper, we design a robust output feedback controller for robot manipulators with bounded parametric uncertainties using high-gain observer. The proposed control scheme with integral action improves tracking error due to limit of the robust feedback gains. High-gain observer is used to solve the noise problem with the joint velocity measurement. This controller avoids the limitation on the variation of unknown parameters and guarantees the uniformly ultimate boundedness of the closed-loop system. The performance of the proposed method is demonstrated by simulation on a 2-link manipulator.