• Title/Summary/Keyword: 강인 $H_{\infty}$ 제어

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Robust $H{\infty}$ Control Using Sliding Mode and LMI (슬라이딩모드와 LMI를 이용한 강인 $H{\infty}$ 제어)

  • Kim, Su-Jin;Kim, Min-Chan;Park, Seung-Kyu;Ahn, Ho-Kyun;Kwak, Gun-Pyong;Yoon, Tae-Sung
    • Journal of the Korea Institute of Information and Communication Engineering
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    • v.11 no.2
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    • pp.316-321
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    • 2007
  • [ $H{\infty}$ ] controller, which shows robustness for disturbances and noises, can not be used in the case of uncertain system parameters. Even if the $H{\infty}$ controller can be designed for the parameter uncertain system, its performance can be deteriorated. Therefore, in this paper, the robustness of $H{\infty}$ controller is improved by using the SMC(Sliding Mode Control). The LMI based $H{\infty}$ controller is designed first and then SMC controller is added.

A Design of GA-Based Model-Following Boiler-Turbine H∞ Control System Having Robust Performance (유전 알고리즘 기반의 강인한 성능을 가지는 모델추종형 보일러-터빈 H∞ 제어 시스템의 설계)

  • Hwang, Hyun-Joon
    • Journal of Advanced Marine Engineering and Technology
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    • v.36 no.1
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    • pp.126-132
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    • 2012
  • This paper suggests a design method of the model-following H${\infty}$ control system having robust performance. This H${\infty}$ control system is designed by applying genetic algorithm(GA) with reference model 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. These weighting functions and design parameter ${\gamma}$ are optimized simultaneously in the search domain guaranteeing the robust performance of closed-loop system. The effectiveness of this H${\infty}$ control system is verified by applying to the boiler-turbine control system.

Design of Robust Speed Controllers for Marine Diesel Engine (선박용 대형 디젤 기관의 강인 속도 제어기 설계)

  • Hwang, Soon-Kyu;Lee, Young-Chan;Kim, Chang-Hwa;Jung, Byung-Gun
    • Journal of Advanced Marine Engineering and Technology
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    • v.35 no.6
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    • pp.820-828
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    • 2011
  • Energy saving is one of the most important factors for profits in marine transportation. In order to reduce the specific fuel oil consumption, the ship's propulsion efficiency must be increased as much as possible. The propulsion efficiency depends upon a combination of propulsion engine and propeller that has better efficiency as lower rotational speed. As the engine has lower speed the variation of rotational torque become larger because of the longer delay time in fuel oil injection process. In this study, robust control theory is applied to the design of engine speed controllers which are sub-optimal $H_{\infty}$ controller, $H_{\infty}$ loop-shaping controller and ${\mu}$-synthesis controller considering robust stability and robust performance. And the validity of these three controllers is investigated through the results of computer simulation.

Generator Exciter Control Using H (H 이용한 발전기 여자 시스템 제어)

  • Hong, Hyun-Moon
    • Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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    • v.18 no.5
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    • pp.198-202
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    • 2004
  • This thesis proposes a robust controller introducing the H$_{\infty}$ control theory, one of the robust control theories that can obtain desired control performance while ensuring robustness for the uncertainty and disturbance contained in the power system. The performance of the designed controller is examined by extensive non-linear time domain simulation. Results show that the proposed H$_{\infty}$ controller is superior to that of the conventional controller.

Design of a Robust Controller for Vehicle Rollover Prevention (차량 전복 방지를 위한 강인 제어기 설계)

  • Yim, Seong-Jin;Kim, Yong-Moo;Oh, Dong-Ho
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.36 no.11
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    • pp.1311-1318
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    • 2012
  • Vehicle systems are frequently exposed to parameter uncertainties such as vehicle speed and height of center of gravity. If a controller is designed to be robust against these parameter uncertainties, the rollover prevention capability can be considerably enhanced. In this study, robust controllers $H_2$ and $H_{\infty}$ are designed by using LMI for vehicle rollover prevention control in the discrete time domain. Some simulations using CarSim, a reliable simulation tool, are performed to validate the proposed controllers.

Robust Positioning Control of a Flexible beam using $H_2/H_{\infty}$ and $\mu$-theory ($H_2$/H$\infty$$\mu$이론을 이용한 유연 빔의 위치제어)

  • 최연욱
    • Journal of the Institute of Convergence Signal Processing
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    • v.2 no.1
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    • pp.101-107
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    • 2001
  • The objective of this paper is to present a method for designing robust positioning control systems of a flexible arm using mixed $H_2/H_{\infty}$ and $\mu$ theory. We begin with a description of the flexible arm based on the model identification method and discuss the derivation of the model uncertainty. The validity of the obtained model is confirmed experimentally. Next, a robust controller is designed based on the mixed $H_2/H_{\infty}$ and $\mu$ theory by which we can improve robustness of the entire system. On this occasion, we also propose a general plant formation suitable to mixed $H_2/H_{\infty}$ control and $\mu$-theory. Finally, the effectiveness of the proposed design method is verified through experimentation.

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Design of $H_{\infty}$Controller for the inverted pendulum system (도립진자 시스템의 $H_{\infty}$ 제어기 설계)

  • Seo, Kang-Myun;Kang, Moon-Sung
    • Journal of the Korea Institute of Information and Communication Engineering
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    • v.10 no.10
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    • pp.1796-1803
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    • 2006
  • This Paper describes a systematic method for designing the $H_{\infty}$ controller for the inverted pendulum which is a nonlinear and single-input double-outputs system. In particular, the open-loop system is conbined with a pre-filter to shape the open-loop transfer function for the sensitivity function ind the complementary sensitivity function to be kept the desirable frequency characteristics. Consequently, the loop shaping technique of the open-loop transfer function reduces the impacts of the model uncertainties, measurement noises and exogenous disterbances on the dynamic characteristics of the inverted pendulum. The results of simulation and experiment show the efficiency of the proposed control method comparing with conventional PID control method.

Robust Servo System Design by $H_2/H_{\infty}$ Control - Application to Three Inertia Benchmark Problem- (혼합 $H_2/H_{\infty}$제어에 의한 강인한 서보시스템의 설계 -3관성 벤치마크문제의 해법 -)

  • Choe, Yeon-Wook
    • Journal of the Institute of Convergence Signal Processing
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    • v.6 no.3
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    • pp.148-156
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    • 2005
  • The purpose of this paper is to propose an approach to design a robust servo controller based on the mixed $H_2/H_{\infty}$ theory, and confirm its validity by applying to a benchmark problem. First, the existing $H_{\infty}$ servo problem is modified to a structure for the mixed $H_2/H_{\infty}$ control problem by virtue of the internal model principle. By making use of proposed structure, we can divide specifications required in the robust servo system design into $H_2$ and $H_{\infty}$ performance criteria, respectively. It is shown that the proposed design approach is quite effective through an application to a three inertia benchmark problem.

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Robust H∞ Speed Controller Design of permanent magnet synchronous motor (영구자석 동기 전동기의 강인한 H∞ 속도 제어기 설계)

  • Ko, Da-Som;Jang, So-Hyun;Jang, Kyung-Min;Jang, Ji-Hye;Jo, Nam-Hoon
    • Proceedings of the KIEE Conference
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    • 2015.07a
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    • pp.1292-1293
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    • 2015
  • 기존에는 전동기 제어기법으로 PI제어기가 주로 사용되어 왔다. 그러나 실제 시스템의 경우 외란과 센서 잡음에 노출되기 쉽고, 모델의 불확실성에 대한 오차가 발생하기 때문에 보다 강인한 제어기법이 필요한 시점이다. $H{\infty}$제어기법은 명령 추종 성능, 시스템 모델 오차와 외란, 센서 잡음에 대해 강인성을 보장하는 고급제어기법으로서 현재 그 성능을 입증 받아 산업분야에서 다양하게 적용되고 있다. 본 논문은 매입형 영구자석 동기전동기(IPMSM)의 속도제어기에 $H{\infty}$제어기와 PI제어기를 적용하여 모의실험을 통한 성능비교를 통해 모델오차와 같은 시스템의 불확실성과 외란에 대해 $H{\infty}$제어기의 강인한 제어성능을 검증하였다.

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Development of non-fragile $H_{\infty}$ controller design algorithm for singular systems (특이시스템의 비약성 $H_{\infty}$ 제어기 설계 알고리듬 개발)

  • Kim, Jong-Hae
    • Journal of the Institute of Electronics Engineers of Korea SC
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    • v.42 no.6
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    • pp.9-14
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    • 2005
  • In this paper, we consider the synthesis of non-fragile $H_{\infty}$ state feedback controllers for singular systems and static state feedback controller with multiplicative uncertainty. The sufficient condition of controller existence, the design method of non-fragile $H_{\infty}$ controller, and the measure of non-fragility in controller are presented via LMI(linear matrix inequality) technique. Also, the sufficient condition can be rewritten as LMI form in terms of transformed variables through singular value decomposition, some changes of variables, and Schur complements. Therefore, the obtained non-fragile $H_{\infty}$ controller guarantees the asymptotic stability and disturbance attenuation of the closed loop singular systems within a prescribed degree. Moreover, the controller design method can be extended to the problem of robust and non-fragile $H_{\infty}$ controller design method for singular systems with parameter uncertainties. Finally, a numerical example is given to illustrate the design method.