• Proceedings of the KIEE Conference
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• 1999.07b
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• pp.589-591
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• 1999

In this paper, we consider the robust pole assignment for linear system with time-varying uncertainty. The considered uncertainty is an unstructured uncertainty. Based on Lyapunov stability and linear matrix inequality technique, we present a condition that guarantees the robust pole assignment inside a circular disk and the robust stability of uncertain linear systems. Finally, we show the usefulness of our results by an example.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.246-249
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• 1988

In this paper, a new design technique which uses weighted least-sqare approach for the solution of the pole assignment problem is represented. This technique maybe used to assign some closed loop poles to places which reduce the large system input and output variance due to near pole-zero condition. The least-square approach is also applied to the design of servo self-tuning controller with integrator.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.194-199
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• 1989

In this paper, using the direct drive arm for plant, the controller is developed to track the desired trajectory in high speed and precision. For the purpose of this, through extending self-tuning pole-placement algorithm, we developed self-tuning pole-shift algorithm which is fast in response and good tracking for the reference tracking change. Developed controller is applied a three-link direct drive arm with the varing payload to track the desired tracking. And, through the computer simulation, the performance of developed controller is compared with the performance of the computed torque method and the self-tuning pole placement algorith.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.185-190
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• 1991

In this paper, we present a method of analising a system with nonlinear parameter by pole sensitivity defined by the rate of pole movement with respect of non-linear parameter variation. Pole sensitivity give us not only the rate of pole movement but also the directional information. We present a method of design of a state feedback for a system with nonlinear system parameter by considering the pole sensitivity and show that the suggested method guarantee the stability robustness for a system with nonlinear parameter, parameter perturbation and urimodelled dynamics.

• Transactions of the Korean Society of Mechanical Engineers
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• v.8 no.4
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• pp.394-399
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• 1984

본 연구에서는 Duncan과 Johnson의 사각 벌지에 관한 이론식을 재료의 성질 및 파괴 특성을 결정하는데 유용한 방법인 타원벌지에 응용하여 고찰 검토하였다. 또 실험에는 각 점에서 변형도를 광격자법(photo grid method)에 의해서 측정했다. 그리고 극점의 곡률반경을 모아레 측정법으로 타원벌지에 처음 적용하여 구해서 이를 이론치와 서로 비교 함으로서 실험적인 측정법의 유용성을 밝혔다.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.446-450
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• 1990

In this paper, we present a method of analysing perturbed linear system by pole sensitivity defined by the rate of pole movement with respect of perturbation. Pole sensitivity give us not only the rate of pole movement but also the directional information of the pole movement. We present a method of design of a LQR by considering the pole sensitivity and show that the suggested method guarantee the stability robustness of parameter perturbation.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.32-35
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• 1987

An adaptive control scheme has been recognized as an effective approach for a robot manipulator to track a desired trajectory in spite of the presence of nonlinearties and parameter uncertainties in robot dynamic models. In this paper, an adaptive control scheme for a robot manipulator is proposed to design the self-tuning controller which combines the pole placement with the extended linearized perturbation model. And this control scheme has two components: a feadforward control and a feedback compensation control. Based on this, the controller is demonstrated by the simulation about position control of a three-link manipulator with payload and parameter uncertainty.

• Proceedings of the Acoustical Society of Korea Conference
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• 1995.06a
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• pp.235-238
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• 1995

극점에서 비균일 표본화된 음성 신호는 크기열과 간격열의 이중구조로 표현되어, 균일 표본화된 신호에 근거한 기존의 신호처리 방법을 그대로 적용할 수 없다. 본 논문에서는 비균일 표본화된 음성 신호에서 에너지, 크기, 영교차율, 함수의 관계를 직접 유도하고, 특징을 살펴보아 비규닝ㄹ 펴본화된 음성신호에서도 균일 표본화된 신호에 해당하는 에너지, 크기, 영교차율과 같은 전처리과정 파라미터의추정이 가능함을 확인한다.

• Proceedings of the KIEE Conference
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• 1988.07a
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• pp.305-308
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• 1988

Pole assignment controller with variable forgetting factor is generalizaed to allow the output and/or input variance to be reduced. The algorithm can give significant reductions in variance for little extra computational effort and is presented for servo-tracking using leat-squares estimation. Moreover, the use of a variable forgetting factor with correct choice of information bound can avoid 'blowing-up' of the covariance matrix of the estimates and subsequent unstable control.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.29B no.10
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• pp.46-52
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• 1992

This paper considers uncertain systems with closed-loop poles in a polygonal region. A method is presented which is applicable to computing the perturbation of a pole-located region due to parameter uncertainties. A method is also proposed to calculate the bound on parameter uncertainties which allow the closed-loop poles to remain in a specified region. They provide useful robustness measures on the closed-loop poles of uncertain systems.