• Journal of the Institute of Convergence Signal Processing
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• v.2 no.1
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• pp.95-100
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• 2001

In this paper, we proposed the robust control scheme for a class of nonlinear dynamical systems using output feedback linearization method. The presented control scheme is based on the VSS. We assume that the nonlinear dynamical system is minimum phase, the relative degree of the system is r＜n and zero dynamics is stable. It is also shown that the global asymtotically stability is guaranted. And we verified that the proposed control scheme Is the feasible through a computer simulation.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.1938-1939
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• 2001

시스템을 입력과 출력간의 함수관계로 볼 때 출력에 대한 상대차수가 정의되지 않는 점을 특이점이라고 정의할 수 있다. 본 논문에서는 적절한 기하학적 조건을 만족하는 해석적인 시스템(analytic system)에 대하여 그러한 특이점의 성질을 살펴본다. 특이점을 지나는 궤적은 특이점의 특이도와 그에 관련된 함수 값의 부호에 의해서 특이점의 주변에서는 특이 매니폴드를 기준으로 한 영역에서 나머지 다른 영역으로 통과하거나 혹은 그를 기준으로 어느 한 쪽의 영역에만 머물러 있게 됨을 보임으로써 특이점과 이를 지나는 궤적의 상관관계를 명확히 규명하였다.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.1
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• pp.1-8
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• 2016

In this study, we propose a control algorithm for Inertially Stabilized Platforms (ISP), which combines Disturbance Observer (DOB) with conventional proportional integral derivative (PID) control algorithm. A single axis ISP system was constructed using a direct drive motor. The joint friction was modeled as a nonlinear function of joint speed while the accuracy of the model was verified through experiments and simulation. In addition, various Q-filters, which have different orders and relative degrees of freedom (DOF), were implemented. The stability and performance of the ISP were compared through experimental study. The performance of the proposed PID-plus-DOB algorithm was compared with the experimental results of the conventional double loop PID control under artificial vehicle motion provided motion simulator with six DOF.

• Water for future
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• v.10 no.1
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• pp.71-77
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• 1977

The stream morphological characteristics of a watershed play a significant role in the analysis of rainfall-runoff relations in a river basin and a quantitative description of these characteristics is essential for determining the appropriate values of physical parameters of a watershed which usually are input data for rainfall-runoff simulation models. In this study the stream morphological characteristics of the Gab River basin, which is one of the three major tributaries of Geum River, was determined quantitatively by the Horton-Strahler's method. The result showed that the Gab River System was developed very closely to the patterns generally described by the laws of Horton. The basic relations concerning the morphological characteristics deriveed in this study are the relations of stream length, and average stream slope, the stream length-drainage area relation, relative height-relative drainage area relation, and the relation between the proportional stream order and drainage area. No correlation analysis was possible between the morphological parameters and the streamflow due to non-existence of the stage gauging stations on the Gab River System.

• Korean Journal of Optics and Photonics
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• v.14 no.6
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• pp.643-648
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• 2003

The phase-shifting diffraction-grating interferometer proposed in the investigation uses a diffraction grating that performs manifold functions of beam splitting, beam recombination, and phase shifting. The reference and measurement waves generated by means of diffraction have different amplitudes depending on their orders of diffraction, so the interference fringe pattern resulting from the two waves tends to yield poor visibility. To cope with this problem, we select a phase grating of reflection type and attempt to improve the interference visibility with optimization of the groove shape of the grating through electromagnetic analysis.

• Journal of KSNVE
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• v.9 no.3
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• pp.613-620
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• 1999

Brake judder{or cold judder) caused by the disc thickness variation(DTV) is investigated experimentally, This cold judder is often perceived by steering wheel vibration, brake pedal pulsation, and vehicle body vibration. In this paper, how the DTV profile affects the vibration characteristics of vehicle body is shown by order tracking analysis(OTA) and operational vibration analysis(OVA) The tri-axial vibrations are measured at the knuckle, lower rm, and the body side of the lower arm. Also, measured are the wheel speed and the detail DTV profile. The interpretations of OTA results in three directions of tested vehicle indicate the relative importance in the contribution of the run-out and the DTV to the judder vibration. Also, the OVA results show the prominent vibration amplitude of the lower arm in the direction of the vehicle movement. in which the second order of wheel speed is dominant. These results could be used to diagnose the judder problem and to establish the correction methods.

• Journal of the Korean Geosynthetics Society
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• v.10 no.2
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• pp.73-79
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• 2011

Based on the results of Part 1 of our two-parts paper, the possibility on field applicability of CMDS(Coal Mine Drainage Sludge) mixed with bentonite and cement as a liner in landfill sites was investigated. The optimum moisture content that met the landfill liner condition was obtained when the ratio of CMDS: bentonite: cement was 1: 0.5: 0.3 in a lab-scale. The relative compaction was measured in 90.1%, which results for construction field have been generally acceptable. In this study, a large-scale Lysimeter($1.0m{\times}1.5m{\times}2.0m$) was used to simulate the effects of the layer on the freeze/thaw by -20 average temperature. The mixture after freezing/thawing showed compressive strength more than $5kg/cm^2$, which was satisfied with EPA standards. Initial permeability of CMDS was $7.10{\times}10^{-7}cm/s$ and permeability its mixture after freezing/thawing was increased to $9.80{\times}10^{-7}cm/s$. The change of temperature in the layers rises and falls with linear and temperature gradient keep maintain the present state. Moisture contents in the layers have not been radically changed. Through the leaching test determined by KSLT method, it was found that heavy metals excluding Zn and Ni were not leached out or leached out less than the standards during 7 cycles of freezing/thawing process. Since it shows the increased permeability about 1.5 times and slight change in moisture content, but it was satisfied with EPA standar through 7 cycles of freezing/thawing process, this mixture can be applied as a liner in landfill final cover system.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.5
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• pp.850-856
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• 2001

Even though the hydraulic servo system has been widely used in industrial and military equipments since it has a lot of advantages, it is not easy to design controller due to the high nonlinearities and the parametric uncertainties. The dynamic behavior of the real process in the hydraulic servo system differs from that described by its model because the model is linearized. Another reason of the difference is caused by the variety of parameters, since the system parameters of the dynamic equation are affected by the operating conditions such as temperature and pressure. In this study, the designing process of the MRNC with a PID compensator is introduced and applied to the load sensing hydraulic servo system. The results show that the designed controller guarantees the robust control performance despite of both the nonlinearities and the parametric uncertainties.

• Journal of the Korean Institute of Intelligent Systems
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• v.8 no.3
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• pp.9-15
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• 1998

This paper presents an adaptive learning control method for unknown nonlinear systems by combining neuro control and iterative learning control techniques. In the present control system, an iterative learning controller (ILC) is used for a process of short term memory involved in a temporary adaptive and learning manipulation and a short term storage of a specific temporary action. The learning gain of the iterative learning law is estimated by using a neural network for an unknown system except relative degrees. The control informations obtained by ILC are transferred to a long term memory-based feedforward neuro controller (FNC) and accumulated in it in addition to the previously stored infonnations. This scheme is applied to a two link robot manipulator through simulations.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.37 no.3
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• pp.171-179
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• 1988

This paper deals with the controller design of the flight control system using the model reference adaptive control approach. The structure of the adaptive control system is based on the structure suggested by NARENDRA and VALAVANI. In particular, the problem is considered in case of the relative degree n=2 of plant. The flight control system is single-input single-output system, and the control input is given from the input-output data of the referencemodel and plant. For the analysis of the designed control system, thesimulation is perfarmed in cases of analog plant and analog plant with flight motion table, and reviewed.