• Journal of the Korea Institute of Information and Communication Engineering
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• v.6 no.1
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• pp.6-13
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• 2002

This paper deals with the linear matrix inequality (LMI) design procedures for multi-objective Η$_2$/Η$_{\infty}$ controllers with pole-placement constraints for an inverted pendulum system modeled as convex polytopes to ensure the stabilizing regulator and tracking performances. Polytopic models with multiple linear time-invariant models linearized at some operating points are derived to design controllers overcoming the conservativeness such as a controller may have when it is designed for a model linearized at a single operating point. Multi-objective controllers are designed for polytopic models by the LMT design technique with convex algorithms. It is observed that the inverted pendulum controlled by any controller designed for each polytopic model is stabilizingly restored to the vertical angle position for initial values of larger tilt anlges.

• Journal of agricultural medicine and community health
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• v.45 no.4
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• pp.235-244
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• 2020

Objectives: Gyeongsangbuk-do has entered a super-aged society with 20.7% of the population aged 65 and older. As of April 30, 2020, the death rate of COVID-19(3.8 people) in Gyeongsangbuk-do is higher than the national mortality rate (2.3 people), and the fatality rate of COVID-19 by age accounts for more than half of the total of 58.6%, so it is time to propose to prevent infectious diseases in the event of additional infectious disease disasters COVID-19. Methods: We collected daily data on the number of confirmed cases and deaths due to COVID-19 from 19 February to 30 April 2020. The data collected was evaluated using the SPSS 21.0 statistical package. Results: As a result of comparing the incidence and death-related factors of confirmed patients in Gyeongsangbuk-do, there were significant differences in age group (p<0.001), underlying disease (p<0.001), and residence type (p<0.033). Conclusion: Factors affecting the mortality rate of confirmed patients in Gyeongsangbuk-do have been combined with individual level factors(age, gender, underlying disease), which means individual characteristics that have existed since before the disease, and regional level factors(Type of Residence), which are external factors that enable the use of medical resources. Therefore, each local government is required to establish preventive measures considering individual and regional level factors.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.16 no.6
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• pp.400-405
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• 2023

Currently, inverted pendulums are being studied in many fields, including posture control of missiles, rockets, etc, and bipedal robots. In this study, the vertical posture control of the pendulum was studied by constructing a rotary inverted pendulum using a 256-pulse rotary encoder and a DC motor. In the case of nonlinear systems, complex algorithms and controllers are required, but a control method using the classic and relatively simple PID(Proportional Integral Derivation) algorithm was applied to the rotating inverted pendulum system, and a simple but desired method was studied. The rotating inverted pendulum system used in this study is a nonlinear and unstable system, and a PID controller using Microchip's dsPIC30F4013 embedded processor was designed and implemented in linear modeling. Usually, PID controllers are designed by combining one or two or more types, and have the advantage of having a simple structure compared to excellent control performance and that control gain adjustment is relatively easy compared to other controllers. In this study, the physical structure of the system was analyzed using mathematical methods and control for vertical balance of a rotating inverted pendulum was realized through modeling. In addition, the feasibility of controlling with a PID controller using a rotating inverted pendulum was verified through simulation and experiment.

• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.252-255
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• 2001

본 논문은 단일 도립 진자 계통(single pendulum systems)의 경우 계통의 에너지를 슬라이딩 평면을 구성하는데 이용한 슬라이딩 모드 제어기를 설계하고 기존의 에너지 기반 제어 기법의 결과와 비교, 그 성능에서 우위에 있음을 보인다.

• The Korean Journal of Applied Statistics
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• v.34 no.3
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• pp.375-388
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• 2021

This paper aims to help prevent the spread of COVID-19 by analyzing confirmed cases of COVID-19 in Daejeon. A high volume of visitors, downtown areas, and psychological fatigue with prolonged social distancing were considered as risk factors associated with the spread of COVID-19. We considered the weekly confirmed cases in each administrative district as a response variable. Explanatory variables were the number of passengers getting off at a bus station in each administrative district and the elapsed time since the Korean government had imposed distancing in daily life. We employed a mixed-effects zero-inflated Poisson regression model because the number of cases was repeatedly measured with excess zero-count data. We conducted k-means clustering to identify three groups of administrative districts having different characteristics in terms of the number of bars, the population size, and the distance to the closest college. Considering that the number of confirmed cases might vary depending on districts' characteristics, the clustering information was incorporated as a categorical explanatory variable. We found that Covid-19 was more prevalent as population size increased and a district is downtown. As the number of passengers getting off at a downtown district increased, the confirmed cases significantly increased.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.18 no.3
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• pp.372-384
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• 1993

The inverted pendulum system has interesting and challenging problems related to robotics and rocket attitude control view of both control theory and applications. Generally approximately linearized plant models are employed to control the system. In this paper a recently developed control theory based on differentiable manifold theory is used to control the inverted pendulum system which is typically nonlinear. First, the nonlinear model is transformed into the approximate feedback linearized system by nonlinear state feedback. Secondly, the linear controller is designed using the pole-placement method for the approximate feedback linearized plant model, the output of which are finally inverse-transformed to yield the control input to the actual system of the inverted pendulum. The proposed method is evaluated by the computer simulation to compare with the 3rd order linearization model.

• Korean Journal of Ichthyology
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• v.28 no.3
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• pp.175-178
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• 2016

The karyotype analysis of Liobagrus somjinensis, an endemic Korean freshwater fish with restricted waters and a new species of torrent catfish was carried out from nine females and eight males of Somjingang River, Sikjeong-dong, Namwon-si, Jeollabuk-do, Korea. The diploid number of chromosomes was 42, and its karyotype was composed of 28 metacentrics and 14 submetacentrics; 84 FN (fundamental number). Polyploidy and sex dimorphism were not observed in the present species. The chromosome number of L. somjinensis was the same as its congeners, but there was a difference in karyotypes.

• Journal of the Institute of Electronics and Information Engineers
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• v.54 no.7
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• pp.127-132
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• 2017

In this paper, we propose a controller gain based on model based design and implement the two-wheel inverted pendulum type robot using NXT Lego and RobotC language. Two-wheel inverted pendulum robot consists of NXT mindstorm, servo DC motor with encoder, gyro sensor, and accelerometer sensor. We measurement wheel angle using bulit-in encoder and calculate wheel angle speed using moving average method. Gyro measures body angular velocity and accelerometer measures body pitch angle. We calculate body angle with complementary filter using gyro and accelerometer sensor. The control gain is a weighted value for wheel angle, wheel angular velocity, body pitch angle, and body pich angular velocity, respectively. We experiment and observe the effect of two-wheel inverted pendulum with respect to change of control gains.

• Journal of the Institute of Convergence Signal Processing
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• v.5 no.4
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• pp.301-307
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• 2004

This paper suggests a fuzzy variable structure control scheme for Takagi-Sugeno(T-S) fuzzy model and presents the attitude control of the wheel-driven inverted pendulum(WDIP) based on the proposed control algorithm. The proposed controller is designed based on the T-S fuzzy modeling of nonlinear system and the unification of gain matrices in linear subsystems that constitute the overall fuzzy model. The uncertainties generated in the gain matrix unifying procedure can be interpreted as the input disturbances of the conventional variable structure control. These unifying disturbances can be resolved by using the robustness property of the conventional variable structure system. Design example for wheel-driven inverted pendulum demonstrates the utility and validity of the proposed control scheme.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.6
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• pp.768-773
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• 2010

This paper presents the performance verification of the optimal state feedback controller via inverted pendulum systems. The proposed method generates the optimal control inputs satisfying both the constrained input and the performance specification. In addition, it reduces the steady-state error by adopting the integral control technique. In order to verify the performance of the proposed method, we apply both the proposed method and the general state feedback control to an inverted pendulum, CEM-IP-01 in the experiment.