• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.2
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• pp.190-196
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• 2014

In this paper, we get state equations based on wheel's rotation, tilt and steering are independent each other in balancing robot. Accordingly, we propose two LQR controllers which are appropriate for rotation and steering control of a balancing robot. And its superiority and appropriateness are demonstrated by a comparison to a PID method. Simulation results verify the possibility of upright balancing, rectilinear motion and position control. Moreover, experimental results show that it guarantees the performance to apply the two LQR controllers to balance the robot.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.4
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• pp.475-481
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• 2013

The control system of a direct drive servo valve is a nonlinear system, and the flow force effect on the spool motion is significant and dependent on the load pressure. To satisfy the control system design requirements, the optimal parameters of the lead-lag controller and the derivative feedback controller are searched for using a genetic algorithm and a complex constrained direct search type method. The obtained controller parameters successfully perform their role to satisfy the control system design requirements.

• Journal of Korean Association for Spatial Structures
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• v.5 no.3 s.17
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• pp.123-130
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• 2005

This study presents an effective stiffness-based optimal technique to control quantitatively lateral drift and evaluate the structural behavior characteristics and efficiency for tall outrigger system subject to lateral loads. To this end, displacement sensitivity depending on behavior characteristics of outrigger system is established and approximation concept that preserves the generality of the mathematical programming and can efficiently solve large scale problems is introduced. Specifically, under the 'constant-shape' assumption, resizing technique of member is developed. Four types of 50 story frameworks are presented to illustrate the features of the quantitative lateral drift control technique proposed in this study.

• The Journal of the Korea institute of electronic communication sciences
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• v.7 no.5
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• pp.1133-1138
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• 2012

In the paper, design of nonlinear sliding surfaces which are based on optimal control is studied, The state trajectory by the input of optimal control was obtained by Frobenius theorem and matrix decomposition method, was set the nonlinear sliding surfaces of the system. The states is maintained to sliding surfaces from initial states. As the result, robustness of the system can be guaranteed throughout an entire response of the system starting form the initial time instance, the uncertainty and external disturbance that can occur during the reaching time is removed, the problem of large control input was solved, and setting the sliding surfaces optimal path was able to reduce the tracking time. The validity of the proposed control scheme is shown in computer simulation for inverted pendulum.

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2501-2503
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• 2005

탐침형 정보 저장 장치는 원자 현미경의 원리를 이용한 차세대 고밀도 저장장치로 여겨진다. 정보의 크기가 수십 나노미터 이하이므로 정밀한 위치 제어 알고리즘이 필수적이다. 본 논문에서는 별도의 위치 센서없이 복수개인 탐침을 이용하여 원하는 데이터 위치로 이동하는 servo algorithm, 정보 추종을 위한 tracking algorithm 및 위치 검출용 탐침의 수를 줄이고 최적 제어기 설계를 위한 노이즈 특성 안정화를 위한 servo code 설계법을 제안하고 제어기 설계법을 제안한다.

• ICROS
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• v.1 no.2
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• pp.63-67
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• 1995

이 글에서는 공정시스템공학의 주요 연구분야를 설명의 편리를 위해서 분류하였으나 실제로 그 경제가 확실치 않는 경우도 많다. 예를 들어 설계가 끝난 후 최적 운전을 연구하다 보면 설계를 다시 수정하는 것이 좋은 경우가 생긴다. 이 때에는 설계와 운전을 동시에 고려하여야 한다. 한편 설계, 제어, 운전이 유기적으로 통합되어 종합적인 관리 시스템으로 발전하게 될 것으로 전망되며, 이러한 공정시스템공학의 핵심기술은 환경, 에너지, 전자재료, 생물화공 등 많은 새로운 산업으로의 확대 적용도 기대되고 있다.

• Journal of Convergence for Information Technology
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• v.11 no.2
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• pp.124-129
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• 2021

In this paper, an optimal controller design that guarantees absolute stability is proposed. The order of application of the thesis determines whether the delay time is included, and if the delay time is included, the delay time is approximated through the Pade approximation method. Then, the open loop transfer function for the process model and the controller transfer function is obtained, and the absolute stability interval is calculated by the Routh-Hurwitz discrimination method. In the last step, the optimal Proportional and Integral and Derivative(PID) control parameter value is calculated using a genetic algorithm using the interval obtained in the previous step. As a result, it was confirmed that the proposed method guarantees stability and is superior to the existing method in performance index by designing an optimal controller. If we study the compensation method for the delay time in the future, it is judged that better performance indicators will be obtained.

• Proceedings of the Korean Nuclear Society Conference
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• 1998.05b
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• pp.909-914
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• 1998

제어봉구동장치는 원자력발전소에서 사용되는 기기로서, 가늘고 긴 수직 외팔보의 형상을 하고 있어 지진과 같은 동적하중에 취약한 구조를 갖고 있다. 따라서 발전소가 건설되는 지반의 다양한 지진하중에 대한 동적해석이 중요한 설계요건으로 되어 있다. 본 논문에서는 제어봉구동장치의 고유진동수를 제어하기 위한 기초연구로써 제어봉구동장치의 설계변경이 동적특성에 미치는 영향, 즉 고유진동수에 대한 설계 민감도 해석을 수행하였다. 해석 방법으로는 유한요소 프로그램의 구조 해석 결과에 변분법을 이용한 설계 민감도법을 사용하였다. 해석 결과는 유한차분에의한 결과와 일치함을 보였고, 제어봉구동장치의 초기설계 단계에서 유용한 정보로 활용할 수 있음을 확인하였다. 또한 이러한 결과는 최적설계 프로그램등과 연계되어 구조물의 설계 개선에 많은 도움을 줄 것으로 판단된다.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.11 no.3
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• pp.491-499
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• 2007

In this paper, we present a design method of the ternary logic circuits based on Reed-Muller expansions. The design method of the presented ternary logic circuits checks the degree of each variable for the coefficients of Reed-Holler Expansions(RME) and determines the order of optimal control input variables that minimize the number of Reed-Muller Expansions modules. The order of optimal control input variables is utilized the computation of circuit cost matrix. The ternary logic circuits of the minimized tree structures to be constructed by RME modules based on Reed-Muller Expansions are realized using the computation results of its circuit cost matrix. This method is only performed under unit time in order to search for the optimal control input variables. Also, this method is able to be programmed by computer and the run time on programming is $3^n$.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 1996.11a
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• pp.97-104
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• 1996

DYGABCD 프로그램을 이용해 선형모델의 구성에 필요한 시스템 행렬을 구하고 최소자승법을 이용하여 실시간 선형모사를 행한 후 DYNGEN 프로그램을 이용한 비선형 모사와 비교하여 그 타당성을 입증하였다. 그리고 가제어성과 가안정성을 시험하여 시스템에 대해 제어기설계가 가능한지 확인하고 엔진의 성능과 직결되는 터빈입구 온도의 Overshoot 제어를 위해 고전적 제어기법인 PI제어기와 현대적 최적제어기법인 LQR 제어기를 설계하여 각각의 성능을 비교해 보았다.