• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1604-1607
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• 2004

In this paper, we consider a problem of asymptotic output regulation of a class of uncertain nonlinear systems by output feedback. The system under consideration is in the Parametric-Pure-Feedback Form, which does not satisfy the existing conditions such as the triangularity condition or the Lipschitz condition. We propose a linear output feedback controller with a scaling factor, which asymptotically regulates the output of the considered system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.472-475
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• 1997

The principle objective of this paper is to explain and demonstrate the advantage of the output-feedback controller proposed by Ailon in [61 by using simulation and experimental results. Namely, the goal of this study is to design and implement a real-time controller for set-point regulation of a one-link rigid robot manipulator with unknown parameters using only position measurement. For implementation a direct drive one-link rigid robot manipulator is constructed and a TMS320C40 DSP systems board is used in implementing real-time control algorithm.