• Journal of Institute of Control, Robotics and Systems
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• v.14 no.3
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• pp.295-300
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• 2008

In this paper, a new looper controller is proposed to minimize the tension variation of a strip in the hot strip finishing mill. The proposed control technology is based on a receding horizon control (RHC) to satisfy the constraints on the control input/state variables. The finite terminal weighting matrix is used instead of the terminal equality constraint. The closed loop stability of the RHC for the looper system is analyzed to guarantee the monotonicity of the optimal cost. Furthermore, the RHC is combined with a 4SID(Subspace-based State Space System Identification) model identifier to improve the robustness for the parameter variation and the disturbance of an actuator. As a result, it is shown through a computer simulation that the proposed control scheme satisfies the given constraints on the control inputs and states: roll speed, looper current, unit tension, and looper angle. The control scheme also diminishes the tension variation for the parameter variation and the disturbance as well.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.49 no.3
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• pp.85-94
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• 2000

In this paper, a robust H$\infty$ optimal tuning problem of a structure-specified PSS is investigated for power systems with parameter variation and disturbance uncertainties. Genetic algorithm is employed for optimization method of PSS parameters. The objective function of the optimization problem is the H$\infty$-norm of a closed loop system. The constraint of the optimization problem are based on the stability of the controller, limits on the values of the parameters and the desired damping of the dominant oscillation mode. It is shown that the proposed H$\infty$ PSS tuned using genetic algorithm is more robust than conventional PSS.

• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.1196-1198
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• 1996

It is well known that the controller output limits have a significant effect on the closed loop system performance. GPC has many tuning-knobs which can he used to minimize actuator activity. Especially, increasing the control weighting $\lambda$ cuts down the controller output variance. Using this property, we propose the GPC with Input constraints(GPCIC) which is based on the relation between control weighting $\lambda$ and optimal solution of the unconstrained GPC. The GPCIC algorithm is the calculation of the optimal $\lambda$ such that the output of the unconstrained GPC is satisfied with the rate Ind the level constraint.

• Industrial Engineering and Management Systems
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• v.13 no.1
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• pp.52-66
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• 2014

Promotion of a closed-loop supply chain requires disassembly systems that recycle end-of-life (EOL) assembled products. To operate the recycling disassembly system, parts selection is environmentally and economically carried out with non-destructive or destructive disassembly, and the recycling rate of the whole EOL product is determined. As the number of disassembled parts increases, the recycling rate basically increases. However, the labor cost also increases and brings lower profit, which is the difference between the recovered material prices and the disassembly costs. On the other hand, since the precedence relationships among disassembly tasks of the product also change with the parts selections, it is also required to optimize allocation of the tasks in designing a disassembly line. In addition, because information is required for such a design, the recycling rate, profit of each part and disassembly task times take precedence among the disassembly tasks. However, it is difficult to obtain that information in advance before collecting the actual EOL product. This study proposes and analyzes an optimal disassembly system design using integer programming with the environmental and economic parts selection (Igarashi et al., 2013), which harmonizes the recycling rate and profit using recyclability evaluation method (REM) developed by Hitachi, Ltd. The first stage involves optimization of environmental and economic parts selection with integer programming with ${\varepsilon}$ constraint, and the second stage involves optimization of the line balancing with integer programming in terms of minimizing the number of stations. The first and second stages are generally and mathematically formulized, and the relationships between them are analyzed in the cases of cell phones, computers and cleaners.

• Journal of KIISE:Software and Applications
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• v.37 no.1
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• pp.29-38
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• 2010

We propose an interactive projection technique to display details of a large image in a high resolution and brightness by tracking a portable projector. A closed-loop based tracking method is presented to update the projected image while a user changes the position of the detail area by moving the portable projector. A marker is embedded in the large image to indicate the position to be occupied by the detail image projected by the portable projector. The marker is extracted in sequential images acquired by a camera attached to the portable projector. The marker position in the large display image is updated under a constraint that the center positions of marker and camera frame coincide in every camera frame. The image and projective transformation for warping are calculated using the marker position and shape in the camera frame. The marker's four corner points are determined by a four-step segmentation process which consists of camera image preprocessing based on HSI, edge extraction by Hough transformation, quadrangle test, and cross-ratio test. The interactive projection system implemented by the proposed method performs at about 24fps. In the user study, the overall feedback about the system usability was very high.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.158-160
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• 2005

This paper presents a new approach to the problem of designing a cascaded three-parameters controller for a given linear time invariant (LTD plant in unity feedback system. We consider a proportional-integral-derivative (PID) and a first-order controller with specified overshoot and settling time. This problem is difficult to solve because there may be no analytical solution due to the use of low-order controller and furthermore. the zeros of controller just appear in the zeros of feedback system. The key idea of our method is to impose a constraint on the controller parameters so that the zeros of resulting controller are distant from the dominant pole of closed-loop system to the left as far as the given interval. Two methods realizing the idea are suggested. We have employed the characteristic ratio assignment (CRA) in order to deal with the time response specifications. It is noted that the proposed methods are accomplished only in parameter space. Several illustrative examples are given.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.9
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• pp.846-852
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• 2013

In this paper, the authors propose a new approach to control problem of the marine vessels which are moored or controlled by actuators. The vessel control problem in the specified area is called a DPS (Dynamic Positioning System). The main objective of this paper is to obtain more useful control design method for DPS. In this problem, a complicate fact is control allocation which is a numerical method for distributing the control signal to the controlled system. For this, many results have been given and verified by other researchers using two individual processes. It means that the controller design and control allocation design process are carried out individually. In this paper, the authors give more sophisticated design solution on this issue. In which the controller design and control allocation problem are unified by a robust controller design problem. In other word, the stability of the closed-loop system, control performance and allocation problem are unified by an LMI (Linear Matrix Inequality) constraint based on $H_2/H_{\infty}$ mixed design framework. The usefulness of proposed approach is verified by simulation with a supply vessel model and found works well.

• Journal of the Korean Institute of Intelligent Systems
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• v.7 no.3
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• pp.72-80
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• 1997

A new design method for Takagi-Sugeno (T-S in short) fuzzy controller which guarantees global asymptotic stability and satisfies a desired performance is proposed in this paper. The method uses LMI(Linear Matrix Inequality) approach to find the common symmetric positive definite matrix P and feedback fains K/sub i/, i= 1, 2,..., r, numerically. The LMIs for stability criterion which treats P and K'/sub i/s as matrix variables is derived from Wang et al.'s stability criterion. Wang et al.'s stability criterion is nonlinear MIs since P and K'/sub i/s are coupled together. The desired performance is represented as $ LMIs which place the closed-loop poles of $ local subsystems within the desired region in s-plane. By solving the stability LMIs and pole placement constraint LMIs simultaneously, the feedback gains K'/sub i/s which gurarntee global asymptotic stability and satisfy the desired performance are determined. The design method is verified by designing a T-S fuzzy controller for an inverted pendulum with a cart using the proposed method.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.10
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• pp.902-911
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• 2012

This paper proposes a robust adaptive fuzzy backstepping control scheme for trajectory tracking of an electrically driven nonholonomic mobile robot with uncertainties and actuator dynamics. A complete model of an electrically driven nonholonomic mobile robot described in this work includes all models of the uncertain robot kinematics with a nonholonomic constraint, the uncertain robot body dynamics with uncertain frictions and unmodeled disturbances, and the uncertain actuator dynamics with disturbances. The proposed control scheme uses the backstepping control approach through a kinematic controller and a robust adaptive fuzzy velocity tracking controller. The presented control scheme has a voltage control input with an auxiliary current control input rather than a torque control input. It has two FBFNs(Fuzzy Basis Function Networks) to approximate two unknown nonlinear robot dynamic functions and a robust adaptive control input with the proposed adaptive laws to overcome the uncertainties such as parameter uncertainties and external disturbances. The proposed control scheme does not a priori require the accurate knowledge of all parameters in the robot kinematics, robot dynamics and actuator dynamics. It can also alleviate the chattering of the control input. Using the Lyapunov stability theory, the stability of the closed-loop robot control system is guaranteed. Simulation results show the validity and robustness of the proposed control scheme.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.55 no.1
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• pp.20-23
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• 2006

This paper presents a new approach to the problem of designing a cascaded three-parameters controller for a given linear time invariant (LTI) plant in unity feedback system. We consider a proportional-integral-derivative (PID) and a first-order controller with the specified overshoot and settling time. This problem is difficult to solve because there may be no analytical solution due to the use of low-order controller. Furthermore, the zeros of controller just appear in the zeros of feedback system. The key idea of our method is to impose a constraint on the controller parameters so that the zeros of resulting controller are distant from the dominant pole of closed-loop system to the left as far as the given interval. Two methods realizing the idea are suggested. We have employed the characteristic ratio assignment (CRA) in order to deal with the time response specifications. It is noted that the proposed methods are accomplished only in parameter space. Several illustrative examples are given.