• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.31.5-31
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• 2001

In conventional perturbation estimators such as disturbance observers(DOB) [1, 2] or time-delayed controllers(TDC) [3{5}, the low pass filter(so-called Q-filter) plays an important role in the stability and performance. However, a general design guideline or analysis for the Q-filter has not been researched yet. In this paper, a guideline for the design of discrete Q-filter is suggested in terms of the analysis of the relationship between the filter parameters and stability performance robustness in discrete-time domain. The analysis clarifies the discrete-time effect of the perturbation estimator and provides a transparent relationship between performance and robustness depending ...

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.351-353
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• 2006

In this paper, we present the traditional GPS Position- Velocity (PV) model to apply for both Discrete-Time Kalman Filter and Discrete-Time $H_{\infty}$ Filter. The positioning algorithms of both filters are proposed for a stand-alone low-cost GPS module to increase its accuracy. For disturbance cancellation, the Kalman Filter requires the statistical information about process and measurement noises while the $H_{\infty}$ Filter only requires that these noises are bounded. Experiments show that with the same measurement data, $H_{\infty}$ Filter gives us better positioning results compared with Least-Squared method and Kalman Filter.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.31B no.8
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• pp.39-46
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• 1994

In this paper a state reconstruction filter for linear discrete-time stochastic systems with unknown inputs and noises is presented. The suggested filter can estimate the system state vector and the unknown inputs simultaneously As an extension of the filter a fault diagnosis filter for linear discrete-time stochastic systems with unknown inputs and noises is presented for each filters the optimal gain determination methods which minimize the variance of the state reconstruction errorare presented. Finally the usability of the filtersis shown via numerical examples.

• Transactions on Control, Automation and Systems Engineering
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• v.2 no.3
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• pp.163-168
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• 2000

The problems of mixed $H_2/H_{\infty}$ filtering design fer continuous and discrete time linear systems with time delay are investigated. The main purpose is to design a stable mixed $H_2/H_{\infty}$ filter which minimizes the H$_2$Performance measure satisfying a prescribed H$_{\infty}$ norm bound on the closed loop system in continuous-time case and discrete-time case, respectively. The sufficient conditions of existence of filter, the mixed $H_2/H_{\infty}$ filter design method, and the upper bound of performance measure are proposed by LMI(linear matrix inequality) techniques in terms of all finding variables. Also, we present optimization problems in order to get the optimal mixed $H_2/H_{\infty}$ filter in continuous and discrete time case, respectively.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.352-355
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• 1995

In this paper, estimation error bounds of the optimal FIR (Finite Impulse Response) filter, which is proposed by Kwon et al.[1, 2], are presented in discrete-time systems with the model uncertainty. Performance bounds are here represented by the upper bounds on the difference of the estimation error covariances between the nominal and real values in case of the systems with the noise or model parameter uncertainty. The estimation error bounds of the discrete-time optimal FIR filter is compared with those of the Kalman filter via a numerical example applied to the simulation problem by Toda and Patel[3]. Simulation results show that the former has robuster performance than the latter.

• Transactions on Control, Automation and Systems Engineering
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• v.2 no.3
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• pp.175-181
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• 2000

This paper investigates the robust nonlinear H$_{\infty}$ filter with FIR(Finite Impulse Response) structure for nonlinear discrete time-varying uncertain systems represented by the state-space model having parameter uncertainty. Firstly, when there is no parameter uncertainty in the system, the discrete-time nominal nonlinear H$_{\infty}$ FIR filter is derived by using the equivalence relationship between the FIR filter and the recursive filter, which corresponds to the standard nonlinear H$_{\infty}$ filter. Secondly, when the system has the parameter uncertainty, the robust nonlinear H$_{\infty}$ FIR filter is proposed for the discrete-time nonlinear uncertain systems.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.980-983
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• 1996

A new version of the discrete-time optimal FIR (finite impulse response) filter utilizing only the measurements of finite sliding estimation window is suggested for linear time-invariant state-space models. This filter is called the BLUFIR (best linear unbiased finite impulse response) filter since it provides the BLUE (best linear unbiased estimate) of the state obtained from the measurements of the estimation window. It is shown that the BLUFIR filter has the deadbeat property when there are no noises in the estimation window.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.130.5-130
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• 2001

This paper presents a discrete-time sliding mode control method for linear time-invariant systems with matched uncertainties. In this paper, we suggest a method of adding a command generator using input shaping filter to a discrete-time sliding mode controller. We design the number of steps required to reach the sliding layer and the magnitude of a control input, respectively using the shaping filter. Therefore we can minimize the excitation of the resonance mode and increase the tracking performance of a system. Simulation results are included to show its effectiveness.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.15 no.2
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• pp.89-94
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• 2022

In this paper, a discrete-time loop filter(DLF) phase-locked loop with a Frequency Fluctuation Converting Circuit(FFCC) has been proposed. Discrete-time loop filter can improve spur characteristic by connecting the charge pump and voltage oscillator discretely unlike a conventional continuous-time loop filter. The proposed PLL is designed to operate stably by the internal negative feedback loop including the SSC acting as a negative feedback to the discrete-time loop filter of the external negative feedback loop. In addition, the phase noise is further improved by reducing the magnitude of the loop filter output voltage variation through the FFCC. Therefore, the magnitude of jitter has been reduced by 1/3 compared to the conventional structure. The proposed phase locked loop has been simulated with Hspice using the 1.8V 180nm CMOS process.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.5 no.2
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• pp.133-142
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• 1993

In a computer-controlling wave generating system. it is sometimes necessary to incorporate the discrete transfer operation of wave board into control circuit in order to control the system in a more delicate way. A numerical filter simulating the transfer operation of wave board in time domain is designed in the form of a discrete recursive filter. The filter was applied to some example board inputs f3r either regular or irregular wave conditions in order to evaluate the filter performance. The filter outputs were compared with the results of theoretical analysis or the discrete convolution method. showing their excellent agreements. The discrete realization of the filter presented hen is in fact of the bilinear transformation. It was shown that the transformation always avoids the aliasing errors, being surely applicable with a sufficient accuracy even for the band-unlimited transfer function of wave board.