• The Transactions of the Korean Institute of Power Electronics
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• v.4 no.2
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• pp.175-183
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• 1999

For fast response of the dc output voltage in P\hi1'v1 converter, it is desirable that the relation of power balance of the i input and output terminals is introduced to the system modeling. In this case, controller desi밍1 is not easy since the m model is nonlinear. In this paper, a nonlinear control them${\gamma}$ using input-output feedback linearization is used to solve t the nonlinear problem of the system. By nonlinear control. the voltage transient response can be faster, and it is also p possible to control the output voltage to be constant with smaller output filter capacitance for load disturbance.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.249-252
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• 1997

In this paper the sway-control problem of a container crane is investigated in the perspective of controlling an underactuated mechanical system. For fast loading/unloading of containers from the ship, quick suppression of the remaining swing motion of the container at the end of each trolley stroke is crucial. Known nonlinearities are fully incorporated by feedback linearization. Robustness is enhanced by variable structure control. Compared with the linear LQ control, much better performance can be obtained.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.76.5-76
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• 2002

In this paper, we provide a Nash solution to predictive control problem for nonminimum phase singular nonlinear systems. Until now, there is no result on predictive control problem for this class of nonlinear systems. Chen's recent work considered predictive control problem for a class of nonlinear systems with ill-defined relative degree. Since his work is not a result considered in the feedback linearization framework, there is no a result on singular probem in his paper. In contrast to the existing predictive control result, our work considers two main obstacles (singularity and nonminimum phase) in the feedback linearization framework. For a generally formu...

• Journal of Advanced Information Technology and Convergence
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• v.8 no.2
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• pp.101-110
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• 2018

This paper introduces feedback linearization (FL) based adaptive sliding mode control (ASMC) effective against ground effects of the quadrotor UAV. The proposed control has the capability of estimation and effective rejection of those effects by adaptive mechanism, which resulting stable attitude and positioning of the quadrotor. As output variables of quadrotor, x-y-z position and yaw angle are chosen. Dynamic extension of the quadrotor dynamics is obtained for terms of roll and pitch control input to be appeared explicitly in x-y-z dynamics, and then linear feedback control including a ground effect is designed. A sliding mode control (SMC) is designed with a class of FL including higher derivative terms, sliding surfaces for which is designed as a class of integral type of resulting closed loop dynamics. The asymptotic stability of the overall system was assured, based on Lyapunov stability methods. It was evaluated through some simulation that attitude control capability is stable under excessive estimation error for unknown ground effect and initial attitude of roll, pitch, and yaw angle of $30^{\circ}$ in all. Effectiveness of the proposed method was shown for quadrotor system with ground effects.

• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.1143-1145
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• 1996

In this paper, we consider a nonlinear control problem for an Electro-Magnetic Suspension(EMS) system with flexible rail. In controller design based on feedback linearization, we apply the feedback linearization technique to the part of the system which provides nonlinearities to the plant. The experimental results demonstrate that the feedback linearization controller shows good performance.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.36 no.6
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• pp.558-564
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• 2008

This paper presents an approach to combine adaptive controller with feedback linearization, which extends the applicability of the adaptive controller to a wider class of systems. The adaptive controller guarantees the asymptotic tracking convergence and the transient performance of the tracking error. The feedback linearization transforms a nonlinear plant into a linear time invariant form. The asymptotic tracking convergence is shown by the use of Lyapunov stability analysis and Barbalat's lemma.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.223-226
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• 1995

New output voltage control technique based on the simple feedback linearization is proposed. The system states are first divided into fast states and slow states. Then, the control stage is composed of the fast inner current control loop and the slow outer voltage control loop. From the inner loop, the average control is derived by the sliding mode concept and it is inserted into the dynamic equations of the slow states in the outer loop. Applying the feedback linearization technique to the obtained large-signal models of the PWM dc-dc converters, linearized large-signal models are obtained for the slow states. With this technique, the output voltage controller of the PWM dc-dc converters can be designed easily in the global state space and its control performance can also be much improved.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.257-260
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• 1997

In this paper, the double inverted pendulum having a single actuator is built and the controller for the system is proposed. The lower link is hinged on the plate to free for rotation in the x-z plane. The upper link is connected to the lower link through a DC motor. The double inverted pendulum built can be kept upright posture by controlling the position of the upper link even though the proposed inverted pendulum has no actuator in lower hinge. The algorithm to control the inverted pendulum is consisted of a state feedback controller within a linearizable range and a fuzzy logic controller coupled with a feedback linearization control for the rest of the range. Concept of the virtual work is employed to drive the linearlized model for the state feedback controller. The feedback linearization controller drives a DC motor with the modified reference joint angle from the fuzzy controller which adjusts a upright posture of a proposed pendulum system. Finally, the experiments are conducted to show the validity of the proposed controller.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.1116-1121
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• 1991

In this paper the feedback linearization of the valve-controlled nonlinear hydraulic velocity control system and the Implementation of the digital state feedback controller is studied. The C.inf. nonlinear transformation to the electro-hydraulic velocity control system, which transforms nonlinear system to linear equivalent one, is obtained. It is shown that this transformation Is global one. The digital controller to this linearized model is obtained by using the one-step ahead state estimator and implemented to real plant. The proposed method In this paper is easier to implement than other proposed methods and it is possible to control in real tine. The experiment and simulation study show that the implementation of the digital state feedback controller based on the feedback linearized model is successful.

• Proceedings of the KIPE Conference
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• 2001.10a
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• pp.448-452
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• 2001

This paper describes the nonlinear sensorless control of induction motor by using feedback linearization and current error; the feedback linearization technique and the current error are applied for independent between rotor flux and electric torque and for speed estimation. The dynamic characteristics of the proposed nonlinear control algorithm involving field weakening area are verified by simulation and experiment.