• Proceedings of the KSME Conference
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• 2000.11a
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• pp.564-569
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• 2000

Model Based Compensator(MBC) is recently used for the analysis of multi-variable control in frequency domain. Target loop is designed by the demanding requirements such as cross-over frequency, disturbance rejection in low frequency domain, zero steady-state error, identification of maximum and minimum singular values and sensor noise rejection in high frequency domain. Loop transfer recovery will be continued in frequency domain until the plant with MBC comes close to the target loop. In this study, the technique using MBC is applied to the elevator vibration control system. It is found that this technique is very effective to control the vibration system.

• Proceedings of the KSME Conference
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• 2001.11a
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• pp.646-653
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• 2001

LQG/LTR Control Methology is recently used for the analysis of multi-variable control in frequency domain. Target filter loop is designed by the demanding requirements such as cross-over frequency, disturbance rejection in low frequency domain, zero steady-state error, identification of maximum and minimum singular values and sensor noise rejection in high frequency domain. Loop transfer recovery is accomplished by solving the cheap control and then simulation close to the target filter loop. In this study, LQG/LTR Control Methodology is applied to the seat suspension system. It is found that this technique is very effective to control the system and improve the ride quality of human body.

• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.4
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• pp.540-547
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• 2009

In the near future, military robots are likely to be substituted for military personnel in the field of battle. The power system of a legged robot is considerably more complex than the one used for a land vehicle because of the coordination and stability issues due to the large number of degree of freedom. In this paper, a servovalve-piston combination system for a straight-line motion of robot leg is modeled as three degree of freedom based on double inputs and single output transfer function. The output is the displacement of piston from neutral. The inputs are valve displacement from neutral and arbitrary load force in this system. LQR(Linear Quadratic Regulator) technique is applied in order to achieve robust stability and fast responses of the system. The Kalman filter loop, rejection of disturbance and noise, riccati equation, filter gain matrix, and frequency domain equality are analyzed and designed.