• Journal of IKEEE
• /
• v.17 no.1
• /
• pp.83-88
• /
• 2013

This paper presents the output feedback control design for feedforward nonlinear systems with input and output delay. The proposed output feedback controller is composed of a linear observer and a linear controller. It is shown that by using Lyapunov-Krasovskii theorem, the proposed controller ensures a global asymptotic stability for arbitrarily large delay. Finally, an illustrative example is given in order to show the effectiveness of our design method.

• Journal of Electrical Engineering and Technology
• /
• v.11 no.4
• /
• pp.1012-1019
• /
• 2016

A robust control intended for a nonholonomic mobile robot is considered to guarantee good tracking a desired trajectory. The main drawbacks of the mobile robot model are the existence of nonholonomic constraints, uncertain system parameters and un-modeled dynamics. in order to overcome these drawbacks, we propose a robust control based on Lyapunov theory associated with sliding-mode control, this solution shows good robustness with respect to parameter variations, measurement errors, noise and guarantees position and velocity tracking. The global asymptotic stability of the overall system is proven theoretically. The simulation results largely confirm the effectiveness of the proposed control.

• Honam Mathematical Journal
• /
• v.45 no.1
• /
• pp.54-70
• /
• 2023

In this article, we state and prove several new retarded nonlinear integral and integro-differential inequalities of Gronwall-Bellman-Pachpatte type. These inequalities generalize some former famous inequalities and can be used in examining the existence, uniqueness, boundedness, stability, asymptotic behaviour, quantitative and qualitative properties of solutions of nonlinear differential and integral equations. Applications are provided to demonstrate the strength of our inequalities in estimating the boundedness and global existence of the solution to initial value problem for nonlinear integro-differential equation and Volterra type retarded nonlinear equation. This research work will ensure to open the new opportunities for studying of nonlinear dynamic inequalities on time scale structure of varying nature.

• Journal of Electrical Engineering and Technology
• /
• v.10 no.1
• /
• pp.251-260
• /
• 2015

The main purpose of this paper is to describe a DTC (direct torque control) method for four-switch brushless dc motor (BLDCM) drive. In the method, a novel voltage space vector modulation scheme, an optimal switching table, and a flux observation method are proposed. Eight voltage vectors are summarized, which are selected to control BLDCM in SVPWM pattern, and an optimal switching table is proposed to improve the torque distortion caused by midpoint current of the split capacitors. Unlike conventional flux observers, this observer does not require speed adaptation and is not susceptible to speed estimation errors, especially, at low speed. Global asymptotic stability of the flux observer is guaranteed by the Lyapunov stability analysis. DC-offset effects are mitigated by introducing a PI component in the observer gains. This method alleviates the undesired current and torque distortion which is caused by uncontrollable phase. The correctness and feasibility of the method are proved by simulation and experimental results.

• Journal of Electrical Engineering and Technology
• /
• v.2 no.4
• /
• pp.478-484
• /
• 2007

This paper deals with the high efficient vector control for the reduction of copper losses of the doubly fed motor. Firstly, the feedback linearization control based on Lyapunov approach is employed to design the underlying controller achieving the double fluxes orientation. The fluxes# controllers are designed independently of the speed. The speed controller is designed using the Lyapunov method especially employed to the unknown load torques. The global asymptotic stability of the overall system is theoretically proven. Secondly, a new Torque Copper Losses Factor is proposed to deal with the problem of the machine copper losses. Its main function is to optimize the torque in keeping the machine saturation at an acceptable level. This leads to a reduction in machine currents and therefore their accompanied copper losses guaranteeing improved machine efficiency. The simulation and experimental results in comparative presentation confirm largely the effectiveness of the proposed DFIM control with a very interesting energy saving contribution.

• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.5
• /
• pp.452-461
• /
• 2007

Adaptive anti-sway and trajectory tracking control of overhead crane is presented, which utilizes Fuzzy Uncertainty Observer(FUO) and Fuzzy based Variable Structure Control(FVSC). We consider an overhead crane system which can be decoupled into the actuated and unactuated subsystems with its own lumped uncertainty such as parameter uncertainties and external disturbance. First, a new method for anti-sway control using FVSC is proposed to improve the conventional method based on Lyapunov direct method, while a conventional trajectory tracking control law using feedback linearization is directly adopted. Second, FUO is designed to estimate one of the two lumped uncertainties which can compensate both of them, based on the fact that two lumped uncertainties are coupled with each other. Then, an adaptive anti-sway control is proposed by incorporating the proposed FVSC and FUO. Under the condition that the observation error is Uniformly Ultimately Bounded(UUB) within an arbitrarily shrinkable region, the overall closed-loop system is shown to be Globally Uniformly Ultimately Bounded(GUUB). In addition, the Global Asymptotic Stability(GAS) of it is shown under the vanishing disturbance assumption. Finally, the effectiveness of the proposed scheme has been confirmed by numerical simulations.

• Journal of the Korean Society of Combustion
• /
• v.20 no.4
• /
• pp.34-41
• /
• 2015

Oxy-methane nonpremixed flames diluted with $CO_2$ were investigated to clarify impact of radiation heat loss and chemical effects of additional $CO_2$ to oxidizer stream on flame extinction. Flame stability maps were presented with functional dependencies of critical diluents mole fraction upon global strain rate at several oxidizer stream temperatures in $CH_4-O_2/N_2$, $CH_4-O_2/CO_2$, and $CH_4-O_2/CO_2/N_2$ counterflow flames. The effects of radiation heat loss on the critical diluent mole fractions for flame extinction are not significant even at low strain rate in nonpremixed $CH_4-O_2/N_2$ diffusion flame, whereas those are significant at low strain rate and are negligible at high strain rate (> $200s^{-1}$) in $CH_4-O_2/CO_2$ and $CH_4-O_2/CO_2/N_2$ counterflow flames. Chemical effects of additional $CO_2$ to oxidizer stream on the flame extinction curves were appreciable in both $CH_4-O_2/CO_2$ and $CH_4-O_2/CO_2/N_2$ flames. A scaling analysis based on asymptotic solution of stretched flame extinction was applied. A specific radical index, which could reflect the OH population in main reaction zone via controlling the mixture composition in the oxidizer stream, was identified to quantify the chemical kinetic contribution to flame extinction. A good correlation of predicted extinction limits to those calculated numerically were obtained via the ratio between radical indices and oxidizer Lewis numbers for the target and baseline flames. This offered an effective approach to estimate extinction strain rate of nonpremixed oxy-methane flames permitting air infiltration when the baseline flame was taken to nonpremixed $CH_4-O_2/N_2$ flame.