• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.6
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• pp.805-814
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• 2013

A hydraulic dipod platform is used for tracking and stabilizing an antenna system to designate a satellite on a moving vehicle. The 2-DOF controller is very well suited to this controller design object because it is more flexible than the 1-DOF controller when the design object is not only the consideration between stabilizing and tracking but also the trade-off between performance and robustness. The 2-DOF controller synthesis based on the $H_{\infty}$ framework is divided into two design procedures. In this hydraulic dipod platform example, the single-step method shows better performance whereas the two-step method shows better robustness. The difference between these two synthesis results is compared using the structural property of the interconnection system matrix.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.17 no.6
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• pp.1399-1408
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• 2013

This paper proposes a new $H_{\infty}$ T-S fuzzy controller with a novel integral control for induction motors which have nonlinear dynamics. The $H_{\infty}$ T-S fuzzy controller is used for the nonlinearity and robustness and weighted integral is used for tracking problem and control performance. A T-S Fuzzy controller is the fuzzy combination of local linear controllers considering the overall stability, and LMI(Linear Matrix Inequlity) is used for determining the gains of linear controllers. The tracking problem of an induction motor is changed into regulator problem by introducing the integral control technique with weighting factor, diminishing the conservatism of $H_{\infty}$ T-S fuzzy controller.

• Journal of the Institute of Electronics Engineers of Korea TE
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• v.42 no.4
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• pp.47-52
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• 2005

In this paper, the genetic algorithm is used to design a fixed order square decoupling $H_{\infty}$ controllers based on the Two-Degree-of-freedom standard model. The proposed decoupling $H_{\infty}$ controller which is minimizes the maximum energy in the output signal is designed to reduce the coupling properties between the input/output variables which make it difficult to control a system efficiently. A minimal set of assumptions for existence of the decoupling controller formula is described in the state-space formulas. It is verified by an example.

• Journal of the Institute of Electronics Engineers of Korea TE
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• v.37 no.2
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• pp.96-104
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• 2000

In this paper, an $H_{\infty}$ robust controller has been designed for a large-scale system consisted of subsystems of mutually coupled plants. The physical plant, a two-dimensional horizontal movement robot system, has two subsystem plants mutually coupled by links. The designed $H_{\infty}$controller has been designed to get not only the robust stability for exogenous inputs to each plant but also the good tracking performance for the reference input to each plant. The $H_{\infty}$controller has shown the superior tracking performance and robust stability compared with the proportional-plus-derivative controller through computer simulations and physical experiments.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.45 no.3
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• pp.32-41
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• 2008

In this paper, we describe the synthesis of robust and non-fragile $H^{\infty}$ state feedback controllers for linear systems with affine parameter uncertain tracking servo system of blu-ray disc drive, as well as static state feedback controller with polytopic uncertainty Similarity any other control system, the objective of the track-following system design for optical disc drives is to construct the system with better performance and robustness against modeling uncertainties and various disturbances. Also, the obtained condition can be rewritten as parameterized linear matrix inequalities(PLMIs), that is, LMIs whose coefficients are functions of a parameter confined to a compact set. We show that the resulting controller guarantees the asymptotic stability and disturbance attenuation of the closed loop system in spite of controller gain variations within a resulted polytopic region.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.6
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• pp.689-694
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• 1998

본 논문에서는 상태와 제어입력에 시간지연을 가지는 이산 불확실성 시스템의 견실 H/sub ∞/ 상태궤환 제어기 설계문제를 다룬다. 동일한 제어기에 대해서, 파라미터 불확실성을 가지는 시간지연 시스템이 자승적 안정성(quadratic stability)과 폐루프 시스템의 H/sub ∞/ 노옴의 한계를 유지하면서 파라미터 불확실성이 없는 등가의 시스템으로 변형된다. 그리고 주어진 이산 불확실성 시간지연 시스템의 견실 H/sub ∞/ 상태궤환 제어기가 존재할 충분조건과 제어기 설계 알고리듬을 제시한다. 또한 변수치환과 Schur 여수(complement) 정리를 이용하면 구한 충분조건은 LMI(linear matrix inequality) 형태로 쓸 수 있다. 예제를 통하여 제시한 결과의 타당성을 보인다.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2274-2276
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• 2001

본 논문에서는 미세 구조물 가공 기술(MEMS)로 제작된 실리콘 자이로스코프를 위한 폐루프 제어기를 주파수 가중 $H_{\infty}$ 제어 기법과 주파수 가중 모델 축소 기법을 이용하여 설계하였다. 실리콘 자이로스코프는 수 kHz 대의 공진 특성을 이용하여 각속도를 측정하는 센서로서, 공진 주파수 영역의 특성이 매우 중요하므로 주파수 영역을 고려하고 공정 오차를 감안한 주파수 가중 $H_{\infty}$ 제어기가 필요하다. 본 논문에서는 고차 강인 제어기의 회로적 구현과 ASIC화가 가능하도록 하기 위해, 주파수 가중 모델 축소 기법을 이용하여 공진 주파수 영역에서 성능을 유지하는 저차 제어기를 설계하였으며, 시뮬레이션을 통해 기존의 제어기 및 고차 제어기와 성능을 비교하였다.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.39 no.3
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• pp.183-190
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• 2002

This paper describes the synthesis of robust and non-fragile H$\infty$ state feedback controllers for linear varying systems with affine parameter uncertainties, and static state feedback controller with structured uncertainty. The sufficient condition of controller existence, the design method of robust and non-fragile H$\infty$ static state feedback controller, and the set of controllers which satisfies non-fragility are presented. The obtained condition can be rewritten as parameterized Linear Matrix Inequalities(PLMls), that is, LMIs whose coefficients are functions of a parameter confined to a compact set. However, in contrast to LMIs, PLMIs feasibility problems involve infinitely many LMIs hence are inherently difficult to solve numerically. Therefore PLMls are transformed into standard LMI problems using relaxation techniques relying on separated convexity concepts. We show that the resulting controller guarantees the asymptotic stability and disturbance attenuation of the closed loop system in spite of controller gain variations within a degree.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.17 no.4
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• pp.36-44
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• 2003

In the industrial motor drive system which is composed of a motor and load connected with a flexible shaft, a torsional vibration is often generated because of the elastic elements in torque transmission. To solve this problem, the two degrees of freedom H$_{\infty}$ controller was designed. But it is difficult to realize that controller. In this paper, H$_{\infty}$ control of 2-mass system using partial state feedback and resonance ratio control is proposed. Proposed controller has simple structure but satisfies the attenuation of disturbances and vibrations.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.477-481
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• 1993

The aim of this paper is to analyze via computer simulation the robust performance of TDF(Two Degree of Freedom) H.$_{\infty}$ controller for uncertain systems having parameter uncertainty. We apply the TDF H$_{\infty}$ controller to autopilot design. We evaluate the robust performance of the TDF H$_{\infty}$ controller for uncertain systems and present the guaranteed bound of robust performance via computer simulation.on.