• Journal of Electrical Engineering and Technology
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• v.8 no.5
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• pp.1202-1211
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• 2013

This paper deals with a robust controller for an induction motor (IM) which is represented as a linear parameter varying systems. To do so linear matrix inequality (LMI) based approach and robust Lyapunov feedback are associated. This approach is related to the fact that the synthesis of a linear parameter varying (LPV) feedback controller for the inner loop take into account rotor resistance and mechanical speed as varying parameter. An LPV flux observer is also synthesized to estimate rotor flux providing reference to cited above regulator. The induction motor is described as a polytopic LPV system because of speed and rotor resistance affine dependence. Their values can be estimated on line during systems operations. The simulation and experimental results largely confirm the effectiveness of the proposed control.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.1
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• pp.15-22
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• 2009

The guidance controller of the conventional aircraft consists of inner-loop (autopilot) and outer-loop (guidance). If the guidance controller can be designed as an integrated guidance and control (IGC), the various advantages exist. The integrated guidance and control formulation can compensate for the effect of autopilot lag. An integrated approach also helps avoid the iterative procedure involved in tuning the guidance and autopilot subsystems, if designed separately. Integrated design is also less susceptible to saturation and stability problems. This paper presents an approach to IGC design for the unpowered air vehicle with the only flaperon using a combination of adaptive output feedback inversion and backstepping techniques. Adaptive neural networks are trained online with available measurements to compensate for unmodeled nonlinearities in the design process.

• Journal of Power Electronics
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• v.10 no.3
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• pp.285-292
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• 2010

This paper presents a current mode integrated control technique (CM-ICT) using a modified voltage space vector modulation (MSVM) for Z-source inverter (ZSI) fed induction motor drives. MSVM provides a better DC voltage boost in the dc-link, a wide range of AC output voltage controllability and a better line harmonic profile. In a voltage mode ICT (VM-ICT), the outer voltage feedback loop alone is designed and it enforces the desired line voltage to the motor drive. An integrated control technique (ICT), with an inner current feedback loop is proposed in this paper for the purpose of line current limiting and soft operation of the drive. The current command generated by the PI controller and limiter in the outer voltage feedback loop, is compared with the actual line current, and the error is processed through the PI controller and a limiter. This limiter ensures that, the voltage control signal to the Z-source inverter is constrained to a safe level. The rise and fall of the control signal voltage are made to be gradual, so as to protect the induction motor drive and the Z-source inverter from transients. The single stage controller arrangement of the proposed CM-ICT offers easier compensation. Analysis, Matlab/Simulink simulations, and experimental results have been presented to validate the proposed technique.

• Proceedings of the KIPE Conference
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• 1999.07a
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• pp.260-265
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• 1999

This paper describes a novel control method of a three-phase PWM inverter for uninterruptible power supply(UPS) applications. To obtain the fast dynamics and excellent harmonic characteristics, a new state feedback control technique is proposed. The proposed control consists of the inner-loop current and outer-loop voltage controllers with a load current estimator to reduce the effects of the load variations and nonlinearity. In order to verify the effectiveness of the proposed control, the simulation is carried out for various load condition.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.2
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• pp.170-177
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• 1998

In this paper, a unified solution of Hankel norm approximation problem is proposed by $\delta$-operator. To derive the main result, all-pass property is derived from the inner and co-inner property in the $\delta$-domain. The solution of all-pass becomes an optimal Hankel norm approximation problem in .delta.-domain through LLFT(Low Linear Fractional Transformation) inserting feedback term $\phi(\gamma)$, which is a free design parameter, to hold the error bound desired against the variance between the original model and the solution of Hankel norm approximation problem. The proposed solution does not only cover continuous and discrete ones depending on sampling interval but also plays a key role in robust control and model reduction problem. The verification of the proposed solution is exemplified via simulation for the zero-order Hankel norm approximation problem and the model reduction problem applied to a 16th order MIMO system.

• International Journal of Control, Automation, and Systems
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• v.1 no.2
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• pp.243-251
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• 2003

In this paper, a new model for mobile soccer robot, a type of linear system, is presented. A controller, consisting of two loops the one of which is the inner state feedback loop designed for stability and plant be well conditioned and the outer loop is a well-known PI controller designed for tracking the reference input, is suggested. Because the plant, the soccer robot, is parameter dependent, it requires the controller to be insensitive to the parameter variation. To achieve this objective, the pole-sensitivity as a pole-variation with respect to the parameter variation is defined and design algorithms for state-feedback controllers are suggested, consisting of two matrices one of which is for general pole-placement and other for parameter insensitive. This paper shows that the PI controller is equivalent to the state feedback and the cost function for reference tracking is equivalent to the LQ cost. By using these properties, we suggest a tuning procedure for the PI controller. We that the control algorithm in this paper, based on the linear system theory, is well work by simulation, and the LPD system modeling and control are more easy treatment for soccer robot.

• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.994-997
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• 2003

This Paper presents a study of the performance of a DC servo motor with a model reference adaptive fuzzy speed controller (MRAFSC) in the presences of load disturbances. MRAFSC comprised inner feedback loop consisting of the fuzzy logic controller (FLC) and plant, and outer loop consisting of an adaptation mechanism which is designed for tuning a control rule of the FLC. Experimental results show the good performance in the DC servo motor system with the proposed adaptive fuzzy controller.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.11
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• pp.2010-2016
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• 2007

PID control is windely used to control stable processes, However, its application to integrating processes is less common. In this paper, we proposed a stable PID controller tuning method for integrating processes with time delay using model reduction method. For proposed model reduction method, it disconnect an integrating factor from integrating processes and reduces separate process using reduction method. and it connect an integrating factor to reduced model. We can obtain stable integrating processes using P controller in inner feedback loop and PID tuning is then used to cancel the pole of the feedback loop. This guarantees both robustness and performance. Simulation examples are given to show the good performance of the proposed tuning method comparing with other methods.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.47 no.4
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• pp.7-14
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• 2010

Stable-state behaviors of asynchronous sequential machines represented as finite state machines can be corrected by feedback control schemes. In this paper, we propose a state feedback control scheme for input/state asynchronous machines with uncertain transitions. The considered asynchronous machine is deterministic, but its state transition function is partially known due to model uncertainty or inner logic errors. The control objective is to compensate the behavior of the closed-loop system so that it matches a sub-behavior of a prescribed model despite uncertain transitions. Furthermore, during the execution of corrective action, the controller reflects the exact knowledge of transitions into the next step, i.e., the range of the behavior of the closed-loop system can be enlarged through learning. The design procedure for the proposed controller is described in a case study.

• Journal of the Korean Society of Physical Medicine
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• v.17 no.2
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• pp.53-62
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• 2022

PURPOSE: This study was conducted to investigate the effect of a real-time pressure feedback provided during gait training on the weight weight distribution of the inner part of mid-foot in paralyzed side and gait function in stroke patients. METHODS: A total of 24 patients with hemiplegic stroke in a rehabilitation hospital were randomly assigned to the experimental and control group. All participants (n = 24) performed 15 min of comprehensive rehabilitation therapy 5 times a week for a period of 4 weeks. Additionally, the experimental group and control group underwent gait training with a real time feedback and general gait training, respectively, for 15 min five times a week for 4 weeks. Weight distribution and gait function were measured before and after the 4-week training. RESULTS: Significant increases in the weight distribution (WD), stance time (ST) and step length (SL) of the paralyzed side, and a significant decrease in the 10 m walking test (10 MWT) observed after training in the two groups (p < .05). The experimental group showed larger changes in the all variables than the control group (WD, +10.5 kg vs. +8.8 kg, p < .05; ST, 12.8 s vs. 4.9 s, p < .05; SL, 4.9 cm vs. 1.7 cm, p < .05; 10 MWT, -3.5 s vs. -1.0 s, p < .05, respectively). CONCLUSION: Gait training with a real-time feedback might be effective in improving the normalization of weight bearing of the paralyzed lower extremity and gait function of stroke patients, and be considered to be a more effective gait training for improving the abilities than the general gait training.