• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.915-920
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• 2007

A new optimal state feedback and disturbance feedforward control design in the sense of minimizing $L_{2}-gain$ from disturbance to control output is proposed for disturbance attenuation of systems with bounded control input and measurable disturbance. The controller is derived in the framework of linear matrix inequality(LMI) optimization. A gain scheduled state feedback and disturbance feedforward control design is also suggested to improve disturbance attenuation performance. The control gains are scheduled according to the proximity to the origin of the state of the plant and the magnitude of disturbance. This procedure yields a stable linear time varying control structure that allows higher gain and hence higher performance controller as the state and the disturbance move closer to the origin. The main results give sufficient conditions for the satisfaction of a parameter-dependent performance measure, without violating the bounded control input condition.

• 한국정밀공학회지
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• 제24권11호
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• pp.59-65
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• 2007

A new optimal state feedback and disturbance feedforward control design in the sense of minimizing $L_2$-gain from disturbance to control output is proposed for disturbance attenuation of systems with bounded control input and measurable disturbance. The controller is derived in the framework of linear matrix inequality(LMI) optimization. A gain scheduled state feedback and disturbance feedforward control design is also suggested to improve disturbance attenuation performance. The control gains are scheduled according to the proximity to the origin of the state of the plant and the magnitude of disturbance. This procedure yields a stable linear time varying control structure that allows higher gain and hence higher performance controller as the state and the disturbance move closer to the origin. The main results give sufficient conditions for the satisfaction of a parameter-dependent performance measure, without violating the bounded control input condition.

• 전기학회논문지
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• 제56권9호
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• pp.1655-1664
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• 2007

This paper presents the problem of controlling asynchronous sequential machines in the presence of input disturbances, which may be also regarded as an adversary in a game theoretic setting. The main objective is to develope a new methodology for including unpredictable behavior of input disturbance into models of asynchronous machines. The input disturbance, representing uncontrollable noise input, is embedded into a new model of asynchronous machines in form of input/state finite state machines. It is shown that the proposed modeling preserves the fundamental model and well-pose of asynchronous machines. The reachability matrix, an important performance index of asynchronous machines, is also adapted according to input disturbance and will be used for constructing corrective controllers in the companion paper.

• 제어로봇시스템학회논문지
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• 제22권10호
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• pp.826-832
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• 2016

A two-wheeled balancing mobile robot (TWBMR) has the characteristics of both nonlinear and underactuated system. In this paper, the disturbances acting on a TWBMR are classified into body disturbance and wheel disturbance. Additionally, we describe a nonlinear disturbance observer, which is suitable as a single input multi-output (SIMO) system for the longitudinal motion of TWBMR. Finally, we propose a reasonable disturbance compensation technique that combines the indirect reference input of equilibrium point and the direct torque compensation input. Simulations and experimental results show that the proposed disturbance compensation method is an effective way to achieve robust postural stability, specifically on inclined terrains.

• 한국정보통신학회논문지
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• 제9권8호
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• pp.1730-1734
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• 2005

본 논문에서는 입력측에 외란이 인가된 시간지연 시스템에 대한 새로운 스미스 예측제어기를 제안하였다. 외란을 검출할 수 있는 외란 관측기를 구성하였으며 이를 이용하여 외란의 영향을 소거할 수 있는 제어기를 구성하였다. 그 결과 계단입력 형태의 외란에 대한 정상상태 오차를 빠르게 0으로 할 수 있는 새로운 스미스 예측제어기를 구성할 수 있었다. 이렇게 구성된 제어기에 대하여 컴퓨터 시뮬레이션을 행하여 제안된 시스템의 효용성 및 우수성을 입증하였다.

• 한국정밀공학회지
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• 제26권3호
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• pp.32-39
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• 2009

A new discrete time gain-scheduled control design is proposed to improve disturbance attenuation for systems with bounded control input under known disturbance maximum norm. The state feedback gains are scheduled according to the proximity of the state of the plant to the origin. The controllers are derived in the framework of linear matrix inequality(LMI) optimization. This procedure yields a linear time varying control structure that allows higher gain and hence higher performance controllers as the state moves closer to the origin. The main results give sufficient conditions for the satisfaction of a parameter-dependent performance measure, without violating the bounded control input condition under the given disturbance maximum norm.

• 제어로봇시스템학회논문지
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• 제10권1호
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• pp.15-21
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• 2004

This paper deals with asymptotic stabilization problems for linear systems with time-varying input disturbances. In order to eliminate the influence of a disturbance on the system, a disturbance observer is designed and the time-varying disturbance can be rejected using its estimated value. Since the disturbance observer is kind of low-pass filter, it has inevitably estimation errors. To eliminate the inflences on the performance due to these errors, the additional control is designed based on these estimation errors using a well-known min-max control method. It is shown that the asymptotic stability of the closed-loop system is guaranteed. In general, the min-max control method requires the switching of control inputs and the switching magnitude of the control input is determined by the disturbance estimation error bounds. As the error bounds can be made arbitrarily small by choosing the high gain for the disturbance observer, the control method suggested in this paper can reduce the chattering phenomena as small as possible. Therefore, it has superior performance to the existing ones.

• 전기학회논문지
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• 제56권9호
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• pp.1665-1675
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• 2007

This paper presents the problem of controlling asynchronous sequential machines in the presence of input disturbances, which may be also regarded as an adversary in a game theoretic setting. The main objective is to provide necessary and sufficient condition for the existence of a corrective controller that solves model matching problem of an asynchronous machine suffering from input disturbance. The existence condition can be stated in terms of a simple comparison of two skeleton matrices. The proposed controller eliminates the adversarial effect of input disturbance and makes the controlled machine mimic the behavior of a model in stable-state way. Whenever controller exists, algorithms for their design are outlined and demonstrated in a case study.

• 대한전기학회논문지:전력기술부문A
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• 제48권6호
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• pp.773-780
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• 1999

A digital tracking controller is proposed for micro electrostatic actuator with input nonlinearity, where disturbance observer is utilized in cooperation with inverse function. Generally the disturbance observer is announced to be robust to modeling uncertainty, and external disturbance. But, when the nonlinearity exists in the systems, the disturbance observer may not directly be applied to that system, because the nonlinearity may destabilize the overall system. Therefore, first, we linearize the nonlinear input characteristics of micro electrostatic actuator by the use of inverse function. Secondly, we apply disturbance observer to approximately linearized system for eliminating the residuals of nonlinearity and the modeling uncertainty. Then, we get the good properties of the disturbance rejection as well as the robustness due to the own nature of disturbance observer. In this case, we propose a sufficient condition for the robust stability of overall systems. Furthermore, we discuss the problem that may be exposed when disturbance observer is applied to the internally stable system with saturation, and analyze two methods to overcome input saturation problem in the sense of internal stability. Simulations have been carried out to show the effectiveness of the proposed controller.

• Journal of Electrical Engineering and Technology
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• 제11권2호
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• pp.309-319
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• 2016

This paper presents a new recognition and classification method for power quality (PQ) disturbances on the basis of pattern linguistic values. This method solves the difficulty of recognizing disturbances rapidly and accurately by using fuzzy logic. This method uses classification disturbance patterns to define the linguistic values of fuzzy input variables and used the input variables of corresponding disturbance pattern to set membership functions. This method also sets the fuzzy rules by analyzing the distribution regularities of the input variable values. One characteristic of this method is that the linguistic values of fuzzy input variables and the setting of membership functions are not only related to the input variables but also to the character of classification disturbance and the classification results. Furthermore, the number of fuzzy rules is equal to the number of disturbance patterns. By using this method for disturbance classification, the membership function and design of fuzzy rules are directly related to the objective of classification, thus effectively reducing the complexity of the design process and yielding accurate classification results. The classification results of the simulation and measured data verify the feasibility and effectiveness of this method.