• 전기학회논문지
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• 제57권1호
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• pp.109-116
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• 2008

Model matching problem of asynchronous sequential machines is addressed in this paper. The main topic is to design a corrective controller such that the closed-loop behavior of the asynchronous sequential machine can follow a given model, i.e., their models can be "matched" in stable states. In particular, we assume that the considered asynchronous machine suffers from the presence of an input disturbance that can cause undesirable state transitions. The proposed controller can realize both model matching and elimination of the adverse effect of the input disturbance. Necessary and sufficient condition for the existence of a corrective controller that solves model matching problem is presented. Whenever controller exists, algorithms for their design are outlined and demonstrated in a case study.

• 한국해양공학회지
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• 제13권3B호
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• pp.91-98
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• 1999

In order to reject the steady-state tracking error, it is common to introduce integral compensators in servosystems for constant reference signals. However, if the mathematical model of the plant is exact and no disturbance input exists, the integral compensation is not necessary. From this point of view, a two-degree-of-freedom(2DOF) servosystem has been proposed, in which the integral compensation is effective only when there is a modeling error or a disturbance input. The present paper considers a synthesis problems of this 32DOF servosystem with direct transfer term in the system representation. And, a method how we may obtain a gain such that desirable transient response is achieved, is proposed in the presence of the modelling error and disturbance input.

• Journal of Mechanical Science and Technology
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• 제15권12호
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• pp.1609-1615
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• 2001

This paper presents the characteristics of a general structured observer and presents an estimation algorithm for a system with external disturbances which are added to the input of the system. By using a disturbance model, the general structured observer can estimate the states of the system is spite of disturbances, where the system is affected from external disturbances. Also, the general structured observer can include the function of a PI observer or high gain observer by properly adjusting the observer's gain matrices. The existence condition for the observer is derived, which can be checked by the system's observability condition and the pole-zero cancellation of the system's polynomial matrix. Through a numerical example, it is verified that the proposed observer is effective estimating the system and the input disturbance.

• 전기학회논문지
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• 제64권12호
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• pp.1810-1817
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• 2015

The railway vehicle has an auxiliary power unit for supplying power to the associated electronic control devices and passenger service unit. Typically, input voltage from the catenary for rolling stock is highly fluctuating according to the substation capacity, vehicle propulsion and regeneration. Especially, the frost and freezing on contact wire in winter can cause a blackout inside vehicle, and also brings about electronic components damaging and the system down. To prevent this problem, a large filter and capacitor is used. But this is not a perfect solution, because it is increasing weight of the unit. In this paper, a new algorithm is proposed to suppress the disturbance without adding devices. Simulation and experimental results show that the proposed algorithm has performance to suppress the disturbance at the sudden input voltage variations.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.312-315
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• 2003

This paper deals with robust control problems of linear systems with matched nonlinear uncertainties. In order to handle the uncertainties, a Lyapunov min-max control approach can usually be adopted. By the way, the min-max control input is required to be switched and provokes chattering phenomena which limit the practical implementation. The magnitude of switching control input which cause chattering is dependent on the size of uncertainties. In this paper, it is shown that the magnitude of the min-max control input can be made small using a well-known disturbance observer technique and only considers the disturbance observing errors. The chattering phenomena can be reduced as small as possible by selecting a high diturbance observer gain. The simulations show that the min-max control with a disturbance observer can reduce chattering phenomena much smaller and guarantee much better robust performance rather than the one without a disturbance observer.

• 전기학회논문지
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• 제59권6호
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• pp.1179-1185
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• 2010

This paper deals with a robust controller design problem for a small one-link robot arm system subject to input time delay and load variations. The uncertain parameters of the system are considered as a disturbance input. A disturbance observer(DOB) has been designed to alleviate disturbance effects and to compensate performance degradation owing to the time-delay. This paper employs a new DOB structure for non-minimum phase systems together with the Smith predictor. We propose a new controller for reducing the both effects of disturbance and time-delay. In order to test the performance of proposed controller, four different other control laws are compared with the proposed one by computer simulations. The simulation results show the effectiveness of the proposed control method.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 추계학술대회 논문집
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• pp.89-90
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• 2006

• 전자공학회논문지SC
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• 제47권2호
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• pp.16-24
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• 2010

본 논문은 불특정한 외란을 가진 비선형 시스템에서의 백스태핑 기법을 이용한 새로운 퍼지 외란 관측가 설계 방법을 제안한다. 먼저, 퍼지 논리 시스템을 이용하여 불특정한 외란을 관측하기 위한 관측 입력을 가진 퍼지 외란 관측기를 설계한다. 제안된 외란 관측기가 불특정한 외란을 관측하는 것을 증명하기 위해 와란 관측 오차 시스템을 도입한다. 백스태핑 기법을 도입하여 각 단계에서의 퍼지 외란 관측기의 파라마터 적응 규칙과 외란 관측기의 관측 입력을 유도하고 외란 오차 시스템의 안정성을 증명한다. 제안된 외란 관측기의 명확성을 증명하기 위해서 모의 실험 예제들을 제공한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2143-2146
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• 2003

We propose, for the first time to our knowledge, a novel gain-clamping method for EDFA in WDM Add/Drop networks by introducing a disturbance observer technique. The proposed gain-clamping control input consists of the nominal gain-clamping control such as PI(Proportional and Integral) control and the additional control input for the compensation of the effects caused by channel add/drops. The additional control input is designed using the wellknown disturbance observer technique and can be implemented very easily with general electric elements. We proved the superiority of the new technique over the previous methods by showing simulation result of minimized dips and spikes that appear in power profile of EDFA output.

• 한국정밀공학회지
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• 제24권12호
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• pp.65-73
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• 2007

In this paper, the gain scheduled state feedback and disturbance feedforward control design proposed in the previous paper has been applied to a simple matching system and a turret stabilization system. In such systems, it is needed to attenuate disturbance response effectively as long as control input satisfies the given constraint on its magnitude. The scheduled control gains are derived in the framework of linear matrix inequality(LMI) optimization by means of the MatLab toolbox. Its effectiveness is verified along with the simulation results compared with the conventional optimum constant gain control and the scheduled state feedback control cases.