• Journal of Institute of Control, Robotics and Systems
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• v.6 no.11
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• pp.963-967
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• 2000

This paper deals with a sliding mode control with uncertainty adaptation for the robust stabilization of input-delay systems with unknown uncertainties. A sliding surface including a state predictor is employed to compensate for the effect of the input delay. The proposed method does not need a priori knowledge of upper bounds on the norm of uncertainties, but estimates those upper bounds by adaptation laws based on the sliding surface. Then, a robust control law with the uncertainty adaptation is derived to ensure the existence of the sliding mode. A numerical example is given to illustrate the design procedure.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.46 no.2
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• pp.52-60
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• 2009

This paper proposes a digital controller for a nonlinear multi-input/multi-output(MIMO) system with time-delayed input. A nonlinear system with multi-input time delay is discretized using Taylor's discretization method, and the discretized system can be converted into a general nonlinear system. Consequently, general nonlinear controller synthesis can be applied to the discretized time-delay system We adopted MAC controller synthesis and verified the performance of the proposed method by conducting computer simulations. The results of the simulation showed that the proposed controller synthesis performs well and the proposed method is useful for controlling a nonlinear time-delay system.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.6
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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.

• Proceedings of the IEEK Conference
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• 1998.06a
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• pp.239-242
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• 1998

Most of time delay existing in industrial processes can be modeled as an input time-delay which causes a lot of difficulties. To implement a time-delay free control, loop transfer function is recovered through the direct state feedback. For the proper state feedback, and observer is designed based upon the factorization approach which is known as one of the most powerful tool for the design of various control systems. The design scheme is parctically applied for the control of a DC motro which suffers from input time-delay. Simulational results demonstrate that this new algorithm guarantess the stability of the time-delayed system, as well as performance improvement compared to the conventional PI control.

• Journal of Mechanical Science and Technology
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• v.19 no.11
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• pp.1975-1987
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• 2005

An input time delay always exists in practical systems. Analysis of the delay phenomenon in a continuous-time domain is sophisticated. It is appropriate to obtain its corresponding discrete-time model for implementation via digital computers. In this paper a new scheme for the discretization of nonlinear systems using Taylor series expansion and the zero-order hold assumption is proposed. The mathematical structure of the new discretization method is analyzed. On the basis of this structure the sampled-data representation of nonlinear systems with time-delayed multi-input is presented. The delayed multi-input general equation has been derived. In particular, the effect of the time-discretization method on key properties of nonlinear control systems, such as equilibrium properties and asymptotic stability, is examined. Additionally, hybrid discretization schemes that result from a combination of the scaling and squaring technique (SST) with the Taylor series expansion are also proposed, especially under conditions of very low sampling rates. Practical issues associated with the selection of the method's parameters to meet CPU time and accuracy requirements, are examined as well. A performance of the proposed method is evaluated using a nonlinear system with time delay maneuvering an automobile.

• Journal of Power Electronics
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• v.12 no.5
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• pp.715-722
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• 2012

New discrete time domain models for the peak current controlled (PCC) power LED drivers in continuous conduction mode include for the first time the effects of the time delay in the pulse-width-modulator. Realistic amounts of time delay are found to have significant effects on the average output LED current and on the critical inductor value at the boundary between the two conduction modes. Especially, the time delay can provide an accurate LED current for the PCC buck converter with a wide input voltage. The models can also predict the critical inductor value at the mode boundary as functions of the input voltage and the time delay. The overshoot of the peak inductor current due to the time delay results in the increase of the average output current and the reduction of the critical inductor value at the mode boundary in all converters. Experimental results are presented for the PCC buck LED driver with constant-frequency controller.

• Korean Journal of Ecology and Environment
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• v.43 no.1
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• pp.161-167
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• 2010

In this study, we implemented an experimental approach of ecological model development in order to emphasize the importance of input variable selection with respect to time-delayed arrangement between input and output variables. Time-series modeling requires relevant input variable selection for the prediction of a specific output variable (e.g. density of a species). Inadequate variable utility for input often causes increase of model construction time and low efficiency of developed model when applied to real world representation. Therefore, for future prediction, researchers have to decide number of time-delay (e.g. months, weeks or days; t-n) to predict a certain phenomenon at current time t. We prepared a total of 3,900 equation models produced by Time-Series Optimized Genetic Programming (TSOGP) algorithm, for the prediction of monthly averaged density of a potamic phytoplankton species Stephanodiscus hantzschii, considering future prediction from 0- (no future prediction) to 12-months ahead (interval by 1 month; 300 equations per each month-delay). From the investigation of model structure, input variable selectivity was obviously affected by the time-delay arrangement, and the model predictability was related with the type of input variables. From the results, we can conclude that, although Machine Learning (ML) algorithms which have popularly been used in Ecological Informatics (EI) provide high performance in future prediction of ecological entities, the efficiency of models would be lowered unless relevant input variables are selectively used.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.42 no.1
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• pp.13-21
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• 2005

This paper presents a fuzzy model-based approach for synchronization of time-delay chaotic system with input saturation. Time-delay chaotic drive and response system is respectively represented by Takagi-Sugeno (T-S) fuzzy model. Specially, the response system contains input saturation. Using the unidirectional linear error feedback and the parallel distributed compensation (PDC) scheme, we design fuzzy chaotic synchronization system and analyze local stability for synchronization error dynamics. Since time-delay in the transmission channel always exists, we also take it into consideration. The sufficient condition for the local stability of the fuzzy synchronization system with input saturation and time-delay is derived by applying Lyapunov-Krasovskii theory and solving linear matrix inequalities (LMI's) problem. A numerical example is given to demonstrate the validity of the proposed approach.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.1-6
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• 1993

This report proposes a novel method of identification of continuous time-delay systems from sampled input-output data. By the aid of a digital pre-filter, an approximated discrete-time estimation model is first derived, in which the system parameters remain in their original form and the time delay need not be an integral multiple of th sampling period. Then an identification method combining the common linear least squares(LS) method or the instrumental variable(IV) method with the genetic algorithm(GA) is proposed. That is, the time-delay is selected by the GA, and the system parameters are estimated by the LS or IV method. Furthermore, the proposed method is extended to the case of multi-input multi-output systems where the time-delays in the individual input channels may differ each other. Simulation resutls show that our method yields consistent estimates even in the presence of high measurement noises.

• The Journal of the Acoustical Society of Korea
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• v.14 no.3
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• pp.28-36
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• 1995

In this paper, a double loop control model using leaky delay LMS algorithm are proposed for active noise control. The proposed double loop control model estimates the loudspeaker characteristic and the error path transfer function with on-line using only gain and acoustic time delay to reduce computation burden. The control of error signal through double loop control scheme makes the more robust cntrol system. The input signal of filter to estimate acoustic time delay is used difference between input signal of input microphone and adaptive filter output. And also, in nonstationary environments, the leaky delay LMS algorithm is employed to counteract parameter drift of delay LMS algorithm. For practical noise signal, the proposed double loop control model reduces noise level about 12.9 dB.