• Proceedings of the KIPE Conference
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• 1997.07a
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• pp.89-96
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• 1997

A robust speed control scheme for a brushless DC(BLDC) motor using an adaptive input-output linearization technique is presented. By using this technique, the nonlinear motor model can be linearized in Brunovski canonical form, and the desired speed dynamics can be obtained based on the linearized model. This control technique, however, gives an undesirable output performance under the mismatch of the system parameters and load conditions. For the robust output response, the controller parameters will be estimated by a model reference adaptive technique where the disturbance torque and flux linkage are estimated. The adaptation laws are derived by the Popov's hyperstability theory and positivity concept. The proposed control scheme is implemented on a BLDC motor using the software of DSP TMS320C30 and the effectiveness is verified through the comparative experiments.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.20 no.3
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• pp.62-68
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• 2006

In this paper, an adaptive input-output linearization and zero dynamics control of three phase AC/DC converter are proposed. For achieving output do voltage regulation with unity power factor, the q-axis current of the rotating d-q frame is regulated to zero and the output do voltage is controlled to track a given reference voltage $V_r$. The proposed scheme is robust to the parametric uncertainty md load current of the converter due to the adaptation process. The simulation results are presented to illustrate the performance and feasibility of the proposed control scheme.

• Journal of the Korean Society for Precision Engineering
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• v.9 no.4
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• pp.100-108
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• 1992

In this study, the technique of adaptive control based on certainty equivalence for the input-output linearization of nonlinear system is investigated. It is shown that the upper bound of the parameter estimation error can be represented more explicitly than Teel et al's works. Another direct approach, which stows that the adaptive input-output linearing control laws using the normalized identifier yield bounded tracing, is also presented.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.379-380
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• 2011

• Journal of the Society of Naval Architects of Korea
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• v.45 no.5
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• pp.469-476
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• 2008

In this paper, it is shown that an input-output (I/O) feedback linearized controller can be designed rationally by utilizing the time-scale properties of heave and pitch for an underwater vehicle. It is assumed that the dynamics of the vehicle is restricted to the vertical plane. An output-feedback control is designed, which stabilizes steady cruising paths. It is shown that the vehicle dynamics with acceleration as output becomes minimum phase. The dynamics can be transformed into a reduced system through a kind of partial linearization and singular perturbation technique. The reduced system is not only minimum phase but also exactly I/O linearizable via feedback. The I/O dynamic characteristics of the heave and pitch modes can be made linear and decoupled. Furthermore it becomes independent of cruising condition such as vehicle velocity. This study may help for designing autopilot systems for underwater vehicles.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.8
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• pp.689-696
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• 2000

In this paper we propose an eminent controller for wheeled mobile robots. This controller consists of an input-output linearization controller trying to stabilize the system and a neural network controller to compensate for uncertainties. The uncertainties are divided into two parts. First unstructured uncertainties include the elements related with system order such as friction disturbance. Second structure uncertainties are the incorrect system parameters A neural network structure of the proposed overall controller learns structural errors of the wheeled mobile robots with uncertainties and includes the neural network output. This controller learns quickly the model and has good tracking performance Simulation results show that the proposed controller is more efficient than analog controllers.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2017.11a
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• pp.58-60
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• 2017

In the offshore crane system, the requirements on the operating safety are extremely high due to many external factors. This paper describes a model for studying the dynamic behavior of the offshore crane system. The obtained model allows to evaluate the fluctuations of the load arising from the elasticity of the rope. Especially, in this paper, the authors design control system in which just winch rotation angle and rope tension are used without load position information. The controller design based on input-output feedback linearization theory is presented which can handle the effect of the elasticity of the rope and track the load target trajectory input. Besides that, a full order observer is designed to estimate unknown states. Finally, By the experiment results, the effectiveness of proposed control method is evaluated and verified.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1221-1224
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• 1996

As in most industrial processes, the dynamic characteristics of an electric power system are subject to changes. Amongst those effects which cause the system to be uncertain, faults on transmission lines are considered. For the stabilization of the power system, we present an indirect adaptive control method, which is capable of tracking a sudden change in the effective reactance of a transmission line. As the plant dynamics are nonlinear, an input-output feedback linearization method is combined with an identification algorithm which estimates the effect of a fault.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.1213-1218
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• 1993

Variable structure control is applied to the robust output tracking control problem of general nonlinear multi-input multi-output (MIMO) systems. Using the concept of relative degree and minimum phase, input/output(I/O) linearization is undertaken. For I/O the linearized system, a new sliding hyperplanes design method is proposed. In this procedure, we can construct very robust and efficient sliding mode controller for general nonlinear systems of relative degree higher than two. The control results are illustrated by adopting a numerical example.

• Journal of Power Electronics
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• v.9 no.4
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• pp.654-666
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• 2009

Direct torque control (DTC) of induction machines (IM) is a well-known strategy of these drives control which has a fast dynamic and a good tracking response. In this paper a nonlinear DTC of speed sensorless IM drives is presented which is based on input-output feedback linearization control theory. The IM model includes iron losses using a speed dependent shunt resistance which is determined through some effective experiments. A stator flux vector is estimated through a simple integrator based on stator voltage equations in the stationary frame. A novel method is introduced for DC offset compensation which is a major problem of AC machines, especially at low speeds. Rotor speed is also determined using a rotor flux sliding-mode (SM) observer which is capable of rotor flux space vector and rotor speed simultaneous estimation. In addition, stator and rotor resistances are estimated using a simple but effective recursive least squares (RLS) method combined with the so-called SM observer. The proposed control idea is experimentally implemented in real time using a FPGA board synchronized with a personal computer (PC). Simulation and experimental results are presented to show the capability and validity of the proposed control method.