• Proceedings of the KIEE Conference
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• 1997.07b
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• pp.446-448
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• 1997

The aim of this paper is to introduce a method designing the optimal model following boiler-turbine control system using genetic algorithms. This boiler-turbine control system is designed by applying genetic algorithms with reference model to the optimal determination of weighting matrices Q, R that are given by LQ regulator problem. These weighting matrices are optimized simultaneously in the search domain selected adequately. The effectiveness of this boiler-turbine control system is verified by computer simulation.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 1999.10a
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• pp.244-250
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• 1999

Active vibration control method for the reduction of vibration of structures have been developed. For the application of real structures active control system that has robustness must be designed because the mathematical model incompletely described has intrinsically modeling error. In this research we propose LQG/LTR method in designing control system with robustness. A combination of acceleration feedback and model-order reduction technique is used for the application of real structures and the computation efficiency. In case of such structures as the building and the tower the inter-story relative displacements represent an important constraint in seismic design. Therefore selection method of design parameters is also proposed in order to reduce the inter-story relative displacements.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.1
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• pp.1-9
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• 2013

This paper presents a new control algorithm for dynamic control of a unicycle robot. The unicycle robot motion consists of a pitch that is controlled by an in-wheel motor and a roll that is controlled by a reaction wheel pendulum. The unicycle robot doesn't have any actuator for a yaw axis control, which makes the derivation of the dynamics relatively simple. The Euler-Lagrange equation is applied to derive the dynamic equations of the unicycle robot to implement the dynamic speed control of the unicycle robot. To achieve the real time speed control of the unicycle robot, the sliding mode control and LQ regulator are utilized to guarantee the stability while maintaining the desired speed tracking performance. In the roll controller, the sigmoid-function based sliding mode controller has been adopted to minimize the chattering by the switching function. The LQR controller has been implemented for the pitch control to drive the unicycle robot to follow the desired velocity trajectory in real time using the state variables of pitch angle, angular velocity, angle and angular velocity of the wheel. The control performance of the two control systems form a single dynamic model has been demonstrated by the real experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.7
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• pp.655-660
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• 2009

In many real applications, the discrepancy problem between controller outputs and plant inputs or the abrupt variation problem of controller outputs can occur. These problems have a negative effect on control performance and stability. It is well-known that two phenomena called 'windup' and 'bump' cause these problems. So far these problems have been studied separately in each side of the anti-windup and the bumpless transfer. This paper proposes a new unified method combines the anti-windup and the bumpless transfer method using the linear quadratic minimization and a proper state space model representation for the anti-windup controller. The proposed method has a feature that it takes account of both the anti-windup and the bumpless transfer in one formula. Finally, we exemplify the performance of the proposed method via numerical examples using the controller switching between the anti-windup PID controller and the anti-windup LQ controller.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.858-863
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• 1990

A synthesis of feedback control-law with combined H$_{2}$/H$_{\infty}$ perfoemance criteria is proposed for discrete-time systems, under the assumption that the state is available for feedback. An auxiliary minimization problem is defined to enforce the H$_{\infty}$ disturbance attenuation constrain while minimizing the H$_{2}$ performance bound. The design equation is presented in terms of a modified Riccati equation which leads to the standard LQ solution when the H$_{\infty}$ constraint is completely relaxed. The results of the paper clarity the correspondences between H$_{2}$/H$_{\infty}$ results in discrete-time systems and their continuous-time counter-parts.rts.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.12
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• pp.2480-2483
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• 2009

This paper presents an LMI-based method to design a integral sliding mode controller for a class of uncertain time-delay systems. Using LMIs we derive an existence condition of a sliding surface guaranteeing the asymptotic stability of the sliding mode dynamics. And we give a switching feedback control law. Our method is a generalization of the previous integral sliding mode control design methods. Since our method is based on LMIs, it gives design flexibility for combining various useful design criteria that can be captured in the LMI-based formulation. We also give LMI existence conditions of sliding surfaces guaranteeing a-stability or LQ performance constraint. Finally, we give a numerical design example to show the effectiveness of the proposed method.

• Journal of applied mathematics & informatics
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• v.18 no.1_2
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• pp.73-93
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• 2005

In this paper, we attempt to present a new numerical approach to solve non-linear backward stochastic differential equations. First, we present some definitions and theorems to obtain the conditions, from which we can approximate the non-linear term of the backward stochastic differential equation (BSDE) and we get a continuous piecewise linear BSDE correspond with the original BSDE. We use the relationship between backward stochastic differential equations and stochastic controls by interpreting BSDEs as some stochastic optimal control problems, to solve the approximated BSDE and we prove that the approximated solution converges to the exact solution of the original non-linear BSDE in two different cases.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.43 no.4
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• pp.543-552
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• 1994

This paper presents a decentralized quadratic regulation architecture with feedforward neural networks for the control problem of complex systems. In this method, the decentralized technique was used to treat several simple subsystems instead of a full complex system in order to reduce training time of neural networks, and the neural networks' nonlinear mapping ability is exploited to handle the nonlinear interaction variables between subsystems. The decentralized regulating architecture is composed of local neuro-controllers, local neuro-identifiers and an overall interaction neuro-identifier. With the interaction neuro-identifier that catches interaction characteristics, a local neuro-identifier is trained to simulate a subsystem dynamics. A local neuro-controller is trained to learn how to control the subsystem by using generalized Backprogation Through Time(BTT) algorithm. The proposed neural network based decentralized regulating scheme is applied in the power System Stabilization(PSS) control problem for an imterconnected power system, and compared with that by a conventional centralized LQ regulator for the power system.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.5
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• pp.923-928
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• 2009

The performance analysis and robust control of the interior permanent magnet synchronous motor(IPMSM) greatly depend on accurate value of its parameters. To achieve the high performance of torque control, it is necessary to consider exact inductance values because the inductances are nonlinear parameters of operating the IPMSM. Therefore many different methods have been performed for analysis of the methodology for the exact measurement of synchronous inductances. None of them is considered standard, and accuracy levels of all these methods are also not consistent. Among these experimental methods, the DC current decay test and the vector current control test are ideal for a laboratory environment. In this paper, these two test methods are compared by applying inductances to the IPMSM. The paper analyzes the measured inductances of the two methods and their differences with inductances obtained from the finite element method(FEM).

• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2167-2169
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• 2003

The LQG regulator presented in this dissertation is designed to improve system stability with the structure in which Kalman Filters and LQ regulator are inter-connected to avoid disturbances on the system. For the sake of performance evaluation of the LQG regulator in this dissertation, the regulator is put in use for the speed control of DC Servo Motors without speed sensors on them to realize speed control without sensors by estimating uncertain speed with its state signals and to construct an optimal controller using the LQG regulator. Furthermore, state estimation process with white noise entered onto the systems is been experimented through a series of simulation. As a consequence, the process of estimating speed signals out of the signals with white noise inputs is confirmed using Kalman Filter.