• 한국기계연구소 소보
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• 통권17호
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• pp.157-165
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• 1987

The SWATH concept hull form which is capable of high speed navigation with small oscillatory motions in waves, was developed from the catamaran type hull forms. This paper describes how the motion of a SWATH ship in irregular waves can be reduced by regulating the stabilizing fins. The optimal regulator and LQG (Linear Quadratic Gaussian) controller for vertical plane motion have been applied for both platforming mode and contouring mode controls. The calculations of hydrodynamic coefficients and external forces are possible for defining the system equation for the design purpose of motion control. Performances of the controlled system are compared with those of original system.

• 한국지진공학회:학술대회논문집
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• 한국지진공학회 2000년도 추계 학술발표회 논문집 Proceedings of EESK Conference-Fall 2000
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• pp.501-508
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• 2000

It is demanded to find the dynamic model of a real structure to design a controller. However, as the structure has inherently infinite number of degree-of-freedom, it is impossible to obtain an exact dynamic model of the structure. Instead a reduction model with finite degree-of-freedom is used for the design of a controller. So there exists uncertainty between a real model and a reduction model which causes poor performance of control. All these uncertainties can degrade the control performance and even cause the control instability. Thus, robust control strategy considering the above uncertainties can be an alternative one to guarantee the performance and stability of the control. This study deals with the experimental verification of robust controller design for the active mass driver. $\mu$-synthesis technique is employed as a robust control strategy. Some weights are chosen based on the difference between the initial plant with which the controller is designed and the perturbed plant to be controlled having the actuator uncertainty. The robustness of $\mu$-synthesis technique is compared with the result of LQG strategy, which does not consider the uncertainty.

• 유공압시스템학회논문집
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• 제3권2호
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• pp.14-20
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• 2006

A controller design procedure for an electro-hydraulic positioning systems has been developed using $H{\infty}$ control. The generalized plant models and weighting function for multiplicative uncertainty modelling error was presented along with $H{\infty}$ controller designs in order to investigate the robust stability and performance. Both disturbance rejection and command tracking performances were improved with the $H{\infty}$ controller, and the better uniformity of time response is achieved across wide range of operating conditions than the PID, LQR and LQG control scheme. The multiplicative uncertainty case was specifically suited for the design of an electro-hydraulic positioning control systems using $H{\infty}$ control.

• 한국추진공학회지
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• 제2권2호
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• pp.38-46
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• 1998

본 연구에서는 강인성 제어의 한 분야인 LQG용 observer를 이용한 단축 터보 젯 엔진의 RPM 속도제어에 대하여 이론을 전개하고 실제 엔진 모델에 대한 시뮬레이션을 실시하였다. 일반적인 시불변 선형연속 시스템에 대하여 상태 출력 궤환 제어기를 설계하여 asymptotic stability를 얻기 위한 충분 조건을 도출하고, 다음으로 실제 터보 젯 엔진으로부터 구한 시스템 모델에 대하여 observer를 이용하여 추적 제어를 실시하였다. 실제 엔진과 더 가까운 상황을 재현하기 위해 제어 입력부의 saturation을 함께 고려하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.109-112
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• 1997

In this note, we investigate a noniterative design method of an observer-based robust H$\_$2/ controller in the presence of structured real parameter uncertainty by applying Riccati approach based on the guaranteed cost function. Motivated by the numerical difficulty of the problem, we try to develop a simple design method named as block-diagonal approach, which can be solved by the LMIs method. By assuming the block-diagonal structure of Riccati solution, the original problem can be derived into two sequentially decoupled optimization problems as LQG control problem. The proposed method seems to be numerically efficient in obtaining a feasible compensator.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.462-467
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• 2003

As for control systems, many researchers give optimal structures of the finite-word-length compensator. D. Williamson solved a fixed-point case against colored noise for the LQG problem. Recently, one of the authors derived an optimal filter against colored noise. And consequently, we apply the result to a twodegree-of-freedom control system in this paper. In addition the perturbation of the coefficients is considered. Furthermore, simulation results indicate this method gives better than other structures.

• Smart Structures and Systems
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• 제16권6호
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• pp.1133-1145
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• 2015

A new neural network (NN) predictive controller (NNPC) algorithm has been developed and tested in the computer simulation of active control of a nonlinear structure. In the present method an NN is used as a predictor. This NN has been trained to predict the future response of the structure to determine the control forces. These control forces are calculated by minimizing the difference between the predicted and desired responses via a numerical minimization algorithm. Since the NNPC is very time consuming and not suitable for real-time control, it is then used to train an NN controller. To consider the effectiveness of the controller on probability of damage, fragility curves are generated. The approach is validated by using simulated response of a 3 story nonlinear benchmark building excited by several historical earthquake records. The simulation results are then compared with a linear quadratic Gaussian (LQG) active controller. The results indicate that the proposed algorithm is completely effective in relative displacement reduction.

• 소음진동
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• 제7권6호
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• pp.967-974
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• 1997

Distributed piezoeletric sensor and actuator have been designed for efficient vibration control of a cantilevered beam. Both PZT and PVDF have been used in this study, the former as an actuator and the latter as a sensor for the integrated structure. We have optimized the position and the size of the PZT actuator and the electrode shape of the PVDF sensor. Finite element method is used to model the structure and the optimized actuators, we have designed the active electrode width of the PVDF sensor along the span of the beam. Actuator design is based on the criterion of minimizing the system energy in the control modes under a given initial condition. Model control forces for the residual (uncontrolled) modes have been minimized during the sensor design to minimize the observation spill-over. Genetic algorithm and sequential quadratic programming technique have been utilized as an optimization scheme. Discrete LQG control law has been applied to the integrated structure for real time vibration control. Performance of the sensor, the actuator, and the integrated smart structure has been demonstrated by experiments.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2006년도 추계학술대회논문집
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• pp.919-924
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• 2006

This paper presents active vibration control using a hybrid mount which consists of rubber element and the piezostack actuator. After identifying stiffness and damping properties of the rubber element and piezoelectric elements, a mechanical model of the hybrid mount is established. The mount model is then incorporated with the vibration system, and the governing equation of motion is obtained in a state space. A sliding mode controller and LQG controller are designed in order to actively attenuate the vibration of the system subjected to high frequency and small magnitude excitations. Control responses such as acceleration and force transmission through the hybrid mount are evaluated by computer simulation.

• 제어로봇시스템학회논문지
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• 제6권2호
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• pp.146-154
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• 2000

An $H\infty$ controller is designed for active suspensions of vehicles using 7-degree-of-freedom full-car model. Its performance robustness as well as stability robustness to system parameter variations and unmodelled dynamics are assured through the $\mu$-framework. The performance of the $H\infty$ controller is compared with that of a LQC controller in compute simulations. From the simulations it is found that the active suspension with the $H\infty$ controller reduces the acceleration and motion of the sprung mass in the heaving rolling and pitching directions when the car is driven on a normal road or through an asymmetric bump. The suspension stroke and the road holding capability are also improved with a relatively small level of power consumption. Overall the $H\infty$ controller shows a more robust performance than that of the LQG design.