• Proceedings of the Korea Technical Association of the Pulp and Paper Industry Conference
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• 2004.04a
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• pp.117-126
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• 2004

This paper presents a linear model for heat transfer processes in the drying cylinders and the web in papar mill. The PDE model, functions include steam temperatures, wet temperatures, moisture constents, reel speed and basis weight were derived from operation data. The changes of wet temperatures and moisture contents in the drying cylinders and wets could be described. The Transfer function can be obtained through the state space model derived from the linearized PDE model. Stability of the drying cylinder model for paper plants and analysis of characteristics of process responses for changes in input variables are investigated.

• Proceedings of the Korea Technical Association of the Pulp and Paper Industry Conference
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• 2004.04a
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• pp.97-106
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• 2004

The paper making process itself is a typical nonlinear process with complicated dynamics. In the application of advanced control-methods especially for the grade change operations the nonlinear process is linearized to give suitable linear models to be used in the control strategies. However, the use of the linear model is limited within short range containing steady-state operating conditions for grade change operation. In this paper a bilinear model for the nonlinear grade change processes is presented. We can see that the dynamic behavior for grade change operations can be effective analyzed by using multivariable bilinear model.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.3
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• pp.267-274
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• 1999

This paper proposes an adaptive sliding mode control scheme for an autopilot design of Skid-to-Turn (STT) missiles. The feedback linearization controller eliminates nonlinear terms in STT dynamics and makes the entire system linear. But the modeling errors in dynamics and the external disturbances exert bad influence on the performance of the feedback linearization controller. To handle these uncertainties, an adaptive control scheme is developed, where a bound of the uncertainties is estimated by an adaptive law based on a sliding surface. The asymptotic output tracking is proved by using the Lyapunov stability theory. Simulations for STT missiles illustrate the validity of the proposed scheme.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1846-1847
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• 2011

In this paper, for the trajectory tracking control of mobile robot, firstly, we obtained the T-S fuzzy models from the tracking-error models, one of which has nonlinear form and the other is linearized around the reference trajectory. Then the tracking control inputs are designed using the proposed fuzzy linearization method and the existed PDC method. Lastly, the tracking performance is tested and compared for each model through simulation.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.12
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• pp.3073-3082
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• 1993

A magnetically suspended robot joint is developed, which is free of dust and oil generation. Two radial bearings consisting of cone-shaped magnet cores control the rotor motion in the axial and radial directions. A linearized dynamic model is developed for active control of the magnetic bearing system. The control algorithm is constructed such that the axial displacement of the joint is controlled by radial control current to the pairs of facing radial bearings. The stability and control performance is tested through numerical simulation based on the nonlinear model. Experiments are also performed to verify the theoretical development.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.873-878
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• 2007

Stability of high-speed roll-to-roll printing machines is one of the most important factors that are required for the printing machines to operate properly and to obtain reasonable printing performance. This paper proposes a new model for the web-tension system of a high-speed gravure printing machine considering span-length variations due to dancer rollers, and analyzes the stability of plant dynamics of the printing machine using the proposed model. Span-length variations due to dancer motions are considered for the modeling of plant dynamics in two ways; one is to include the effect of span-length variations without considering dancer inertias and viscous frictions, and the other is to include the effect of span-length variations with considering dancer inertias and viscous frictions. The stability of the plant model is analyzed for various web-speeds using the eigenvalues of the linearized model about operating points.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.10
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• pp.123-129
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• 1996

Computed torque method has been used for precise trajectory control of the robotic system that involves nonlinear dynamics. It is hard to know exact values of robot system parameters, and the robot arm receives umpredictable interference from the working environment. These disturbances, especially in a direct drive robot, are directly transmitted to actuating motor without reduction. Modelling error and distrubance can cause significant errors in a trajectory tracking problem. In this paper, we propose a new controller that $H_{\infty}$controller is conbined to robot system linearized by computed torque. Simula- tions are made for comparing the performance of the proposed controller with that of a nonlinear $H_{\infty}$ controller proposed by Chen and also computed torque method.hod.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.22 no.12
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• pp.1206-1212
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• 2012

The brake squeal propensity due to the friction-velocity curve is numerically investigated. The finite element models for the disc and pad are correlated with the modal test. In the friction-engaged system modeling, the friction function is linearized at the equilibrium. The damping term induced by friction-velocity slope is incorporated into the equations of motion. In the complex eigenvalue analysis, it is found that the pad shear mode is very sensitive to the friction curve. The results shows that the squeal propensity of the pad shear mode can be controlled by the design parameters such as pressure and stiffness.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.5
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• pp.841-847
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• 2007

This paper deals with the micro-grid consisting of micro-sources which adopt voltage sourced inverters with independent real and reactive power control capability for providing premium power quality. This paper presents dynamic modeling and the stable operating range of the micro-grid system varying the parameters of the micro-sources. The fundamental frequency model of the micro-source inverters are considered to form a dynamic model of the micro-grid system. Stability analysis is performed based on the linearized dynamic model of the micro-grid system. Case study results show the parameters affecting the stability of the micro-grid and the stable operating range of the micro-sources.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.552-558
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• 1993

In this paper, control of a planar two-link structurally flexible robotic manipulator executing unconstrained and constrained maneuvers is considered. The dynamic model, which is obtained by using the extended Hamilton's principle and the Galerkin criterion, includes the impact force generated during the transition from unconstrained to constrained segment of the robotic task. A method is presented to obtain the linearized equations of motion in Cartesian space for use in designing the control system. The linear quadratic Gaussian with loop transfer recovery (LQG/LTR) design methodology is exploited to design a robust feedback control system that can handle modeling errors and sensor noise, and operate on Cartesian space trajectory errors. The LQG/LTR compensator together with a feedforward loop is used to control the flexible manipulator. Simulated results are presented for a numerical example.