• The Journal of the Korea institute of electronic communication sciences
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• v.13 no.1
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• pp.93-100
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• 2018

This study proposes a controller that compensates torque error for precise angular velocity tracking and a method to compensate the stability of controller in implementation. Also, it is proved that the designed controller can be asymptotically stable based on Lyapunov stability theory. The proposed controller is able to control the d-axis reference current to arbitrary values and easily achieve control performance with two gains. As a result of applying to IPMSM of about 750W class, the steady state error with reference speed 1200 [RPM] is within 0.1 [%]. And it can be seen that it is an asymptomatic stable controller overcoming disturbance within about 0.2 second in application of constant load of about 5 [Nm].

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.5
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• pp.411-418
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• 2006

There are mainly two types of bang-bang controllers for nominal linear time-invariant (LTI) system. Optimal bang-bang controller is designed based on optimal control theory and suboptimal bang-bang controller is obtained by using Lyapunov stability condition. In this paper, the suboptimal bang-bang control method is extended to LTI system involving both control input saturation and structured real parameter uncertainties by using Lyapunov robust stability condition. Two robust optimal bang-bang controllers are derived by minimizing the time derivative of Lyapunov function subjected to the limit of control input. The one is developed based on the classical quadratic stability(QS), and the other is developed based on the affine quadratic stability(AQS). And characteristics of the two controllers are compared. Especially, bounds of parameter uncertainties which theoretically guarantee robust stability of the two controllers are compared quantitatively for 1DOF vibrating system. Moreover, the validity of robust optimal bang-bang controller based on the AQS is shown through numerical simulations for this system.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.36 no.9
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• pp.859-866
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• 2008

A guidance scheme for controlling the relative geometry of multiple flight vehicle formation flying is proposed. Each flight vehicle in the formation takes the roles of leader and follower simultaneously except for the formation leader. In this scheme, the flight commands for a leader are shared by all the followers and this leaders to a synchronized flight of all flight vehicles comprising the formation. Lyapunov stability theorem is used to obtain the guidance law. High fidelity nonlinear simulation results are presented to show the effectiveness of the proposed guidance law using a reconnaissance and surveillance mission example.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.30 no.5
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• pp.41-47
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• 2002

In this paper, a guidance law applicable to aircraft automatic landing is proposed and its performance is compared with the conventional ILS-type landing approach. The concept of miss distance, which is commonly used in the missile guidance laws, and Lyapunov stability are effectively combined to obtain the landing guidance law. The new landing guidance law is integrated into the existing controller and is applied to the landing approach and flare phases of landing procedure. Numerical simulation results show that the new landing guidance law is a viable alternative to the conventional strategies that directly control the longitudinal deviation or altitude.

• Korean Journal of Applied Biomechanics
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• v.18 no.1
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• pp.21-30
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• 2008

The purpose of this study was to investigate the variability to compare local dynamic stability via a linear and nonlinear analysis during walking. Twenty four elderly males, 12 healthy elderly and 12 patients with osteoarthritise walked on a treadmill for 100 consecutive strides. Lyapunov exponent and correlation dimension and coefficient variation were calculated for the kinematic parameters to determine the dynamic stability during walking. The linear measures indicated that the healthy elderly demonstrated significantly higher variability in the ankle joint displacement. The nonlinear analysis revealed that COD for the knee joint angle were higher in patient with osteoarthritise. There were no coincidence in results between linear and nonlinear techniques over two groups. In light of nonlinear analysis, it was concluded that patients with osteoathritise showed higher local instability during walking.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.12
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• pp.2284-2291
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• 2010

In this paper, improved stability criteria for linear systems with time-varying delays are proposed. By constructing a new Lyapunov functional, novel stability criteria are established in terms of linear matrix inequalities (LMIs). Two numerical examples are carried out to support the effectiveness of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.52-54
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• 1991

In this paper, the robust stability, and the quadratic performance of linear uncertain systems are studied. A quadratic Lyapunov function candidate with time-varying matrix is derived to provide robust stability bounds. Also upper bounds of a quadratic performance is given under the assumption that the uncertain system is stable. Both the robust stability bounds and the upper bounds of a quadratic performance are obtained as solutions of a class of modified Lyapunov equations.

• IEMEK Journal of Embedded Systems and Applications
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• v.4 no.2
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• pp.97-102
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• 2009

In this paper, the problem of stability analysis for networked control systems with norm-bounded parameter uncertainties is investigated. By construction Lyapunov's functional, a new delay-dependent stability criterion for uncertain networked control system is established in terms of LMIs (linear matrix inequalities) which can be easily by various convex optimization algorithms. One numerical example is included to show the effectiveness of proposed criterion.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.1
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• pp.181-186
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• 2009

In this paper, the stability analysis for uncertain dynamic systems with time-varying delays is considered. By constructing a new Lyapunov functional, a novel stability criterion is established in terms of linear matrix inequalities (LMIs). Two numerical examples are carried out to support the effectiveness of the proposed method.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.2
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• pp.43-47
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• 2002

Stability conditions of time-varying discrete state delay systems are proposed. The time-varying state delay is assumed that (i) the magnitude is known to lie in a certain interval (ii) the upper bound of the rate of change is known. Under these conditions, new stability conditions are derived based on switched Lyapunov functions. Stability conditions for both fast time-varying and slowly time-varying delay are considered.