• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.491-497
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• 1993

In MIMO design, input and output units are different from each other. By this reason, the effect of larger units to smaller one is not trivial and there is no method of proper scaling, optimal scaling. In this paper, robust stability of MIMO LQG/LTR design are analised when the plnat inputs and outputs are scalled. The upper bound of model error to guarantee the robust stability is obtained, and gain margin and phase margins are computed with respect to scalling matrices.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1992.04a
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• pp.133-142
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• 1992

A kineamatic nonlinear multivariable laundher is modeled of which the azimoth and elevation axes are drived simultaneously and SISO and MIMO LQG/LTR controllers are designed and evaluated for this system. Also, the suitable command input function is suggested for the desired command following performance and the LQG/LTR control system with disturbances and load variation is evaluated for the entire operating range by computer simulation. It is found that the linear SISO LQG/LTR controller can be used for the kinematic nonlinear multivariable launder in the entire operating range and is effective for disturbance rejection and load variation.

• Transactions of the Korean Society of Automotive Engineers
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• v.2 no.5
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• pp.110-120
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• 1994

Due to the increasing demands in comfortable drivability, most motor companies are developing their own unique shift controller to suppress the shift shock induced by gear change. For a typical automatic transmission system, the dynamic constraints of friction clutch was clarified for efficient program development and major factors effecting the shift transient was confirmed by simulation study. The MIMO LQG/LTR controller was designed to control the turbine and corresponding gear speed. By establishing the control strategy recalling transient response during shift the speed controller mentioned above was used as an indirect torque controller. Consequently a new concept for a systematic design method of shift controller applicable to wide-varying systems was suggested which is time efficient and cost efficient saving a lot of experimental study.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.1
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• pp.32-37
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• 1998

This paper deals with the implementation of a robust multivariable controller using DSP board and the application to real systems. The LQG/LTR (Linear Quadratic Gaussian with Loop Transfer Recovery) controller proposed by Doyle et al.[1,2] is adopted to design the control system. A helicopter propeller setup is taken as the controlled system in the current paper, and the mathematical model is derived to design the multivariable controller. The performance of the controller is evaluated via simulations, and implementation and application to the MIMO system shows that the control performances are satisfactory and superior to those of the PID controller.