• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.1052-1057
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• 1993

A scara type Direct Drive Arm(DDA) with two degrees-of-freedom is designed and implemented. The direct drive motor is used to furnish large torque to reduce the modeling error by the gear and chains. To control the DDA, a multiprocessor control structure with multirate dynamic control algorithm is designed. In the control algorithm, the dynamics of system is used to calculate the nominal control torque and the feedback controls are calculated with a parallel processing algorithm for each joint. The laboratory experiments on Hong-Ik DDA by dynamic control algorithm are presented and compared to that of PID control algorithm. This result shows that the proposed controller guarantees small trajectory error and stability. With this research, Hong-Ik DDA is expected to be utilized as A basic tool for robotics and control engineering.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1435-1438
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• 2005

In hands-free telephone systems, the received speech signal is fed back to the microphone and constitutes the so-called echo. To cancel the effect of this time-varying echo path, it is necessary to device an adaptive filter between the receiving and the transmitting ends. For a typical FIR realization, the length of the fullband adaptive filter results in high computational complexity and low convergence rate. Consequently, subband adaptive filtering schemes have been proposed to improve the performance. In this work, we use deterministic approach to analyze the relationship between fullband and subband adaptive filtering structures. With block adaptive filtering structure as an intermediate stage, the analysis is divided into two parts. First, to avoid aliasing, it is found that the matrix of block adaptive filters is in the form of pseudocirculant, and the elements of this matrix are the polyphase components of the fullband adaptive filter. Second, to transmit the near-end voice signal faithfully, the analysis and the synthesis filter banks in the subband adaptive filtering structure must form a perfect reconstruction pair. Using polyphase representation, the relationship between the block and the subband adaptive filters is derived.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.10
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• pp.630-638
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• 2005

In FIR (Finite Impulse Response) filter applications, Nth-band F]U digital filters are known to be important due to their reduced computational requirements. The conventional methods for designing F]U filters use iterative approaches such as the well-known Parks-Mcclellan algorithm. The Parks-Mcclellan algorithm is also used to design Nth-band FIR digital filters. But a disadvantage of the Parks-Mcclellan algorithm is that it needs a good amount of design time. This paper describes a direct design method for Nth-band FIR Filters using Chebyshev polynomials, which provides a reduced design time over indirect methods such as the Parks-Mcclellan algorithm. The response of the resulting filter is equiripple in passband. Our proposed method produces a passband response that is equripple to within a minuscule error, comparable to that of the Parks-Mcclellan algorithm.

• Journal of the Korean Institute of Intelligent Systems
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• v.16 no.1
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• pp.113-118
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• 2006

This paper presents a new linear-matrix-inequality-based intelligent digital redesign (LMI-based IDR) technique to match the states of the analog and the digital T-S fuzzy control systems at the intersampling instants as well as the sampling ones. The main features of the proposed technique are: 1) the affine control scheme is employed to increase the degree of freedom; 2) the fuzzy-model-based periodic control is employed, and the control input is changed n times during one sampling period; 3) The proposed IDR technique is based on the approximately discretized version of the T-S fuzzy system, but its discretization error vanishes as n approaches the infinity. 4) some sufficient conditions involved in the state matching and the stability of the closed-loop discrete-time system can be formulated in the LMIs format.

• Journal of Institute of Control, Robotics and Systems
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• v.2 no.3
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• pp.242-247
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• 1996

In this paper, an optimal coning compensation algorithm for strapdown system is proposed by minimizing the coning error. The proposed algorithm is derived as a generalized form in that it contains the class of the existing coning algorithms and allows the design of optimal algorithm for various combinations of gyro samples. It is shown the magnitude of resulting algorithm errors depends mainly on the total number of gyro samples including present and previous gyro samples. Based on the results, the proposed algorithm enables the algorithm designers to develop the effective coning compensation algorithm according to their attitude computation specifications with ease. In addition, the multirate method which can efficiently implement the algorithm is presented.

• Proceedings of the IEEK Conference
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• 2001.06a
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• pp.357-360
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• 2001

In this paper, we propose and evaluate a new interference cancellation method using low pass filtered data estimation method of the instantaneous decision sawnle obtained from each decision stage. With respect to the convergence to the optimal solution the superiority of the proposed method to parallel interference cancellation (PIC) referred as prevailing techniques is proved by its (asymptotic) spectral radius. Through the simulation under the various environment, we show the performance superiority of the IC scheme using proposed method to the PIC scheme. Furthermore, we show transcendence of the proposed method on the possibility of multirate transmission or multiple power scheduling and of performance in the various traffic environments.

• Proceedings of the KIEE Conference
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• 2006.04a
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• pp.276-278
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• 2006

In this paper, a complete solution to fuzzy-model-based digital redesign problem (IDR) for sampled-data nonlinear systems is presented, The term of intelligent digital redesign (IDR) is to design a digital fuzzy controller such that the sampled-data closed-loop fuzzy system is equivalent to the continuous-time closed-loop fuzzy system using the state matching, Its solution is simply obtained by linear transformation, Under the proposed sampled-data controller, the states of the sampled-data and continuous-time fuzzy system are completely matched at every sampling points.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.4 no.2
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• pp.199-204
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• 2004

In this paper, a new dual-rate digital control technique for the Takagi-Sugeno (T-S) fuzzy system is suggested. The proposed method takes account of the stabilizablity of the discrete-time T-S fuzzy system at the fast-rate sampling points. Our main idea is to utilize the lifted control input. The proposed approach is to obtain the dual-rate discrete-time T-S fuzzy system by discretizing the overall dynamics of the T-S fuzzy system with the lifted control, and then to derive the sufficient conditions for the stabilization in the sense of the Lyapunov asymptotic stability for this system. An example is provided for showing the feasibility of the proposed discretization method.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.45 no.4
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• pp.530-534
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• 1996

A novel phase error predictor is proposed for servo system in home-use VCRs. The multirate system in VCRs is converted into a single period sampling system with faster sampling time by using the proposed novel phase error predictor. And the disturbances can be measured much faster. From the experimental results, we can see that the perfomance of the control system is improved greatly. The phase lock time of the proposed servo system is ten times faster than that of the conventional system.

• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2179-2181
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• 2003

기존의 이산시간 슬라이딩 모드 제어기에서는 주어진 슬라이딩 평면으로부터 등가 제어기를 설계하고 그로부터 폐루프 시스템의 고유값이 결정 되어 폐루프 시스템의 극점을 임의로 배치시키는 것이 어려웠다. 최근 슬라이딩 모드제어에 극점 배치기법을 도입하여 폐루프 시스템의 고유값을 임의로 배치시킬 수 있는 방법이 소개되었다. 그러나 극점 배치 기법은 루프 전달함수의 이득과 위상에 대한 여유도 관점에서 설계된 제어기가 아니므로 직접적으로 이득과 위상에 대한 여유도를 보장하기가 힘들다. 따라서 본 논문에서는 루프 전달함수의 이득과 위상에 대한 여유도를 확보할 수 있고 측정 잡음에 대한 민감성을 줄이기 위해 LTR과 멀티레이트 출력 제어기법을 적용해 해결하는 방법을 제안한다.