• 전기학회논문지
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• 제58권9호
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• pp.1821-1826
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• 2009

An adaptive neural controller for perturbed strict-feedback nonlinear system is proposed. All the previous adaptive neural (or fuzzy) controllers are based on the backstepping scheme where the universal approximators are employed in every design steps. These schemes involve virtual controls and their time derivatives that make the stability analysis and implementation of the controller very complex. This fact is called 'explosion of complexty ' since the complexity grows exponentially as the system dynamic order increases. The proposed adaptive neural control scheme adopt the backstepping design procedure only for determining ideal control law and employ only one neural network to approximate the finally selected ideal controller, which makes the controller design procedure and stability analysis considerably simple compared to the previously proposed controllers. It is shown that all the time-varing signals containing tracking error are stable in the Lyapunov viewpoint.

• 한국정밀공학회지
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• 제17권1호
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• pp.68-75
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• 2000

In this paper, the robust controller design is performed for the speed control of the underwater vehicle diesel engine. Nonlinear model equations are acquired through the mathematical modeling using mean torque production model technique. It is very difficult to design the robust controller because those are high nonlinear and not expressed in terms of the matched uncertainty Therefore those are converted into the separable model into the linear nominal system and the nonlinear uncertainty term.

• Structural Engineering and Mechanics
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• 제47권1호
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• pp.27-44
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• 2013

A finite element computational procedure for the accurate analysis of quasistatic thermorheological complex structures response is developed. The geometrical nonlinearity, arising from large displacements and rotations (but small strains), is accounted for by the total Lagrangian description of motion. The Schapery's nonlinear single-integral viscoelastic constitutive model is modified for a time-stress-temperature-dependent behavior. The nonlinear thermo-viscoelastic constitutive equations are incrementalized leading to a recursive relationship and thereby the resulting finite element equations necessitate data storage from the previous time step only, and not the entire deformation history. The Newton-Raphson iterative scheme is employed to obtain a converged solution for the non-linear finite element equations. The developed numerical model is verified with the previously published works and a good agreement with them is found. The applicability of the developed model is demonstrated by analyzing two examples with different thermal/mechanical loading histories.

• Structural Engineering and Mechanics
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• 제88권3호
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• pp.209-220
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• 2023

This study investigates the effectiveness of tuned mass dampers (TMDs) in controlling vibrations in low-rise reinforced concrete buildings. It examines both linear and nonlinear behaviors of concrete structures subjected to strong ground motions from the PEER database. The research follows the ASCE 7-16 provisions to model structural nonlinearity. Additionally, the study explores the effect of varying TMD mass ratios on the performance of these systems in real-world conditions. The findings emphasize the importance of accounting for structural nonlinearity in low-rise buildings, highlighting its significant influence on the controlled response under severe seismic excitations. The study suggests including nonlinear analysis in seismic design practices and recommends customizing TMD designs to optimize vibration control. These recommendations have practical implications for enhancing the safety and effectiveness of seismic design practices for low-rise buildings.

• 대한기계학회논문집A
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• 제21권8호
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• pp.1188-1194
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• 1997

In this paper, we design output feedback nonlinear dynamic control law by using state feedback nonlinear dynamic compensator and PI observer and show that the controller can stabilize globally and asymptotically a class of nonlinear systems with mismatched uncertainties. We also show that it is possible for a nonlinear system to use the output of PI observer in place of state variables in case that the nonlinear dynamic control law is used, similarly as in the linear system. The effectiveness of the proposed control law is demonstrated by a numerical simulation.

• 대한기계학회논문집A
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• 제21권8호
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• pp.1184-1184
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• 1997

In this paper, we design output feedback nonlinear dynamic control law by using state feedback nonlinear dynamic compensator and PI observer and show that the controller can stabilized globally and asymptotically a class of nonlinear systems with mismatched uncertainties. We also show that it is possible for a nonlinear system to use the output of PI observer in place of state variables in case that the nonlinear dynamic control law is used, similarly as in the linear system. The effectiveness of the proposed control law is demonstrated by a numerical simulation.

• 한국정밀공학회지
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• 제13권2호
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• pp.94-101
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• 1996

The equations of motion for a basic industrial robotic system which has a rigid or a flexible arm are derived by Lagrange's equation, respectively. Especially, for the deflection of the flexible arm, the assumed mode method is employed. These equations are highly nonlinear equations with nonlinear coupling between the variables of motion. In order to design the control law for the rigid-arm robot, Hunt-Su's nonlinear transformation method and Marino's feedback equivalence condition are used with linear quadratic regulator(LQR) theory. The control law for the rigid-arm robot is employed to input the desired path and to provide the required nonlinear transformations for the flexible-arm robot to follow. By using the implicit Euler method to solve the nonlinear equations, the comparison of the motions between the flexible and the rigid robots and the effect of flexibility are examined.

• 제어로봇시스템학회논문지
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• 제7권6호
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• pp.471-476
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• 2001

This paper presents a state observer for nonlinear systems using approximate observer from. It is shown that if a nonlinear system is approximately error linearizable, then there exists a local nonlinear observer whose estimation error converges exponentially to zero. Since the proposed method relaxes strong geometric conditions of previous works, it improves the existing results for nonlinear observer design. Finally, some example is given to show the effectiveness of this scheme.

• 대한전기학회논문지:시스템및제어부문D
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• 제52권3호
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• pp.134-141
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• 2003

PID controllers with constant gains have been widely used in various control systems due to its powerful performance and easy implementation. But it is difficult to have uniformly good control performance in all operating conditions. In this paper, we propose a nonlinear variable PR controller with immune feedback mechanism. An immune feedback mechanism is based on the functioning of biological T-cells, they include both an active term, which controls response speed. and an inhibitive term, which controls stabilization effect. Therefore, the proposed nonlinear PID controller is based on immune responses of biological. immune feedback mechanism which is the cell mediated immunity and In order to choose the optimal nonlinear PID controller games, we also propose the tuning algorithm of nonlinear function parameter in immune feedback mechanism. To verify performance of the proposed algorithm, the speed control of nonlinear DC motor are performed. Front the simulation results, we have found that the proposed algorithm is more superior to the conventional constant fain PID controller.

• Journal of Power Electronics
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• 제4권4호
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• pp.197-204
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• 2004

Two-stage Power-Factor-Correction (PFC) converters are the most common circuits for drawing sinusoidal and in phase current waveforms from an ac source with a good regulated output voltage. The first stage is a boost PFC converter with average-current-mode control for achieving the near-unity power factor and the second stage is a forward converter with voltage-mode control to regulate the output voltage. Stability analysis and design methods of two-stage PFC converters have previously been discussed using linear models. Recently, new nonlinear phenomena have been detected in pre-regulator boost PFC circuits and a new nonlinear model has been proposed for pre-regulated PFC converters. Therefore, investigation of two-stage PFC converters from the nonlinear viewpoint becomes important because the second stage DC/DC converter adds more complexity to the circuit. So, this paper introduces a study of the stability of two-stage PFC converters. A novel nonlinear model of two-stage PFC converters is proposed. Then, a stability analysis is made based upon this nonlinear model. The high correspondence between the simulated and experimental results confirms our analysis.