• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2002-2004
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• 2001

In this paper, we propose the PAM fuzzy controller using intelligent digital redesign method for nonlinear system. We design the continuous-time controller using TSK fuzzy model of nonlinear system, and then design the intelligent digital PAM controller based on continuous-time controller. Finally, the feasibility and stability of the proposed method has been proven through a computer simulation.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.2
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• pp.65-75
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• 2004

This paper presents a generalized predictive control method based on a fuzzy neural network(FNN) model, which uses the on-line multi-step prediction, fur the intelligent control of chaotic nonlinear systems whose mathematical models are unknown. In our design method, the parameters of both predictor and controller are tuned by a simple gradient descent scheme, and the weight parameters of FNN are determined adaptively during the operation of the system. In order to design a generalized predictive controller effectively, this paper describes computing procedure for each of the two important parameters. Also, we introduce a projection matrix to determine the control input, which deceases the control performance function very rapidly. Finally, in order to evaluate the performance of our controller, the proposed method is applied to the Doffing and Henon systems, which are two representative continuous-time and discrete-time chaotic nonlinear systems, res reactively.

• The Journal of Korea Robotics Society
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• v.5 no.2
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• pp.160-168
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• 2010

In order to achieve a force controller with high performance, an accurate torque servo is required. However, the precise torque servo for a double vane rotary actuator system has not been developed till now, due to many nonlinear characteristics and system parameter variations. In this paper, the torque servo structure for the double vane rotary actuator system is proposed based on the torque model. Nonlinear equations are set up using dynamics of the double vane rotary hydraulic actuator system. Then, to derive the torque model, the nonlinear equations are linearized using a taylor series expansion. Both effectiveness and performance of the design of torque servo are verified by torque servo experiments and applying the suggested torque model to an impedance controller.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2292-2295
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• 2001

In this paper, The control problem for a series DC motor is considered to adaptive fuzzy sliding-mode control scheme. Based on a nonlinear mathematical model of a series connected DC motor, instead of the combination of a nonlinear transformation and state feedback(feedback linearization) reduces the nonlinear control design. To demonstrate its effectiveness, an experimental study of this controller is presented. Two sets of fuzzy rule bases are utilized to represent the equivalent control input with unknown system functions of the main target. The membership functions of the THEN-part, which is used to construct a suitable equivalent control of SMC, are changed according to the adaptive law. With such a design scheme, we not only maintain the distribution of membership functions over state space but also reduce computing time considerably.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2003.03a
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• pp.422-429
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• 2003

A comparative study was performed for a suspension bridge to grasp the possible differences in seismic responses evaluated by several analytical methods. The items mainly investigated are the linear vs. nonlinear response the response spectrum method vs. the linear dynamic analysis method and the damping ratio and it's implementation into analysis procedures. According to the numerical example, it is found that the seismic responses are considerably affected by the damping-related parameters even though slight differences are shown depending on the response quantities md the exciting directions. On the other hand, it is also confirmed that the seismic responses are less affected by the analysis method-related parameters such as the response spectrum method vs. the linear dynamic analysis method, and the linear and nonlinear analysis method. The response spectrum method is expected to give conservative results for the examined bridge, provided that the design response spectrum in the Korean Highway Design Specification is modified according to the proper damping ratio.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2003.09a
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• pp.172-179
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• 2003

In the performance based seismic design method such as the capacity spectrum method, it is required to estimate precisely strength, deformability and energy dissipation of the member. However it merely depends on empirical equations which are not exact in the estimation of energy dissipation capacity. It is same to the generously used computer programs for nonlinear analysis such as DRAIN-2DX. On the other hand, simple equations for evaluating energy dissipation were developed in a recent study, In this paper, based on the evaluation method, a new cyclic behavior model for a flexure-dominated RC member is proposed. Although this model is simplified, it can accurately reflect the variation of energy dissipation capacity with design parameters. Using this model, a program for the nonlinear static/dynamic analysis of RC moment frame structures is also developed.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2006.11a
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• pp.356-361
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• 2006

This paper deals with a fault detection system design for nonlinear systems with uncertain time varying parameters modelled as a T-S fuzzy system. A coprime factorization for T-S fuzzy systems is defined and a residual generator is designed using a left coprime factor. A fault detection criteria derived from the residual generator is also suggested. In order to demonstrate the efficacy of the suggested method, the fault detection method is applied to an inverted pendulum system and computer simulations are performed.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.34.4-34
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• 2001

It is well known that one can easily design a high-gain adaptive output feedback control for a class of nonlinear systems which satisfy a certain condition so called output feedback exponential passivity (OFEP). The designed high gain adaptive controller has simple structure and high robustness with regard to bounded disterbances and unknown order of the controlled system. However, from the viewpoint of practical application, it is important to consider a robust control scheme for controlled systems for which some of the assumptions of output feedback stabilization are not valid. In this paper, we deal with a design problem of the robust high-gain adaptive output feedback control for the OFEP nonlinear systems with uncertain nonlinearities and/or disturbances.

• Journal of KIEE
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• v.10 no.1
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• pp.29-34
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• 2000

In this paper, a design method of a controller is presented for a class of nonlinear systems which have time-varying parametric uncertainly. Some features of this controller are that it can tackle 1) nonlinear parametrization(i.e. uncertain parameters enter the system in the nonlinear form) and 2) nonvanishing peturbation (i.e. uncertainty need not vanish at the origin). The class of systems considered in this paper has the triangular structure for which the well-known backstepping design can be applied. The uncertain parameter is assumed to be contained in the bounded set whose size can be arbitrarily large. Also, the uncertain system are globally uniformly bounded and converge to a compact set whose size is designable. In particular, the first state of the system can be made arbitrarily small, which can be seen by the presented simulation result.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.9
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• pp.108-115
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• 1997

This paper presents a robust controller design for uncertain nonlinear systems with input saturation. In actual application, the robust controller may require a high input torque so that it faces input saturation due to power limitation of the system. The satruation problem may cause instability of the system. To improve this problem, a robust controller using a fuzzy logic control is proposed. The proposed controller keeps state errors bounded. To validate the proposed controller, an invert pendulum and its control system is set up. The experimental result shows bounded angular position errors under saturated input torques.