• Transactions on Control, Automation and Systems Engineering
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• 제1권1호
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• pp.22-31
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• 1999

In this paper, a robust observer design method for nonlinear multi input multi-output(MINO) plants is presented. This method enables the extension of the time delay observer (TDO) for nonlinear SISO plants in the phase variable form to MIMO plants. The designed TDO reconstructs the states of the plant expressed in the generalized observability canonical form (GOBCF), yet requiring neither the transformation of a plant, nor the real time computation coordinates, the observer turned out to be computationally efficient and easy to design for nonlinear MIMO plants. In a simulation of a two-link manipulator with flexible joints, the control performances using TDO appeared to be similar to those using actual states and superior to those using numerical differentiation. Finally, in an experiment with a robot, it was confirmed that the TDO reconstructs the states reliability and TDO can be effectively used in a real closed-loop system.

• 한국지진공학회:학술대회논문집
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• 한국지진공학회 2005년도 학술발표회 논문집
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• pp.372-379
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• 2005

The earthquake resistant design concept allows the nonlinear behavior of structures under the design earthquake. Therefore the response spectrum method provided in most codes introduces the response modification factors to consider the nonlinear behavior in the design process. For bridges, the response modification factors are given according to the ductility as well as the redundancy of piers. In this study, among influence factors on the nonlinear seismic behavior, the randomness of artificial accelerograms simulated with different durations, the pier ductility represented by the inelastic behavior characteristic curve and the regularity represented by pier heights are selected. The influence of such factor on the seismic behavior is investigated by comparing response modification factors calculated with the nonlinear time step analysis.

• 전력전자학회:학술대회논문집
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• 전력전자학회 1998년도 전력전자학술대회 논문집
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• pp.85-89
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• 1998

A switching power stage is a very nonlinear system because it has two or more operation modes in one switching cycle. To model a switching power stage, the state space averaging method has been developed. Though it allows a unified treatment of a large variety of switching power stages, the model it yields is always very nonlinear. So, it is required to linearize the averaged model. But it is well known that a controller for a nonlinear plant designed by the linearization frequently fails in showing satisfactory control performance. Hence it is very natural to try to design a nonlinear controller for a switching power stage. In design of a switching power system, nonlinear control approaches such as adaptive control and fuzzy control have been widely studied so far. In this research, a recently developed control method, time delay control is briefly studied and a design example for a ZVS PWM half bridge converter is given. The performance of the time delay controller is compared to its conventional counterpart, PI controller by computer simulations.

• 대한전기학회논문지:시스템및제어부문D
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• 제49권8호
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• pp.407-414
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• 2000

This paper addresses the analysis and design of fuzzy control systems for a class of complex uncertain single-input single-output nonlinear systems. The proposed method represents the nonlinear system using a Takagi-Cugeno fuzzy model and construct a global fuzzy logic controller by blending all local state feedback controllers with a sliding mode controller. Unlike the commonly used parallel distributed compensation technique, we can design a global stable fuzzy controller without finding a common Lyapunov function for all local control systems, and can obtain good tracking performance by using sliding mode control theory. Furthermore, stability analysis is carried out not for the fuzzy model but for the real nonlinear system with uncertainties. Duffing forced oscillation sysmte is used as an example to show the effectiveness and feasibility of the proposed method.

• 한국정밀공학회지
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• 제15권6호
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• pp.145-152
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• 1998

This paper presents an optimum design of a rotor-bearing spindle system for a ultra centrifuge (80,000 RPM) supported by ball bearings with nonlinear stiffness characteristics. To obtain the nonlinear bearing stiffnesses, a ball bearing is modeled in five degrees of freedom and is analyzed quasi-statically. The dynamic behaviors of the nonlinear rotor-bearing system are analyzed by using a transfer-matrix method iteratively. For optimization. we use the cost function that simultaneously minimizes the weight of a rotor and maximizes the separation margins to yield the critical speeds as far from the operating speed as possible. Augmented Lagrange Multiplier (ALM) method is employed for the nonlinear optimization problem. The result shows that the rotor-bearing spindle system is optimized to obtain 9.5％ weight reduction and 21％ separation margin.

• Structural Engineering and Mechanics
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• 제17권5호
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• pp.707-725
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• 2004

An optimal design method with nonlinear elastic analysis is presented. The proposed nonlinear elastic method overcomes the drawback of the conventional LRFD method that accounts for nonlinear effect by using the moment amplification factors of $B_1$ and $B_2$. The genetic algorithm used is a procedure based on Darwinian notions of survival of the fittest, where selection, crossover, and mutation operators are employed to look for high performance ones among sections in the database. They are satisfied with the constraint functions and give the lightest weight to the structure. The objective function taken is the total weight of the steel structure and the constraint functions are strength, serviceability, and ductility requirement. Case studies of a planar portal frame, a space two-story frame, and a three-dimensional steel arch bridge are presented.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.185-189
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• 1998

This paper addresses analysis and design of a fuzzy model-based-controller for the control of uncertain SISO nonlinear systems. In the design procedure, we represent the nonlinear system by using a Takagi-Sugeno fuzzy model and construct a global fuzzy logic controller via parallel distributed compensation and sliding mode control. Unlike other parallel distributed controllers, this globally stable fuzzy controller is designed without finding a common positive definite matrix for a set of Lyapunov equations, and has good tracking performance. The stability analysis is conducted not for the fuzzy model but for the real underlying nonlinear system. Furthermore, the proposed method can be applied to partially known uncertain nonlinear systems. A numerical simulation is performed for the control of an inverted pendulum, to show the effectiveness and feasibility of the proposed fuzzy control method.

• 제어로봇시스템학회논문지
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• 제7권12호
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• pp.1031-1035
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• 2001

In this paper, a robust recursive control approach for nonlinear system, which is based on Lyapunov stability, is proposed. The proposed method can apply to extended systems including cascaded systems and the stability is guaranteed in the sense of Lyapunov. The recursive design procedure so called “robust recursive control approach” is used to find a stabilizing robust controller and simultaneously estimate the uncertainty parameters. First, a nonlinear model with uncertainties whose bounds are unknown is derived. Then, unknown bounds of uncertainties are estimated. By using these estimates, the stabilizing robust controller is updated at each step. This approach is applied to the pitch autopilot design of a nonlinear missile system and simulation results indicate good performance.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2002년도 봄 학술발표회 논문집
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• pp.53-60
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• 2002

It has been recognized that damage control must become a more explicit design consideration. In an effort to develop design methods based on performance it is clear that the evaluation of the inelastic response is required. The methods available to the design engineer today are nonlinear time history analyses, or monotonic static nonlinear analyses, or equivalent static analyses with simulated inelastic influences. Some codes proposed the capacity spectrum method based on the nonlinear static(pushover) analysis to determine earthquake-induced demand given the structure pushover curve. This procedure is conceptually simple but iterative and time consuming with some errors. This paper presents a nonlinear direct spectrum method to evaluate seismic Performance of structure, without iterative computations, given the structural initial elastic period and yield strength from the pushover analysis, especially for multi degree of freedom structures. The purpose of this paper is to investigate accuracy and confidence of this method from a point of view of various earthquakes and unloading stiffness degradation parameters.

• 제어로봇시스템학회논문지
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• 제15권4호
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• pp.413-419
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• 2009

A decentralized adaptive control method is proposed for large-scale systems with unknown time-delayed nonlinear interconnections unmatched in control inputs. It is assumed that the time-delayed interaction terms are bounded by unknown nonlinear bounding functions. The nonlinear bounding functions and uncertain nonlinear functions of large-scale systems are compensated by the function approximation technique using neural networks. The dynamic surface control method is extended to design the proposed memoryless local controller for each subsystem of uncertain nonlinear large-scale time delay systems. Therefore, although the interconnected systems consist of a large number of subsystems, the proposed controller can be designed simply. We prove that all the signals in the total closed-loop system are semiglobally uniformly bounded and the control errors converge to an adjustable neighborhood of the origin. Finally, an example is given to demonstrate the effectiveness and applicability of the proposed scheme.