• Journal of Institute of Control, Robotics and Systems
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• v.20 no.3
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• pp.323-332
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• 2014

Stepper motor is widely used in positioning applications due to its durability and high torque to inertia ratio as well as low cost and ability to be easily controlled with open-loop. Due to increased resolution of position control and improved stability of motion control, microstepping has drawn attention in industry since it was introduced in 1970s. With the increase in computational power and decrease in cost of embedded processors in recent years, drives and control systems for stepper motors have become more sophisticate than ever. Thus, closed-loop control methods have been developed to improve the performance of the stepper motors. In this paper, we review not only basic principles of conventional control methods used for stepper motors but also that of microstepping control. In addition, we surveyed recent development in nonlinear control methods applied to stepper motors. The nonlinear control methods are presented in the view of Lyapunov stability. Nonlinear torque disturbance observer, sliding mode control, and nonlinear phase compensation are also presented.

• International Journal of Control, Automation, and Systems
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• v.4 no.3
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• pp.293-301
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• 2006

A new discretization method for calculating a sampled-data representation of a nonlinear continuous-time system is proposed. The proposed method is based on the well-known Taylor series expansion and zero-order hold (ZOH) assumption. The mathematical structure of the new discretization method is analyzed. On the basis of this structure, a sampled-data representation of a nonlinear system with a time-delayed input is derived. This method is applied to obtain a sampled-data representation of a non-affine nonlinear system, with a constant input time delay. In particular, the effect of the time discretization method on key properties of nonlinear control systems, such as equilibrium properties and asymptotic stability, is examined. 'Hybrid' discretization schemes that result from a combination of the 'scaling and squaring' technique with the Taylor method are also proposed, especially under conditions of very low sampling rates. Practical issues associated with the selection of the method parameters to meet CPU time and accuracy requirements are examined as well. The performance of the proposed method is evaluated using a nonlinear system with a time-delayed non-affine input.

• Earthquakes and Structures
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• v.8 no.4
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• pp.915-934
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• 2015

Within the context of Structural Health Monitoring (SHM), it is often the case that structural systems are described by uncertainty, both with respect to their parameters and the characteristics of the input loads. For the purposes of system identification, efficient modeling procedures are of the essence for a fast and reliable computation of structural response while taking these uncertainties into account. In this work, a reduced order metamodeling framework is introduced for the challenging case of nonlinear structural systems subjected to earthquake excitation. The introduced metamodeling method is based on Nonlinear AutoRegressive models with eXogenous input (NARX), able to describe nonlinear dynamics, which are moreover characterized by random parameters utilized for the description of the uncertainty propagation. These random parameters, which include characteristics of the input excitation, are expanded onto a suitably defined finite-dimensional Polynomial Chaos (PC) basis and thus the resulting representation is fully described through a small number of deterministic coefficients of projection. The effectiveness of the proposed PC-NARX method is illustrated through its implementation on the metamodeling of a five-storey shear frame model paradigm for response in the region of plasticity, i.e., outside the commonly addressed linear elastic region. The added contribution of the introduced scheme is the ability of the proposed methodology to incorporate uncertainty into the simulation. The results demonstrate the efficiency of the proposed methodology for accurate prediction and simulation of the numerical model dynamics with a vast reduction of the required computational toll.

• Smart Structures and Systems
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• v.5 no.1
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• pp.69-79
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• 2009

A non-clipped semi-active stochastic optimal control strategy for nonlinear structural systems with MR dampers is developed based on the stochastic averaging method and stochastic dynamical programming principle. A nonlinear stochastic control structure is first modeled as a semi-actively controlled, stochastically excited and dissipated Hamiltonian system. The control force of an MR damper is separated into passive and semi-active parts. The passive control force components, coupled in structural mode space, are incorporated in the drift coefficients by directly using the stochastic averaging method. Then the stochastic dynamical programming principle is applied to establish a dynamical programming equation, from which the semi-active optimal control law is determined and implementable by MR dampers without clipping in terms of the Bingham model. Under the condition on the control performance function given in section 3, the expressions of nonlinear and linear non-clipped semi-active optimal control force components are obtained as well as the non-clipped semi-active LQG control force, and thus the value function and semi-active nonlinear optimal control force are actually existent according to the developed strategy. An example of the controlled stochastic hysteretic column is given to illustrate the application and effectiveness of the developed semi-active optimal control strategy.

• Steel and Composite Structures
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• v.44 no.4
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• pp.545-555
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• 2022

Empirical relationships that capture the nonlinear behavior of headed steel shear stud anchors have been derived from standard push out tests, where the specimens are comprised of large wide flanged steel sections attached to flat concrete slabs via the anchors. However, many composite systems used in practice utilize much smaller steel members and/or steel decking as part of the slab system. Composite open web steel joist systems generally include both of these elements and consequently the nonlinear performance ofthe anchor is not accurately represented by existing models. In this paper, a new empirical relation is presented for open web steel joist systems based on experimental results from a modified push out test that more realistically represent a composite open web steel joist system. The methodology for obtaining the proposed nonlinear function where the response of the system is characterized by two parameters(α and β) is presented. The two-step process for obtaining the two parameters is described and the empirical relation is calibrated with the experimental data. In comparison with existing expressions, the new proposal herein more accurately predicts the high initialstiffness of the system and overall nonlinear system performance.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.11
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• pp.760-767
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• 2004

In this paper, we propose sufficient conditions under which nonlinear systems can be transformed into nonlinear observer canonical form in the extended state space by virtue of dynamic system extension. The proposed scheme weakens two major restrictions of observer error linearization technique. Once a nonlinear system is transformed into nonlinear observer canonical form using dynamic system extension, a state observer can be easily designed. Two illustrative examples are included in order to compare the proposed scheme and observer error linearization method.

• The Journal of the Acoustical Society of Korea
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• v.27 no.3E
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• pp.95-103
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• 2008

In this paper, the new hybrid adaptive Volterra filter was proposed to be applied for compensating the nonlinear distortion of memoryless nonlinear systems with saturation characteristics. Through computer simulations as well as the analytical analysis, it could be shown that it is possible for both conventional Volterra filter and proposed hybrid Volterra filter, to be applied for linearizing the memoryless nonlinear system with nonlinear distortion. Also, the simulations results demonstrated that the proposed hybrid filter may have faster convergence speed and better capability of compensating the nonlinear distortion than the conventional Volterra filter.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.1
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• pp.11-15
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• 1999

In this paper, a robust pole placement controller for time invariant linear systems with polytopic uncertainties is presented. The proposed controller is a fixed order output feedback controller which stabilizes the uncertain systems and satisfies the constraints on the closed-loop pole location. The proposed controller can be obtained by minimizing a certain nonlinear object function subject to linear matrix inequality constraints. An algorithm for solving the nonlinear optimization problem is also proposed.

• Journal of the Chungcheong Mathematical Society
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• v.24 no.1
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• pp.105-112
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• 2011

In this paper, we investigate h-stability of the nonlinear perturbed difference system by using comparison principle.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.2
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• pp.185-189
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• 2007

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 defection method is applied to an inverted pendulum system and computer simulations are performed.