• 전기의세계
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• v.30 no.12
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• pp.822-831
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• 1981

Many different schemes of the adaptive observer and controller have been developed for both continuous and discrete systems. In this paper we have presented a new scheme of the reduced order adaptive observer for the single input discrete linear time invariant plant. The output equation of the plant, is transformed into the bilinear form in terms of system parameters and the states of the state variable filters. Using the plant output equation the discrete implicit adaptive observer based on the similar philosophy to Nuyan and Carroll is derived and the parameter adaptation algorithm is derived based on the exponentially weighted least square method. The adaptive model following control system is also constructed according to the proposed observer scheme. The proposed observer and controller are rather than simple structure and have a fast adaptive algorithm, so it may be expected that the scheme is suitable to the practical application of control system design. The effectiveness of the algorithm and structure is illustrated by the computer simulation of a third order system. The simulation results show that the convergence speed is proportinal to the increasing of weighting factor alpha, and that the full order and reduced order observer have similar convergence characteristics.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.115-119
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• 1987

In this paper the observer design problem in bilinear systems is studied using the Walsh functions as approximating set of functions to find a finite series expansion of the state of bilinear system. A classical Liapnove method, to finding a class of observer feedback matrix, is applied to ensure uniform asymptotic stability of the observation error dynamics. An algorithm is derived for observer state eq. via Walsh function. The basic objective is to develop a computational algorithm for the determination of the coefficients in the expansion. This approach technique gives satisfactory result as well provides precise and effective method for the bilinear observer design problem.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.63.4-63
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• 2002

$\textbullet$ Closed System Identification for inherently unstable systems $\textbullet$ Application of Observer/controller Identification (OCID) algorithm to those systems $\textbullet$ An open-loop system model with corresponding controller and observer gains are identified using OCID $\textbullet$ Experimental example of the OCID algorithm for an inverted pendulum system operating in closed-loop $\textbullet$ Modal analysis and time response to the added distrubance are presented to evaluate the performance of the OCID algorithm.

• Proceedings of the KIEE Conference
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• 2006.10b
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• pp.131-135
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• 2006

In this paper, a new estimation algorithm for the rotor speed for SRM drives is described. The algorithm is implemented by the binary observer. The stability and robustness of the binary observer for the parameter variations of the SRM are Proved by variable structure control theory. Variable speed control of the SRM is accomplished by the estimated speed. Experiment results verify that the MRAS observer is able to estimate the speed.

• Proceedings of the KIEE Conference
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• 2005.10a
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• pp.161-164
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• 2005

In this paper, a new estimation algorithm for the rotor speed for SRM drives is described. The algorithm is implemented by the binary observer. The stability and robustness of the binary observer for the parameter variations of the SRM are proved by variable structure control theory. Variable speed control of the SRM is accomplished by the estimated speed. Experiment results verify that the binary observer is able to estimate the speed.

• Journal of the Korea Convergence Society
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• v.4 no.4
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• pp.41-48
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• 2013

Observer design for system with unknown input was carried out. First, Kalman filter was considered to estimate system state with White noise. With the results of Kalman filter design, state observer, controller properties, including controllability and observability, and the Kalman filter structure and algorithm were also studied. Kalman filter algorithm was applied to Position and velocity measurement based on Kalman filter with white noise, and it was constructed and achieved by programming based on Matlab programming. Finally, observer for system with unknown input was constructed with the help of Gershgorin's disc theorem. With the designed observer, system states was constructed and applied to system with unknown input. By simulation results, estimation performance was verified. In this project, state feedback control theory, observer theory and relevant design procedure, as well as Kalman filter design were understood and used in practical application.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.3
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• pp.207-214
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• 2010

This paper proposes about decentralized control approach based Leader-Follower formation control using LOS (Line of Sight) algorithm and unknown input observer. The position of robots which is a basic information in multi-robot or single robot motion control is determined by localization algorithm fusing UPS (Ultrasonic Position System) and kinematics model. For formation control, a decentralized control approach individually installing a local controller in leader and follower robot is adopted. Leader robot is controlled to track a specified trajectory by LOS algorithm, and the other robots follow the leader by local controller based on tracking platoon level function, self-sensing data and estimated information from unknown input observer. The performance of proposed method is proven through the formation experiment of two vehicle models.

• Nuclear Engineering and Technology
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• v.52 no.3
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• pp.552-559
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• 2020

This paper presents an observer-based chattering free robust optimal control scheme to regulate the total power of a nuclear reactor. The non-linear model of nuclear reactor is linearized around a steady state operating point to obtain a linear model for which an optimal second order integral sliding mode controller is designed. A second order integral sliding mode observer is also designed to estimate the unmeasurable states. In order to avoid the chattering effect, the discontinuous input of both observer and controller are designed using the super-twisting algorithm. The proposed controller is realized by combining an optimal linear tracking controller with a second order integral sliding mode controller to ensure minimum control effort and robustness of the closed-loop system in the presence of uncertainties. The condition for the selection of gains of discontinuous control based on the super-twisting algorithm is derived using a strict Lyapunov function. Performance of the proposed observer based control scheme is demonstrated through non-linear simulation studies.

• Journal of Power System Engineering
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• v.18 no.5
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• pp.129-136
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• 2014

This paper proposes improvement on sensorless vector control performance of a permanent magnet synchronous motor (PMSM) with sliding mode observer. An adaptive observer gain and second order cascade low-pass filter (LPF) were used to improve the estimation accuracy of the rotor position and speed. The adaptive observer gain was applied to suppress the chattering intensity and obtained by using the Lyapunov's stability criterion. The second order cascade LPF was designed for the system to escalate the filtering performance of the back-emf estimation. Furthermore, genetic algorithm was used to optimize the system PI controller's performance. Simulation results showed the effectiveness of the suggested improvement strategy. Moreover, the strategy was useful for the sensorless vector control of PMSM to operate on the low-speed area.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.7
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• pp.977-980
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• 2007

Observer design for the nonlinear systems is known to be difficult in general. This paper suggests a feedback GA-based model predictive observer for the observable systems. Feedback concept makes on-line design possible for the cases including observer design, where GA is implemented repeatedly every time instant. The effectiveness of our observer is shown by simulation.