• 제어로봇시스템학회논문지
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• 제9권12호
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• pp.977-983
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• 2003

An output feedback stabilizing controller far non-minimum phase nonlinear systems is presented. We first perform the standard input-output linearization of the system and then transform the zero dynamics into a special normal form in which the antistable part is not affected by the stable part and the antistable part is given in approximately linear form. Under the assumption that the nonlinear system satisfies the observability rank condition, we can design an observer f3r the extended system that is made of the augmentation of a chain of integrators. The proposed output feedback stabilizing controller can then be designed by combining the observer and the state feedback controller.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 춘계학술대회논문집
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• pp.508-514
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• 2005

This paper is concerned with the active vibration control of a grid structure equipped with piezoceramic sensors and actuators. The grid structure is a replica of the solar panel commonly mounted on satellites, which contains complex natural mode shapes. The multi input and multi output positive position feedback controller is considered as an active vibration controller for the grid structure. A new concept, the block-inverse technique, is proposed to cope with more modes than the number of actuators and sensors. This study also deals with the stability and the spillover effect associated with the application of the multi-input multi-output positive position feedback controller based on the block inverse technique. It was found that the theories developed in this study are capable of predicting the control system characteristics and its performance. The new multi-input multi-output positive position feedback controller was applied to the test structure using a digital signal processor and its efficacy was verified by experiments..

• 한국소음진동공학회논문집
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• 제15권9호
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• pp.1037-1044
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• 2005

This paper is concerned with the active vibration control of a grid structure equipped with piezoceramic sensors and actuators. The grid structure is a replica of the solar panel commonly mounted on satellites, which contains complex natural mode shapes. The multi-input and multi-output positive position feedback controller is considered as an active vibration controller for the grid structure. A new concept, the block-inverse technique, is proposed to cope with more modes than the number of actuators and sensors. This study also deals with the stability and the spillover effect associated with the application of the multi-input multi-output positive position feedback controller based on the block-inverse technique. It was found that the theories developed in this study are capable of predicting the control system characteristics and its performance. The new multi-input multi-output positive position feedback controller was applied to the test structure using a digital signal processor and its efficacy was verified by experiments.

• 한국지능시스템학회논문지
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• 제21권5호
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• pp.549-554
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• 2011

본 논문에서는 출력 궤환 제어기를 이용해 다항식 퍼지 대규모 시스템을 안정화하는 방법을 제안한다. 이를 위해, 먼저, 대규모 시스템의 부분 시스템에 대해 퍼지 모델링을 한 후, 각각에 대해 출력 궤환 제어기를 설계하여 대규모 시스템을 안정화하는 방법을 제안한다. 이때, 다항식 Lyapunov 함수를 적용하면 다항식 퍼지 대규모 시스템의 안정화 조건은 제곱합 조건으로 주어지고, 이것은 MATLAB의 툴박스인 SOSTOOLS로 해석 가능하다. 이러한 과정을 거친 후에 얻어진 해에서 시스템을 안정화시키는 출력 궤환 제어기의 이득을 구할 수 있다. 마지막으로, 제안된 기법의 적합성을 검증하기 위해 시뮬레이션 예제가 주어진다.

• 전기학회논문지
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• 제59권11호
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• pp.2066-2072
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• 2010

In this paper, a variable structure dynamic output feedback controller with an transformed sliding surface is designed for the improved robust control of a uncertain system under unmatched system uncertainty, matched input matrix uncertainty, and disturbance satisfying some conditions. This paper is extended from the results of the static output feedback VSS in [9]. To effectively remove the reaching phase problems, an initial condition of the dynamic output is determined. The previous some limitations on the dynamic output feedback variable structure controller is overcome in this systematic design. A stabilizing control is designed to generate the sliding mode on the predetermined sliding surface S=0 and as a results the closed loop exponential stability is obtained and proved together with the existence condition of the sliding mode on S=0 for all unmatched system matrix uncertainties. To show the usefulness of the algorithm, a design example and computer simulations are presented.

• 제어로봇시스템학회논문지
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• 제10권3호
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• pp.216-224
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• 2004

In this paper we address reliable output feedback control problem for a class of linear systems with actuator/sensor failures. An output feedback control method is proposed which stabilizes the plant and guarantees $H_\inftyt$-norm constraint against all admissible actuator/sensor failures. The controller can be obtainer by solving some LMls that cover all failure cases. Effectiveness of this controller is validated via a numerical example. This paper addresses reliable output feedback control problem for a class of linear systems with actuator/sensor failures. An output feedback control method is proposed which stabilizes the plant and guarantees $H_\inftyt$-norm constraint against all admissible actuator/sensor failures. The controller can be obtained by solving some LMls that cover all failure cases. Effectiveness of this controller is validated via numerical example.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.271-271
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• 2000

This paper considers guaranteed cost output feedback controller for the uncertain time-varying delay systems with delays in state and control input. The uncertainty in the system is assumed to be norm-bounded and time-varying. The sufficient condition for the existence of controller and the guaranteed cost output feedback controller design method are presented. Also, using some changes of variables and Schur complements, the obtained sufficient condition can be reformulated as LMI forms in terms of transformed variables. Using the obtained LMI variables, we derive guaranteed cost controller gain and guaranteed cost.

• 전기학회논문지
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• 제56권2호
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• pp.383-388
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• 2007

This paper considers a low-order dynamic output feedback controller design problem. Since the proposed control law inherently has a low-pass filter property, it can alleviate the mal-effects of the sensor noise without additional filter designs. Frequency domain analysis shows the characteristics of the proposed control law against measurement noise. The effectiveness of the proposed control law is illustrated by numerical simulations with a rotary inverted pendulum and a convey-crane. Using only one integrator the proposed control law has the advantage to the stabilization problem with sensor noise as well as it can successfully replace the measurements of derivative terms in a state feedback control law.

• 전기전자학회논문지
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• 제17권1호
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• pp.83-88
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• 2013

본 논문에서는 입력과 출력에 동시에 시간 지연이 존재하는 피드포워드 비선형시스템에 대한 출력 피드백 제어 방법을 제안한다. 제안한 출력 피드백 제어기는 선형관측기와 선형제어기로 구성된다. Lyapunov-Krasovskii 정리를 이용하여 임의의 크기를 갖는 시간지연에 대하여 전역적 점근 안정도를 보장함을 증명한다. 마지막으로 제안한 결과의 유효성을 증명하기 위하여 모의실험 예제를 제공한다.

• 전기학회논문지
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• 제59권3호
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• pp.630-635
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• 2010

In this paper, a new discrete static output feedback variable structure controller based on a new dynamic-type sliding surface and output feedback discrete version of the disturbance observer is suggested for the control of uncertain linear systems. The reaching phase is completely removed by introducing a new proposed dynamic-type sliding surface. The output feedback discrete version of disturbance observer is derived for effective compensation of uncertainties and disturbance. A corresponding control with disturbance compensation is selected to guarantee the quasi sliding mode on the predetermined dynamic-type sliding surface for guaranteeing the designed output in the dynamic-type sliding surface from any initial condition for all the parameter variations and disturbances. Using Lyapunov function, the closed loop stability and the existence condition of the quasi sliding mode is proved. Finally, an illustrative example is presented to show the effectiveness of the algorithm.