• Proceedings of the KIEE Conference
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• 2000.07b
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• pp.754-756
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• 2000

In this paper, the I-PD control algorithm using the coefficient diagram method(CDM) controller design of the Linear DC Motor(LDM) is presented. Recently LDM has been used to obtain the fine results of the dynamic characteristic for straightly moving condition. The I-PD control algorithm has a robust response to force disturbance. The effectiveness of I-PD is shown by simulations and comparison with PID.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.21 no.4
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• pp.651-657
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• 2012

In many control fields high position performance is essentially required in reducing the over-shoot phenomena which is produced by improving the quick response in starting and in minimizing the variation of the response characteristic on disturbance and load variation In this paper, the design method for a position control is suggested for constructing the PI-PD controllers by using an internal PD feedback loop in PI and PD control system. Applying this method to the position control system used a DC servo motor as a driver, the transfer PI and PD controllers are designed simultaneously and the coefficients of these controllers are determined by using the transfer function of a plant and a proportional coefficient from mathematical technique. From the result of computer simulation in PI-PD control system by applying this control technique, we can verify the usefulness of this method in rejecting of over-shoot of starting, compensating of response variation on the load variation, and shorting the settling time.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.7
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• pp.671-676
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• 2007

In this paper, a novel neuro-fuzzy controller is presented. The generic fuzzy controller is compensated by a neural network controller so that an overall control structure forms a neuro-fuzzy controller. The proposed neuro-fuzzy controller solves the difficulty of selecting optimal fuzzy rules by providing the similar effect of modifying fuzzy rules simply by changing crisp input values. The performance of the proposed controller is tested by controlling humanoid robot arms. The humanoid robot arm is analyzed and implemented. Experimental studies have shown that the performance of the proposed controller is better than that of a PID controller and of a generic fuzzy PD controller.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.38 no.2
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• pp.150-159
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• 2010

The approach and landing phase of a re-entry vehicle is composed of Steep Glideslope phase, Circular Flare phase, Flare Maneuver phase. The trajectory planning algorithm with geometric parameters is studied in this paper for on-board trajectory planning. This algorithm generate reference trajectory rapidly considering safe landing of re-entry vehicle. In this paper, the Mamdani Fuzzy PD type controller for longitudinal and lateral control is designed which has robustness of nonlinear system. In addition, the simulation is performed including initial downrange and crossrange errors, and the results shows that the proposed fuzzy logic controller has good performance.

• Proceedings of the KIEE Conference
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• 2000.07a
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• pp.37-39
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• 2000

This paper describes the application of Fuzzy Logic Controller (FLC) to Thyristor Controlled Series Capacitor (TCSC) which can have significant impact on Power system dynamics. The function of the FLC is to control the firing angle of the TCSC. We tuned the scaling factors of the FLC using Tabu Search. The proposed FLC is used for damping the low frequency oscillations caused by disturbances such as the sudden changes of small of large loads or the outages in the generators or transmission lines. To evaluate usefulness of the proposed FLC. we performed the computer simulation for single-machine infinite system. The response of FLC is compared with that of PD controller optimized using Tabu Search. Simulation results that the FLC shows the better control performance than PD controller.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.3
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• pp.375-382
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• 2004

This paper presents control designs using neural networks (NN) for a XY positioning table. The proposed neuro-controller is composed of an outer PD tracking loop for stabilization of the fast flexible-mode dynamics and an NN inner loop used to compensate for the system nonlinearities. A tuning algorithm is given for the NN weights, so that the NN compensation scheme becomes adaptive, guaranteeing small tracking errors and bounded weight estimates. Formal nonlinear stability proofs are given to show that the tracking error is small. The proposed neuro-controller is implemented and tested on an IBM PC-based XY positioning table, and is applicable to many precision XY tables. The algorithm, simulation, and experimental results are described. The experimental results are shown to be superior to those of conventional control.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.16 no.11
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• pp.1186-1193
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• 1991

This paper proposed a trajectory controlmethod for a robot manipulator by using neural networks. The total torque for a manipulator is a sum of the linear feedback controller torque and the neural network feedfoward controller torque. The proposed neural network is a multilayer neural network with time delay elements, and learns the inverse dynamics of manipulator by means of PD(propotional denvative)controller error torque. The error backpropagation (BP) learning neural network controller does not directly require manipulator dynamics information. Instead, it learns the information by training and stores the information and connection weights. The control effects of the proposed system are verified by computer simulation.

• Proceedings of the KIEE Conference
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• 1995.07b
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• pp.705-709
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• 1995

The objective of this study is to design a multi-layer neural network which controls the position of excavator's attachment. In this paper, a dynamic controller has been developed based on an error back-propagation(BP) neural network. Since the neural network can model an arbitrary nonlinear mapping, it was used as a commanded feedforward input generator. A PD feedback controller is used in parallel with the feedforward neural network to train the system. The neural network was trained by the current state of the excavator as well as the PD feedback error. By using the BP network as a feedforward controller, no a priori knowledge on system dynamics is need. Computer simulation results demonstrate such powerful characteristics of the proposed controller as adaptation to changing environment, robustness to disturbancen and performance improvement with the on-line learning in the position control of excavator attachment.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.50 no.12
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• pp.561-567
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• 2001

This paper describes the application of Fuzzy Logic Controller (FLC) to Thyristor Controlled Series Capacitor (TCSC) which can have significant impact on power system dynamics. The function of the FLC is to control the firing angle of the TCSC. We tuned the scaling factors of the FLC using Tabu Search. The proposed FLC is used for damping the low frequency oscillations caused by disturbances such as the sudden changes of small or large loads or the outages in the generators or transmission lines. To evaluate usefulness of the proposed FLC, we performed the computer simulation fur single-machine infinite system. The response of FLC is compared with that of PD controller optimized using Tabu Search. Simulation results that the FLC shows better control performance than PD controller.

• Journal of Power Electronics
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• v.19 no.1
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• pp.108-118
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• 2019

This paper proposes a DC-link voltage balance controller using the fourth-phase of a three-level neutral-point clamped (NPC) PWM converter with medium vector selection (MVS) PWM for common-mode voltage reduction. MVS PWM makes the voltage reference by synthesizing the voltage vectors that cannot generate common-mode voltage. This PWM method is effective for reducing the EMI noise emitted from converter systems. However, the DC-link voltage imbalance problem is caused by the use of limited voltage vectors. Therefore, in this paper, the effect of MVS PWM on the DC-link voltage of a three-level NPC converter is analyzed. Then a proportional-derivative (PD) controller for the DC-link voltage balance is designed from the DC-link modeling. In addition, feedforward compensation of the neutral point current is included in the proposed PD controller. The effectiveness of the proposed controller is verified by experimental results.