• 전자공학회논문지SC
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• 제39권4호
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• pp.1-5
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• 2002

본 논문에서는 2차 시스템의 안정도-강인성과 성능-강인성을 동시에 만족시키기 위해 루프형성절차기법을 사용하여 가중치 요소 Q와 R을 선정하는 최적 강인 LQ-PID 레귤레이터 동조 방법을 제안한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.347-350
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• 1996

With only the classical PID controller applied to control of a DC motor, a good (target) performance characteristic of the controller can be obtained, if all the model parameters of DC motor and operating conditions such as external load torque, disturbance, etc. are exactly known. However, in case when some of system parameters or operating conditions are uncertain or unknown, the fixed PID controller does not guarantee the good performance which is assumed with precisely known system parameters and operating conditions. In view of this and robustness enhancement of DC motor control system, we propose a PID learning controller which consists of a set of learning rules for PID gain tuning and learning of an auxiliary input. The proposed PID learning controller is shown to drive the state of uncertain DC motor system with unknown system parameters and external load torque to the desired one globally asymptotically. Computer simulation results are given to demonstrate the effectiveness of the proposed PID learning controller, thereby showing whose superiority to the conventional fixed PID controller.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.1004-1007
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• 1992

In this paper, we present a solution to the PID tuning problem by optimizing a GPC(General Predictive Control) criterion. The PID structure is ensured by constraning the parameters to a feasible set defined by the discrete-time Euler approximation of the ideal continuous-time PID controller. The algorithm is ectended by incorporating heuristic rules for selection of the significant design parameters. The algorithm has been successfully tested and some results are prewented.

• International Journal of Control, Automation, and Systems
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• 제1권4호
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• pp.401-411
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• 2003

Important results about two-degree-of-freedom PID controllers are surveyed for the tutorial purpose, including equivalent transformations, various explanations about the effect of the two-degree-of-freedom structure, relation to the preceded-derivative PID and the I-PD controllers, and an optimal tuning method.

• 대한전기학회논문지:시스템및제어부문D
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• 제49권5호
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• pp.225-234
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• 2000

In this paper, we present an nonlinear PID controller with network based compensator which consists of a conventional PID controller that controls the linear components and neuro-compensator that controls the output errors and nonlinear components. This controller is based on the Harris's concept where he explained that the adaptive controller consists of the PID control term and the disturbance compensating term. The resulting controller's architecture is also found to be very similar to that of Wang's controller. This controller adds a self-tuning ability to the existing PID controller without replacing it by compensating the output errors through the neuro-compensator. Various simulations and comparative studies have proven that the proposed nonlinear PID controller produces superior results to other existing PID controllers. When applied to an actual magnetic levitation system which is known to be very nonlinear, it has also produced an excellent results.

• 로봇학회논문지
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• 제2권1호
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• pp.1-8
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• 2007

This paper presents a PID automatic gain-tuning algorithm for the electronic throttle valve which is driven by wire. Since the system characteristics of position control for electronic throttle valve are so complicated that both the real time robustness and the manufacturing cost must be considered for mass production. To resolve this paradox, a kind of algorithm called RLS (Recursive Least Square) is adopted for the control of the ETB (Electronic Throttle Body). Using this algorithm, the PID gains can be adjusted automatically with the estimated system parameters. Furthermore, a pre-filter is supplemented for the sake of the robustness against the friction and loads. From the industrial requests for the system, the design specifications are decided as follows: the settling time should be less than 1sec and the overshoot should be kept below 3%. The results of the experiments based on this approach show that the high robustness can be achieved while the system stability is satisfied steadily. A parameter estimation scheme and a gain-tuning algorithm have been properly combined and utilized in this research and the effectiveness is verified through the real experiments.

• 반도체디스플레이기술학회지
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• 제21권4호
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• pp.59-64
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• 2022

Vibration is one of the factors that degrades the performance of equipment and measurement equipment used in high-tech industries such as semiconductors and display. The vibration isolator is classified into passive type and active type. The passive vibration isolator has the weakness of insufficient vibration isolation performance in the low frequency band, so an active vibration control system that can overcome these problems is used recently. In this paper, PID controller is used to control the active vibration isolator. Methods for setting the gain of the PID controller include the Zeigler-Nichols method, the pole placement method. These methods have the disadvantage of requiring a lot of time or knowing the system model accurately. This paper proposes the gain auto tuning method of the active vibration isolator applied with the PSO algorithm, which is an optimization algorithm that is easy to implement and has stable convergence performance with low calculations. It is expected that it will be possible to improve vibration isolation performance and reduce the time required for gain tuning by applying the proposed PSO algorithm to the active vibration isolator.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2004년도 추계학술대회
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• pp.111-116
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• 2004

이 논문에서는 모델조정기법과 실수코딩 유전알고리즘을 이용하여 주어진 직류모터 시스템의 파라미터를 추정하였다. 종래에 논 Ziegler- Nichols(Z-N)동조법, Cohen-Coon(C-C)동조법, IMC(Internal model control)동조법, Lopez ITAE(L-ITAE)동조법과 같이 경험적이고 실험적인 많은 방법들이 제안되었다. 본 논문에서는 실수코딩 유전알고리즘을 이용하여 PID 제어기의 파라미터들을 동조하는 방법을 제안하고 시뮬레이션과 실험을 통해 제안한 제어기의 성능을 증명하였다.

• 전기학회논문지
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• 제63권4호
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• pp.509-518
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• 2014

Though various techniques have been studied as a way of adjusting parameters of PID controllers, no perfect method of determining parameters is available to date. Especially the deign of PID controller for unstable processes with dead time(UPWDT) is even more difficult due to various reasons. Generally the existing design procedures for UPWDT involve deriving formulas to meet gain and phase margin specifications, or using inner loop to stabilize UPWDT before applying PID controller. In this paper, the dual-input describing function(DIDF) method is proposed, by which the performance and robustness of the closed-loop system can be improved. The method is based on moving the critical point (-1+j0) of Nyquist stability to a new position arbitrarily selected on the complex plane. This can be done by determining appropriate coefficients of the DIDF. As a result, we can easily determine parameters of PID-type controller by using existing conventional tuning methods for stable or unstable systems. Simulation results are included to show the effectiveness of the proposed method.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.647-649
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• 2004

When a controller is implemented by a one-chip processor with fixed-point operations, the finite alphabet problem usually occurs since parameters and signals should be taken in a finite set of values. This paper formulates PID finite alphabet PID control problem which combines the PID controller with the finite alphabet problem. We will propose a PID parameter tuning method based on an optimization algorithm under the finite alphabet condition. The PID parameters can be represented by a fixed-point representation, and then the problem is formulated as an optimization with constraints that parameters are taken in the finite set. Some simulation are to be performed to exemplify the performance of the PID parameter tuning method proposed in this paper.