• The Transactions of the Korean Institute of Electrical Engineers
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• v.41 no.8
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• pp.902-913
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• 1992

There have been several control schemes for the single input systems with unmeasurable state variables using variable structure control(VSC) theory. In the previous VSC, the systems must be represented in phase canonical form and the complete measurements for each state variable must be assumed. In order to eliminate these restrictions several VSC methods were proposed. And especially for the systems in phase canonical form with unmeasurable state variables, the reduced order switching function algorithm was proposed. But this method has many drawbacks and can not be used in the case of general form (not phase canonical form) dynamic system. Therefore this paper propose new construction method of switching fuction for the systems in phase canonical form, which reduce the restriction of reduced order switching function algorithm. And this algorithm can be realized for any state representation and adopted in the systems where not all states are available for switching function synthesis or control.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.41 no.7
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• pp.773-783
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• 1992

There have been several control schemes for the single input systems with unmeasurable state variables using variable structure control(VSC) theory. However, each of them is a study on the systems which can be represented in the phase canonical form or non-phase canonical form dynamic equation separately. As these control algorithms have difficulties in practical application by its theoretical limitations, in this paper we propose a new VSC theory which overcomes those limitations, in this paper we propose a new VSC theory which overcomes those limitations of proposed schemes. This new control scheme can be realized for the general linear systems which have unmeasurable state variables. And the switching function of this VSS algorithm consists of measurable state variable function(reduced-order switching function) and its derivatives. Also in the construction of control imput only measurable state variables are used.

• Bulletin of the Korean Chemical Society
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• v.31 no.1
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• pp.59-63
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• 2010

Calculations are presented for the $\gamma$-aminobutyric acid-$(H_2O)_n$ (n = 0-5) clusters in both canonical and zwitterionic forms. We examine the effects of microsolvation on the structures and transformation between the canonical and zwitterionic forms. The canonical forms are predicted to be more stable for n = 0-4. With five microsolvating water molecules, the two forms of $\gamma$-aminobutyric acid become quasidegenerate, with the energies of zwitterionic forms slightly (by 1 - 3 kcal/mol) higher. The lowest energy zwitterionic conformer of $\gamma$-aminobutyric acid-$(H_2O)_5$ cluster is calculated to isomerize to canonical form through a barrier-less proton transfer process and is thus predicted to be kinetically unstable. Therefore, we predict that the canonical conformers of $\gamma$-aminobutyric acid should be observed predominantly in the gas phase at low temperature in presence of up to five water molecules.

• Bulletin of the Korean Chemical Society
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• v.33 no.11
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• pp.3797-3804
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• 2012

We present calculations for valine (Val) - $(H_2O)_n$ (n = 0-5) to examine the effects of microsolvating water on the relative stability of the zwitterionic vs. canonical forms of Val. We calculate the structures, energies and Gibbs free energies of the conformers at B3LYP/6-311++G(d,p), wB97XD/6-311++G(d,p) and MP2/aug-cc-pvdz level of theory. We find that five water molecules are needed to stabilize the zwitterionic form of Val. By calculating the barriers of the canonical ${\leftrightarrow}$ zwitterionic pathways of Val - $(H_2O)_5$ conformers, we suggest that both forms of Val - $(H_2O)_5$ may be observed in low temperature gas phase.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.367-369
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• 1986

Guaranteed cost control is a method applicable to a class of systems with uncertain parameters that guarantees an upper bound of the cost functional. This paper is concerned with a matrix decomposition technique used to yield a reasonable upper bound of the cost functional for a finite-time LQ regulator problem. The uncertain linear systems dealt with in this paper are described by a set of state equations of single-input phase-variable canonical form which contain unknown but bounded uncertain parameters.

• Transactions on Control, Automation and Systems Engineering
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• v.1 no.1
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• pp.22-31
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• 1999

In this paper, a robust observer design method for nonlinear multi input multi-output(MINO) plants is presented. This method enables the extension of the time delay observer (TDO) for nonlinear SISO plants in the phase variable form to MIMO plants. The designed TDO reconstructs the states of the plant expressed in the generalized observability canonical form (GOBCF), yet requiring neither the transformation of a plant, nor the real time computation coordinates, the observer turned out to be computationally efficient and easy to design for nonlinear MIMO plants. In a simulation of a two-link manipulator with flexible joints, the control performances using TDO appeared to be similar to those using actual states and superior to those using numerical differentiation. Finally, in an experiment with a robot, it was confirmed that the TDO reconstructs the states reliability and TDO can be effectively used in a real closed-loop system.