• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국제학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.729-733
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• 1988

In this paper, a new procedure for selecting weighting matrices in linear discrete time quadratic optimal control problems (LQ-problem) is proposed. In LQ problems, the quadratic weighting matrices are usually decided on trial and error in order to get a good response. But using the proposed method, the quadratic weights are decided in such a way that all poles of the closed loop system are located in a desired area for good responses as well as for stability and values of the quadratic cost functional are kept less then a specified value. The closed loop systems constructed by this method have merits of LQ problems as well as those of pole assignment problems. Taking into consideration that little is known about the relationship among the quadratic weights, the poles and the values of cost functional, this procedure is also interesting from the theoretical point of view.

• 제어로봇시스템학회논문지
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• 제1권2호
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• pp.78-82
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• 1995

In this paper, we consider the robustness analysis problem in state space models with linear time invariant perturbations. Based upon the discrete-time Lyapunov approach, sufficient conditions are derived for the eigenvalues of perturbed matrix to be located in a circle, and robustness bounds on perturbations are obtained. Spaecially, for the case of a diagonalizable hermitian matrix the bound is given in terms of the nominal matrix without the solution of Lyapunov equation. This robustness analysis takes account not only of stability robustness but also of certain types of performance robustness. For two perturbation classes resulting bounds are shown to be improved over the existing ones. Examples given include comparison of the proposed analysis method with existing one.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 합동 추계학술대회 논문집 정보 및 제어부문
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• pp.42-45
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• 2002

In the two-mass motor drive system driving a load through a flexible shaft or transmission system, a shaft torsional vibration is often generated. The overshoot of the motor drive system easily causes vibration. In this case I-PD controller has been generally used in speed control, because of the simplicity of structure. This paper using an analytical pole assignment design, proposes the overshoot formulas, and the settling time formula. The objective of this paper is to provide a design method of I-PD controller by using overshoot formulas, and settling time formula. The simulation results show that we can design the controller with desired overshoot and settling time.

• Journal of Electrical Engineering and Technology
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• 제13권6호
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• pp.2187-2195
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• 2018

In order to realize the multi-objective control of single-input multi-output nonlinear differential algebraic system (NDAS) and to improve the dynamic characteristics and static accuracy, a design method of nonlinear control with multi-objective feedback (NCMOF) is proposed, the principium of this method to arrange system poles, as well as its nature to coordinate dynamic characteristics and static accuracy of the system are analyzed in detail. Through NCMOF design method, the multi-objective control of the system is transformed into linear space, and then it is effectively controlled under the nonlinear feedback control law, the problem to balance all control objectives caused by less input and more output of the system thus is solved. Applying NCMOF design method to generator excitation system, the nonlinear excitation control law with terminal voltage, active power and rotor speed as objective outputs is designed. Simulation results show that NCMOF can not only improve the dynamic characteristics of generator, but also damp the mechanical oscillation of a generator in transient process. Moreover, NCMOF can control the terminal voltage of the generator to the setting value with no static error under typical disturbances.

• 한국정밀공학회지
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• 제17권11호
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• pp.206-212
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• 2000

This paper presents a hybrid actuator scheme to actively control the end-point position and vibration of a two-link flexible robot arm. Control scheme consists of four different actuators; two servo-motors at the hubs and two piezoceramics bonded to the surfaces of the flexible links. Two sliding hyperplanes are designed for two servo-motors which have time varying parameters to maintain control performance in any configuration. The surface gradients of the hyperplanes are determined by pole assignment technique to guarantee the stability on the hyperplanes themselves. During the motion, undesirable oscillations caused by the torques based on the rigid link dynamics are actively suppressed by applying feedback control voltages to the piezoceramic actuators. Consequently, desired tip motion is achieved. In order to demonstrate the effectiveness of the proposed methodology, experiments are performed for the regulating and tracking control problems.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.1284-1288
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• 1990

In this paper, we are going to study the stabilization of the semilinear heat equation with inhomogenous boundary conditions, whose solutions are not (in general) stable. Here, we use the discrete-time feedback inputs through the boundary of geometric domain to the semilinear system under some additional conditions and assumptions. It is shown that under these conditions, the stabilization can be realized by applying pole assignment argument to the principal linear part of the system and that the solutions exist globally in discrete-time t without any finite escape time.

• 대한기계학회논문집
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• 제18권8호
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• pp.1985-1996
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• 1994

A new design method of sliding hyperplanes is proposed in the synthesis of a variable structure controller for robust tracking of general nonlinear multi-input-output(MIMO) uncertain systems of relative degree higher than two. Input/ output(I/O) linearzation is firstly undertaken by employing the concept of relative degree and minimum phase followed by the construction of sliding mode controllers. Sliding hyperplanes are then derived from the inherent properties of companion matrix and ideal sliding mode characterized in I/O linearized system. Subsequently, the gradient magnitudes of the sling hyperplanes are determined in an optimal manner by considering a quadratic performance index to be evaluated at two phases; a reaching phase and a sliding phase. The proposed design methodology is relatively straightforward and systematic compared with conventional strategies such as geometric approach or pole assignment technique. A nonlinear governor and exciter control problem for a power system is adopted herein in order to demonstrate the design efficiency and also favorable and robust control performances.

• Journal of Advanced Marine Engineering and Technology
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• 제13권2호
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• pp.78-88
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• 1989

The fundamental objective of this paper has been to develop a means for incoporating the concept of the linear fractional transformation more generally and easily into multivariable feedback design procedure. When we design a continuous system, generally, we are constrained by design methods which arise specifically for the system. Also, in the design of descrete systems, it is the same concept. But the approach developed in this paper is very flexible in the view that in spite of being the continuous or discrete, the design can be done using a well known design method in both cases. That is, when we design a contnuous system or discrete system, the design can be done by a standard design method of continuous systmes or discrete ones, depending on the choice of the linear fractional transformation. Therefore, it is noted that this concept has broken the unflexibility of the conventional design rules for multivariable control system. In essence, the concept shows that if a given system is controllable, some desirable design, for examples, pole assignment within prespecified region, optimal controllers with poles within prespecified region etc., could be done easily by transforming a desirable region into a standard region, such as the complex left-half plane or the unit disk, by the chosen linear fractional transformation, and then by designing the transformed system using the well known standard results.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 추계학술대회 논문집 학회본부 B
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• pp.479-481
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• 1999

In this paper, We design low-order controller to achieve maximized controller stability margin and controller' Performance. FOPA(Fixed Order Pole Assignment) method is one of the approach to design controller in the parametric uncertain system. But the method to define a Target Polynomial is not explicit1y Known. In this paper, our goal is to find a controller Coefficient, such that performance and $l_2$ stability margin are maximized in the parametric uncertain system. Using Lipatove theorem and CDM(Coefficient Diagram Method), we set target polynomial constraints and design a controller which maximizes $l_2$ stability margin. we show effectiveness of the proposed controller design method by comparing $l_2$ stability many of the desired controller with that of the conventional robust controller.

• 한국지능시스템학회논문지
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• 제11권5호
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• pp.388-394
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• 2001

강화학습은 에이전트가 환경과의 상호작용을 통해 획득한 경험으로부터 제어 규칙을 학습하는 방법이다. 강화학습의 중요한 문제 중의 하나인 신뢰 할당 문제를 해결하기 위해 기여도가 사용되는데, 누적 기여도나 대체 기여도와 같은 기존의 기여도를 이용한 방법은 방문한 상태에서 수행된 행위만을 학습시키기 때문에 학습 자정에서 획득된 보답 신호를 효과적으로 사용하지 못한다. 본 논문에서는 방문한 상태에서 수행된 행위뿐만 아니라 인접 행위들도 학습될 수 있도록 하는 새로운 기여도로써 분포 기여도를 제안한다. 제안된 기여도를 이용한 퍼지 Q-learning 알고리즘을 역진자 시스템에 적용하여 학습 속도면에서 기존의 방법에 비해 우수함을 보인다.