• 제어로봇시스템학회논문지
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• 제6권7호
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• pp.611-616
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• 2000

This paper presents a design method for the robust flight controller of a hyghly maneuvering aircraft subject to C.G variation. This method is based on LMI(Linear Matrix ZInequality) pole-placement design methodology for the polytopic models. Simulation results show that the proposed LMI-based pole-placement design methodology robustly yields uniform performance with adequate Flying Qualities (FQ) over the entire CG variation range.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.65-68
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• 2003

This paper presents a design and construction of IIR multiple notch filter by modifying the pole-zero placement with least square estimation to find the appropriate gain and pole positions for the filter within a unit circle in z-plane. The appropriated gain and pole position will render the controllable unit gain of filter magnitude. Algorithm design and system simulation are performed on MATLAB while the actual implementation is done on the TMS320C31 digital signal processing board.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.696-699
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• 1997

In this paper, we presents that for discrete system with matched perturbation of uncertain parameters in the state coefficient matrix A(i.e., with perturbation of A in the range of the input matrix B), the poles of the perturbed closed loop system can be placed into the preassigned circle by the static-state feedback. We discuss the robust stabilization of the system satisfying the matching condition and application to the controller design problem.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1990년도 추계학술대회 논문집 학회본부
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• pp.407-412
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• 1990

This note presents a novel algorithm for a continuous-time direct adaptive pole placement control for single-input single-out nonminimum phase systems. Although the resulting overall closed-loop system is locally stable, assumptions about parameter convergence or the nature of the external input are not considered.

• 대한전기학회논문지
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• 제33권5호
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• pp.193-199
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• 1984

This paper presents a direct adaptive pole placement control scheme which is applicable to discretetime non-minimum phase systems. It is proved that by this scheme the poles can be placed at the desired locations and the overall state vector of the system is uniformly bounded if the reference input is sufficiently rich, and also proved that in case of insufficiently rich reference input the overall system can still be stabilized though the poles may not be placed exactly at the desired locations. The effectiveness of this scheme is verified by digital computer simulations.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1989년도 추계학술대회 논문집 학회본부
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• pp.355-359
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• 1989

An inverted pendulum is made practically and controlled by optimal controller and pole placement controller. An IBM PC/XT plays a part of the controller. The control algorithm is implemented with C language. An integrator is added to the controller to solve the high frequency problem. Experiment is performed according to the results of simulation.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1989년도 추계학술대회 논문집 학회본부
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• pp.388-392
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• 1989

In this paper, an adaptive pole-zero placement algorithm which has disturbance rejection properties is proposed. This method using the internal model principle is shown to reject the disturbances asymptotically. Furthermore, a method which reduces the number of estimated parameters is proposed. Some simulation results are given to demonstrate the performance of the algorithms.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.176.5-176
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• 2001

This paper presents a fuzzy dynamic output feedback controller design method for Parallel Distributed Compensation (PDC)-type Takagi-Sugeno (T-S) model based fuzzy dynamic system with H$\infty$ performance and additional constraints on the closed pole placement. Design condition for these controller is obtained in terms of the linear matrix inequalities (LMIs). The proposed fuzzy controller satisfies the disturbance rejection performance and the desired transient response. The design method is verified by this method for an inverted pendulum with a cart using the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.872-877
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• 1990

Robustness of a model refernece direct adaptive pole placement control for not necessarily minimum phase systems is studied subject to unmodeled dynamics and bounded disturbances. The adaptive control scheme involves two estimators for the system and the controller parameter estimation, respectively. The robustness is obtaind under some weak assumptions and by using both a normalized least-squares algorithm with dead zone and an appropriate nonlinear feedback.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.32-35
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• 1987

An adaptive control scheme has been recognized as an effective approach for a robot manipulator to track a desired trajectory in spite of the presence of nonlinearties and parameter uncertainties in robot dynamic models. In this paper, an adaptive control scheme for a robot manipulator is proposed to design the self-tuning controller which combines the pole placement with the extended linearized perturbation model. And this control scheme has two components: a feadforward control and a feedback compensation control. Based on this, the controller is demonstrated by the simulation about position control of a three-link manipulator with payload and parameter uncertainty.