• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.179-181
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• 1987

In this paper, a self-tuning controller design is proposed by using pole-zero placement method and considering a system time delay. To got better tracking for the generalized self-tuning controller, pole placement method for the closed loop system and zero placement method for the error transfer function are Introduced. The proposed method shows better efficiency than pole placement method for minimizing tracking error. Simulation gives good results in tie reference signal tracking.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.41 no.3
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• pp.311-319
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• 1992

In this paper, a direct adaptive pole placement controller for an unknown linear time-invariant single-input single-output nonminimum phase plant is proposed. To design this direct adaptive pole placement controller, the auxiliary signals are introduced. Consequently, a linear equation error model is formulated for estimating both the controller parameters and the additional auxiliary parameters. To estimate the controller parameters and the additional auxiliary parameters, the exponentially weighted least-squares algorithm is implemented, and a method of selecting the characteristic polynomials of the sensitivity function filters is proposed. In this method, all the past measurement data are weighted exponentially. A series of simulations for a nonminimum phase plant is presented to illustrate some features of both the parameter estimation and the output response of this adaptive pole placement controller.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.1
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• pp.11-15
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• 1999

In this paper, a robust pole placement controller for time invariant linear systems with polytopic uncertainties is presented. The proposed controller is a fixed order output feedback controller which stabilizes the uncertain systems and satisfies the constraints on the closed-loop pole location. The proposed controller can be obtained by minimizing a certain nonlinear object function subject to linear matrix inequality constraints. An algorithm for solving the nonlinear optimization problem is also proposed.

• Journal of the Korean Institute of Telematics and Electronics
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• v.22 no.6
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• pp.89-96
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• 1985

A pole-placement control of discrete, deterministic, single-input single-output nonmini-mum phase systems is considered using a model reference type approach. The proposed pole-placement controller is designed in the parameter form to make the transfer function of the controller equal to that of the reference model with only single variable polynomial S(q-1). The proposed adaptive pole-placement controllr is designed with the true system para-meters by applying the adaptation method to the proposed pole-placement controller.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.6 s.171
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• pp.76-82
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• 2005

In this paper, the pole placement controller based on the Robust Internal-loop Compensator (RIC) structure, which has inherent structural equivalence to disturbance observer, is proposed to control a linear positioning system. This controller has the advantage to easily select controller gains by using pole placement without loss of that of original RIC structure. The principal is to construct the pole placement controller for a nominal internal model instead of unknown real plant. Using linear motion experiment showed the effectiveness of the proposed controller.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.50-53
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• 1988

This paper presents an approach to the position control of a robot manipulator by using a self-tuning pole-placement controller with an inverse model. The linearized independent difference equations of manipulator motion are obtained, and the parameters of these models are estimated on line. The controller is composed of two parts, the primary controller obtains desired torques by using an inverse model and the secondary controller computes variational torques on the basis of induced perturbation equations by minimizing a quadratic criterion with a closed-loop pole-placement. Simulation is performed to demonstrate the effectiveness of this approach.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.3
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• pp.249-254
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• 2009

This paper studies the problem of pole placement by an LQ controller for system having two distinct real poles. Using the so-called Pole's Moving Range (PMR) drawn in the s-plane and relational equations between closed-loop system poles and weighting matrices, we calculate the state weighting matrix to move two distinct real poles to a pair of complex poles. By numerical examples, we show that the proposed method is applied to improve system performance.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.194-199
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• 1989

In this paper, using the direct drive arm for plant, the controller is developed to track the desired trajectory in high speed and precision. For the purpose of this, through extending self-tuning pole-placement algorithm, we developed self-tuning pole-shift algorithm which is fast in response and good tracking for the reference tracking change. Developed controller is applied a three-link direct drive arm with the varing payload to track the desired tracking. And, through the computer simulation, the performance of developed controller is compared with the performance of the computed torque method and the self-tuning pole placement algorith.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.754-758
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• 1996

This paper presents a new approach to the design of self-tuning adaptive control system that is robust to the changing dynamic configuration as well as to the load variation factors using Digital signal processors for robot manipulators. TMS320C50 is used in implementing real-time adaptive control algorithms to provide advanced performance for robot manipulator, In this paper, an adaptive control scheme is proposed in order to design the pole-placement self-tuning controller which can reject the offset due to any load disturbance without a detailed description of robot dynamics. Parameters of discrete-time difference model are estimated by the recursive least-square identification algorithm, and controller parameters we determined by the pole-placement method. Performance of self-tuning adaptive controller is illusrated by the simulation and experiment for a SCARA robot.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2302-2304
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• 2000

This paper addresses a fuzzy controller for nonlinear systems control using a pole placement in a specified disk. In the method, we linearize a nonlinear plant about nominal operating points and represent it using TS fuzzy model and formulate the controller rules. A feedback control law for a local model is determined using a pole placement in a specified disk(${\alpha}$:center ${\gamma}$:radius} region so that the closed loop system is stable. A nonlinear system can be controlled by combining fuzzy controller with a pole placement scheme which can be used to modify the transient response such as damping ratio and overshoot. A stability of overall fuzzy control system is guaranteed in the Lyapunov sense. Finally, it is shown that the proposed method is feasible through a computer simulation.