• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.355-359
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• 1993

This paper deals with the problem of robust TDF(Two Degree of Freedom) H$_{\infty}$ control design for a linear system with parameter uncertainty in the state space model. The uncertain system considered here is with the time-invariant norm-bounded parameter uncertainty in the state matrix. A TDF H$_{\infty}$ control design is presented which robustly stabilizes the plant, guarantees the robust H$_{\infty}$ performance and improves the tracking performance for the closed-loop system in the face of parameter uncertainty. It is shwon that a suitable stabilizing control law can be constructed in terms of a positive definite solution to a certain parameter-dependent algebraic Riccati equation and a good tracking performance can be constructed in terms of suitable feedforward control law.aw.

• 대한기계학회논문집A
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• 제26권11호
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• pp.2312-2321
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• 2002

The first-order least-squares meshfree method for linear elasticity is presented. The conventional and the compatibility-imposed least-squares formulations are studied on the convergence behavior of the solution and the robustness to integration error. Since the least-squares formulation is a type of mixed formulation and induces positive-definite system matrix, by using shape functions of same order for both primal and dual variables, higher rate of convergence is obtained for dual variables than Galerkin formulation. Numerical examples also show that the presented formulations do not exhibit any volumetric locking for the incompressible materials.

• 경영과학
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• 제11권3호
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• pp.1-11
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• 1994

Recent advances in linear programming solution methodology have focused on interior point methods. This powerful new class of methods achieves significant reductions in computer time for large linear programs and solves problems significantly larger than previously possible. These methods can be examined from points of Fiacco and McCormick's barrier method, Lagrangian duality, Newton's method, and others. This study presents a primal-dual log barrier algorithm of interior point methods for linear programming. The primal-dual log barrier method is currently the most efficient and successful variant of interior point methods. This paper also addresses a Cholesky factorization method of symmetric positive definite matrices arising in interior point methods. A special structure of the matrices, called supernode, is exploited to use computational techniques such as direct addressing and loop-unrolling. Two dense matrix handling techniques are also presented to handle dense columns of the original matrix A. The two techniques may minimize storage requirement for factor matrix L and a smaller number of arithmetic operations in the matrix L computation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2081-2086
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• 2005

This paper proposes the receding horizon $H_{\infty}$ predictive control (RHHPC) for systems with a state-delay. We first proposes a new cost function for a finite horizon dynamic game problem. The proposed cost function includes two terminal weighting terns, each of which is parameterized by a positive definite matrix, called a terminal weighting matrix. Secondly, we derive the RHHPC from the solution to the finite dynamic game problem. Thirdly, we propose an LMI condition under which the saddle point value satisfies the well-known nonincreasing monotonicity. Finally, we shows the asymptotic stability and $H_{\infty}$-norm boundedness of the closed-loop system controlled by the proposed RHHPC. Through a numerical example, we show that the proposed RHHC is stabilizing and satisfies the infinite horizon $H_{\infty}$-norm bound.

• 대한수학회지
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• 제55권6호
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• pp.1529-1540
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• 2018

The matrix equation $X^p+A^*XA=Q$ has been studied to find the positive definite solution in several researches. In this paper, we consider fixed-point iteration and Newton's method for finding the matrix p-th root. From these two considerations, we will use the Newton-Schulz algorithm (N.S.A). We will show the residual relation and the local convergence of the fixed-point iteration. The local convergence guarantees the convergence of N.S.A. We also show numerical experiments and easily check that the N.S. algorithm reduce the CPU-time significantly.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 A
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• pp.315-318
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• 2003

This paper proposes a switching control method applicable to any affine, 2nd order nonlinear system with single input. The key contribution is to develop a control design method which uses a piecewise continuous Lyapunov function non-increasing at every discontinuous point. The proposed design method requires no restrictions except full state availability. To obtain a non-increasing, piecewise continuous Lyapunov function, we change the sign of off-diagonal term s of the positive definite matrix composing the former Lyapunov function according to the sign of the Inter-connection term. And we use the solution of inequalities which guarantee each Lyapunov function is non-increasing at any discontinuous point.

• 대한수학회지
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• 제46권5호
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• pp.1007-1025
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• 2009

First-order least-squares method of a distributed optimal control problem for the incompressible Stokes equations is considered. An optimality system for the optimal solution are reformulated to the equivalent first-order system by introducing the vorticity and then the least-squares functional corresponding to the system is defined in terms of the sum of the squared $H^{-1}$ and $L^2$ norms of the residual equations of the system. Finite element approximations are studied and optimal error estimates are obtained. Resulting linear system of the optimality system is symmetric and positive definite. The V-cycle multigrid method is applied to the system to test computational efficiency.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.100-104
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• 1993

In Part 1, we derived robust stability conditions for an LTI interconnected to time-varying nonlinear perturbations belonging to several classes of nonlinearities. These conditions were presented in terms of positive definite solutions to LMI. In this paper we address a problem of synthesizing feedback controllers for linear time-invariant systems under structured time-varying uncertainties, combined with a worst-case H$_{2}$ performance. This problem is introduced in [7, 8, 15, 35] in case of time-invariant uncertainties, where the necessary conditions involve highly coupled linear and nonlinear matrix equations. Such coupled equations are in general difficult to solve. A convex optimization approach will be employed in this synthesis problem in order to avoid solving highly coupled nonlinear matrix equations that commonly arises in multiobjective synthesis problem. Using LMI formulation, this convex optimization problem can in turn be cast as generalized eigenvalue minimization problem, where an attractive algorithm based on the method of centers has been recently introduced to find its solution [30, 361. In the present paper we will restrict our discussion to state feedback case with Popov multipliers. A more general case of output feedback and other types of multipliers will be addressed in a future paper.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.213-218
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• 1991

A new model which contains the dynamics of the motor system and the kinematics of the timing belt system is derived for an inverted pendulum system in FAPA Lab. Generalized standard compensator configuration(SCC) which contains the variable design parameters Kl, K2, .., K5 is proposed so that any desired design specification can be achieved. The robust controller which has robust property against the influence of sensor noise, system parameter variation and model uncertainty is designed minimizing the H$_{\infty}$-norm of transfer function from exogenous input to controlled output. The method of solving the two Riccati equations in state space and determining the controller uses on iteration method where the unique stabilizing solution to two algebraic Riccati equation must be positive definite and the spectral radius of their product less than .gamma.$^{2}$. Some cases are derived by varying the design parameter for simulation on a digital computer and experimenting the H$_{\infty}$- controller on an analog computer. The design parameters of controller which satisfies the desired control specification is selected on the basis of the simulation result and experimenting. The reasonableness and validity of the simulation and the robustness of the controller is established.d.

• Korea-Australia Rheology Journal
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• 제14권1호
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• pp.33-45
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• 2002

Recent results obtained for the port-pom model and the constitutive equations with time-strain separability are examined. The time-strain separability in viscoelastic systems Is not a rule derived from fundamental principles but merely a hypothesis based on experimental phenomena, stress relaxation at long times. The violation of separability in the short-time response just after a step strain is also well understood (Archer, 1999). In constitutive modeling, time-strain separability has been extensively employed because of its theoretical simplicity and practical convenience. Here we present a simple analysis that verifies this hypothesis inevitably incurs mathematical inconsistency in the viewpoint of stability. Employing an asymptotic analysis, we show that both differential and integral constitutive equations based on time-strain separability are either Hadamard-type unstable or dissipative unstable. The conclusion drawn in this study is shown to be applicable to the Doi-Edwards model (with independent alignment approximation). Hence, the Hadamardtype instability of the Doi-Edwards model results from the time-strain separability in its formulation, and its remedy may lie in the transition mechanism from Rouse to reptational relaxation supposed by Doi and Edwards. Recently in order to describe the complex rheological behavior of polymer melts with long side branches like low density polyethylene, new constitutive equations called the port-pom equations have been derived in the integral/differential form and also in the simplifled differential type by McLeish and carson on the basis of the reptation dynamics with simplifled branch structure taken into account. In this study mathematical stability analysis under short and high frequency wave disturbances has been performed for these constitutive equations. It is proved that the differential model is globally Hadamard stable, and the integral model seems stable, as long as the orientation tensor remains positive definite or the smooth strain history in the flow is previously given. However cautious attention has to be paid when one employs the simplified version of the constitutive equations without arm withdrawal, since neglecting the arm withdrawal immediately yields Hadamard instability. In the flow regime of creep shear flow where the applied constant shear stress exceeds the maximum achievable value in the steady flow curves, the constitutive equations exhibit severe instability that the solution possesses strong discontinuity at the moment of change of chain dynamics mechanisms.