• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.344-344
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• 2000

Recently, the demand for high precision and large stroke in linear positioning systems is increasing in industry. A coarse-fine position control system composed of a linear motor and a piezoelectric actuator has such characteristics. Many optimal control laws have been applied to the position control of coarse-fine actuators but most of them did not take account into constraints. In this study, model predictive control (MPC) method with constraints is applied to the position control of the coarse-fine actuator and the performance of MPC is compared with those of conventional control laws.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.41.1-41
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• 2001

Since the advanced control technique such as model predictive control has been introduced to industrial plant, there have been many progresses in the process control. As a way to improve the control performance, the on-line process optimizer was integrated with the advance controller. In this study, a control technique which improves the control. As the number of changes by the optimizer is increased, the control performance of the proposed algorithm is improved. Its control performance is shown via an numerical example.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.22 no.1
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• pp.9-16
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• 2018

Predictive control is a very practical method that obtain the current input that minimizes the future errors of the reference command and state by use of the predictive model of the controlled object, and can also consider the constraints of the state and input. Although there have been studies in which predictive control is applied to mobile robots, performance has not been optimized as various control parameters for determining control performance have been arbitrarily specified. In this paper, we apply the genetic algorithm to the trajectory tracking control of a mobile robot with input constraints in order to minimize the trajectory tracking errors through control parameter tuning, and apply the quadratic programming Hildreth method to reflect the input constraints. Through the computer simulation, the superiority of the proposed method is confirmed by comparing with the existing method.

• Journal of Advanced Navigation Technology
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• v.23 no.5
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• pp.424-429
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• 2019

The evolution of networking technology such as commercialization of 5G systems provides foundation for information exchange and control of systems over the network. In addition, importance of controlling a system with delay is increasing significantly, since various phenomena in the network are associated with delay. In this paper, with a predictive control which has been studied for designing a controller with low complexity, we propose a novel predictive control for a system with multi-inputs such that it can keeps the complexity almost the same regardless of the number of inputs and degree of delay. The asymptotic stability of the proposed control with a static output feedback is also proved. The numerical simulation shows that the proposed method is superior in complexity and the performance of finding feasible controllers to the existing predictive control and a conventional method based on augmented states.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10a
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• pp.734-740
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• 1987

Various kinds of predictive control design methods such as MAC(Model Algorithmic Control), DMC(Dynamic Matrix Control), MC(Extended Horizon Adaptive Control), GPC(Generalized Predictive Control), RHTC(Receding Horizon Tracking Controller), and PVC(PreView Controller) are surveyed and compared in this paper. In addition, stability properties of these control laws known to date are summarized and some new stability results are presented.

• Proceedings of the KIPE Conference
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• 1998.10a
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• pp.1-6
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• 1998

To achieve fast control action, direct control methods should be used. "Direct Mean Torque Control" (DMTC) combines the good dynamic performance of Direct Torque Control (DTC) with the advantages of inherently constant switching frequency and time equidistant control for implementation in a digital signal processor. Since DMTC is a predictive control algorithm, the model and its correction deserves special investigations. This paper proposes a steady-state Kalman filter which is well suited for fast computation.mputation.

• Proceedings of the KIEE Conference
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• 1997.07f
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• pp.2028-2032
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• 1997

When a high performance current control is desired, a computation time delay of a digital control system may deteriorate the control performance of a current controller. Such a non-negligible effect can be considerable in transient state. This paper deals with the modified predictive current control that compensates the time delay effects of a conventional predictive current control. The method is closely related to a local average current control and a symmetrical PWM pattern generation. Also some theoretical approaches are presented to describe the voltage saturation boundary of the power converter. For validation, the proposed method is applied to an active power filter system. The experimental results show considerable improvement in current tracking capability.

• Journal of Institute of Control, Robotics and Systems
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• v.2 no.1
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• pp.60-66
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• 1996

Model Based Predictive Control(MBPC) has been widely used in predictive control since 80's. GPC[1] which is the superset of many MBPC strategies a popular method, but GPC has some weakness, such as insufficient stability analysis, non-applicability to internally unstable systems. However, CRHPC[2] proposed in 1991 overcomes the above limitations. So we chose RHPC based on CRHPC for electric furnace control. An electric furnace which has nonlinear properties and large time delay is difficult to control by linear controller because it needs nearly perfect modelling and optimal gain in case of PID. As a result, those controls are very time-consuming. In this paper, we applied RHPC with equality constraint to electric furnace. The reults of experiments also include the case of RHPC with monotonic weighting improving the transient response and including unmodelled dynamics. So, This paper proved the practical aspect of RHPC for real processes.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1146-1151
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• 2005

This paper deals with the control problem of a natural circulation water tube boiler with constraint conditions. Some linearized models for the water tube boiler are proposed around some operating points, and the model based predictive control law is adopted to control the plant accounting for constraints. In this controller, the Kalman filter is used for the state estimation, and the controller is designed based on the linearized model. The control performance of the designed controller is exemplified via some nonlinear simulations around the operation point, which show it works well.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.3
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• pp.268-272
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• 2007

These days many scientists make studies of feedback control system for stability on non-linear state and for the maneuver of flying objects. These feedback control systems have to satisfy trajectory condition and angular conditions, that is to say, controllability and stability simultaneously to achieve mission. In this paper, a design methods using model based control system which consists of spiral predictive model, Q-function included into generalized-work function is shown. It is made a clear that the proposed algorithm using SPM maneuvers for controllability and stability at the same time is successful in attaining our purpose. The feature of the proposed algorithm is illustrated by simulation results. As a conclusion, the proposed algorithm is useful for the control of moving objects.