• 제어로봇시스템학회논문지
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• 제7권2호
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• pp.102-108
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• 2001

In this paper, an active noise controller for a communication headset was designed. In a communication headset, there exist information signals such as voices from the end for the communication line as well as also, undesirable noises with are induced by external noise sources such as engine noises. Therefore, it is necessary to reduce the external noises for clear hearing of the communication signals. This problem was solved by robust H(sub)$\infty$ controller to reduce noise and a compensator for information signals The designed controller was implemented using TMS320C31 DSP Op-amp, and several experiments were performed to verify its performance. The results showed that the controller reduces the undesirable noises sufficiently, while communication signals are not reduced.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.598-603
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• 2005

In this study, an adaptive control scheme with a pre-specified $H_{\infty}$ property is proposed for the tracking control of linear induction motor (LIM) drive system. Under the influence of uncertainties and external disturbances, by using nonlinear decoupling and parameter tuner, the robust performance control problem is formulated as a nonlinear $H_{\infty}$ problem and solved by a quadratic storage function. This new design method is able to track the step and several periodic commands with improved performance in face of parameter perturbations and external disturbances. Simulation and experimental results are provided to demonstrate the effectiveness of the proposed adaptive $H_{\infty}$ controller.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 추계학술대회논문집A
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• pp.673-678
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• 2001

This paper proposes a new type of piezoactuator-driven valve system. The piezoceramic actuator bonded to both sides of a flexible beam surface makes a movement required to control the pressure at the flapper-nozzle of a pneumatic valve system. After establishing a dynamic model, an appropriate size of the valve system is designed and manufactured. Subsequently, a robust $H_{\infty}$ control algorithm is formulated in order to achieve accurate tracking control of the desired pressure. The controller is experimentally realized and control performance for the sinusoidal pressure trajectory is presented in time domain. The control bandwidth of the valve system, which directly represents the fastness, is also evaluated in the frequency domain.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 춘계학술대회
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• pp.733-738
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• 2004

This paper deals with feedback control of a hydraulic unit for direct yaw moment control, a method used to actively maintain the dynamic stability of an automobile. The uncertain parameters and complex structure naturally call for empirical modeling of the hydraulic unit, which readily results in a control-oriented model with high fidelity. The identified model is cross-validated against experimental data under various conditions, which helps to establish model uncertainty. Then, the $H_{\infty}$ optimization technique is employed to synthesize a controller with guaranteed robust stability and performance against the model uncertainty. The performance of the synthesized controller is verified using experimental results, which shows the viability of the proposed approach in a real-world application.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2005년도 춘계학술대회 논문집
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• pp.103-108
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• 2005

In this paper, a controller design procedure for an electro-hydraulic positioning systems have developed using $H_\infty$ control theory. The generalized models and weighting functions for a multiplicative uncertainty modelling error is presented along with $H_\infty$ controller designs in order to investigate the robust stability and performance. The multiplicative uncertainty case is specifically suited for the design of an electro-hydraulic positioning control systems using $H_\infty$ control.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1981-1986
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• 2004

In this study, the basic motor control system had been investigated. The controller for this study consists of two main parts, a feedforward controller part and a feedback controller part. Each part will deals with different control problems. The feedback controller deals with robustness and stability, while the feedforward controller deals with response speed. The feedforward controller, used to solve the tracking control problem, is adaptable. To make such a tracking perfect, an adaptive law based on Feedback Error Learning (FEL) is designed so that the feedforward controller becomes an inverse system of the controlled plant. The novelty of FEL method lies in its use of feedback error as a teaching signal for learning the inverse model. The theory in $H^{\infty}$-Control is selected to be applied in the feedback part to guarantee the stability and solve the robust stabilization problems. The simulation of each individual part and the integrated one are taken to clarify the study.

• Journal of Mechanical Science and Technology
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• 제16권10호
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• pp.1187-1200
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• 2002

This paper is concerned with the design or an LMI (Linear Matrix Inequality) -based H$\infty$ controller for a line of sight (LOS) stabilization system and with its robustness performance. The linearization of the system is necessary to analyze various nonlinear characteristics, but the linearization entails modeling uncertainties which reduce its performance. In addition, the stability of the LOS can be adversely affected by angular velocity disturbances while the vehicle is moving. As the vehicle accelerates, all the factors that are Ignored and simplified for the linearization tend to Inhibit the performance of the system. The robustness in the face of these uncertainties needs to be assured. This paper employs H$\infty$ control theory to address these problems and the LMI method to provide a suitable controller with minimal constraints for the system. Even though the system matrix does not have a full rank, the proposed method makes it possible to design a H$\infty$ controller and to deal with R and S matrices for reducing the system order. It can be also shown that the proposed robust controller has a better disturbance attenuation and tracking performance. The LMI method is also used to enhance the applicability of the proposed reduced-order H$\infty$ controller for the system given. The LMI-based H$\infty$ controller has superior disturbance attenuation and reference input tracking performance, compared with that of the conventional controller under real disturbances.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 제36회 하계학술대회 논문집 D
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• pp.2723-2725
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• 2005

In this paper, a robust $H{\infty}$ stabilization problem to a uncertain discrete-time nonlinear systems with time-delay via fuzzy static output feedback is investigated. The Takagi-Sugeno (T-S) fuzzy model is employed to represent an uncertain nonlinear systems with time-delayed state. Then parallel distributed compensation technique is used for designing of the robust fuzzy controller. Using a single Lyapunov function, the globally asymptotic stability and disturbance attenuation of the closed-loop fuzzy control system are discussed. Sufficient conditions for the existence of robust $H{\infty}$ controllers are given in terms of linear matrix inequalities via similarity transform and congruence transform technique.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.421-421
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• 2000

In this paper, robust two-degree-of-freedom controller for satellite antenna system which tracks reference signal is designed. Two-degree-of-freedom controller consists of a prefilter and a feedback controller to solve trade-off between robust stability and command response. The feedback controller is designed from specifications like stability, disturbance rejection and robustness via H$_{\infty}$ design technique. In the sequel, H$_2$ optimal prefilter is introduced to improve the command response. This suggests a two-step design, with different types of performance specifications at each stage. In practical problems, this may easily lead to a prefilter of unacceptably high order. In order to avoid high order prefilter we use a particular structure in which both the prefilter and the feedback controller share the same dynamics. H$_2$-prefilter technique proposed in this paper is verified by simulation.

• 한국정보통신학회논문지
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• 제12권2호
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• pp.276-281
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• 2008

본 논문에서는 SVM(Support Vector Machine)을 이용하여 공칭 시스템의 동특성을 갖는 슬라이딩 평면 설계기법을 제안한다. 전형적인 슬라이딩 모드에서 슬라이딩 평면의 차수는 시스템의 차수보다 낮은 차수를 갖기 때문에 슬라이딩 평면은 $H_{\infty}$ 제어기의 동특성을 가질 수 없다. 그러므로 이 문제를 해결하기 위해서는 추가적인 상태들이 정의되어야 한다. 본 논문에서는 추가적인 상태를 정의하지 않고 SVM을 이용하여 공칭 시스템의 동특성을 가질 수 있는 슬라이딩 평면의 설계기법을 제안한다. 이 설계기법은 먼저 $H_{\infty}$ 제어기에 의해서 제어되는 공칭시스템의 상태들 간에 SVM을 이용하여 그 관계를 정립하며. 이를 바탕으로 새로운 슬라이딩 평면을 설계하며 이 평면은 $H_{\infty}$ 제어 시스템 특성을 가진다. 그 결과 파라미터 불확실성이 존재하더라도 제안된 제어기는 $H_{\infty}$ 제어기에 의해서 제어되는 공칭 시스템의 동특성을 가질 수 있다.