• 제어로봇시스템학회논문지
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• 제5권6호
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• pp.656-666
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• 1999

In this paper, we design the optimal PD control system which has the robust performance. This PD control system is designed by applying genetic algorithm (GA) to the determination of proportional gain KP and derivative gain KD that are given by PD servo controller, to make the output of plant follow the output of reference model optimally. These proportional and derivatibe gains are simultaneously optimized in the search domain guaranteeing the robust performance of system. And, this PD control system is compared with $\mu$ -synthesis control system for the robust performance. The PD control system designed by the proposed method has not only the robust performance but also the better command tracking performance than that of the $\mu$ -synthesis control system. The effectiveness of this control system is verified by computer simulation.

• KIEE International Transactions on Power Engineering
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• 제4A권3호
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• pp.109-114
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• 2004

In this paper, the H$\infty$ control method is applied in the control of SPFC and generators in order to obtain the robust stability performance of the power system. Moreover, a SPFC H$\infty$ controller based on loop shaping is designed to achieve first-rate tracking properties in addition to the robust stability. This robust control method is applied to a Ward and Hale 6-bus power system and the effects are analyzed. The MATLAB program is used for simulation of the robust controller.

• Journal of information and communication convergence engineering
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• 제6권1호
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• pp.105-109
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• 2008

A robust optimal control system design algorithm in active suspension equipment adopting linear matrix inequalities control system design theory is presented. The validity of the linear matrix inequalities robust control system design in active suspension system through the numerical examples is also investigated.

• International Journal of Control, Automation, and Systems
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• 제6권6호
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• pp.960-967
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• 2008

This paper shows that design of a robustly stable repetitive control system is equivalent to that of a feedback control system for an uncertain linear time-invariant system satisfying the well-known robust performance condition. Once a feedback controller is designed to satisfy the robust performance condition, the feedback controller and the repetitive controller using the performance weighting function robustly stabilizes the repetitive control system. It is also shown that we can obtain a steady-state tracking error described in a simple form without time-delay element if the robust stability condition is satisfied for the repetitive control system. Moreover, using this result, a sufficient condition is provided, which ensures that the least upper bound of the steady-state tracking error generated by the repetitive control system is less than or equal to the least upper bound of the steady-state tracking error only by the feedback system.

• 한국지진공학회:학술대회논문집
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• 한국지진공학회 2003년도 추계 학술발표회논문집
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• pp.442-449
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• 2003

This paper presents a robust hybrid control system for seismic response control of a cable-stayed bridge. Because multiple control devices are operating, a hybrid control system could alleviate some of restirctions and limitations that exist when each system is acting alone. A LQG algorithm with on-off control scheme, H$_2$ and H$_{\infty}$ control algorithms with various frequency weighting filters are used to improve the controller robustness of the active control part in the hybrid control system. The numerital simulation results show that control performances of robust hybrid control systems are similar to those of the hybrid control system with LQG algorithm. Furthermore, it is verified that robust hybrid control systems are more robust than the hybrid control system with LQG algorithm and there are no signs of instabilities in the $\pm$5％ stiffness matrix perturbed system. Therefore, the proposed hybrid control system have a good robustness for stiffness matrix perturbation without loss of control effectiveness.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.779-782
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• 1996

Repetitive control is a proposed control strategy in view of the internal model principle and achieves a high accuracy asymptotic tracking property by implementing a model that generates the periodic signals of period into the closed-loop system. Since the repetitive control system contains a periodic signal generator with positive feedback loop, which reduces the stability margin, in the overall closed-loop system, the stability of the closed-loop system should be considered as an important problem. In case that a real system has plant uncertainties which are not represented through modeling, the robust stability problem of the repetitive control system has not been considered sufficiently. In this paper, we propose the robust stability condition for the system with modeling uncertainty. The proposed robust stability condition will be obtained using the robust performance condition in the H$_{\infty}$ control. Moreover, by use of the proposed robust stability condition, we propose a procedure that designs a repetitive controller and a feedback controller simultaneously which can stabilize the overall closed-loop system robustly and which can also do the closedloop system without repetitive controller..

• Korean Journal of Mathematics
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• 제16권4호
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• pp.457-470
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• 2008

This paper is concerned with the robust boundary control of the chemotaxis reaction diffusion system. That is, we show that the existence of the saddle point for the robust control problem when the control and the disturbance are given by the boundary condition.

• 제어로봇시스템학회논문지
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• 제9권10호
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• pp.755-767
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• 2003

This paper proposes a robust fault-tolerant control framework for robot manipulators to maintain the required performance and achieve task completion in the presence of both partial joint failures and complete joint failures and uncertainties. In the case of a complete joint failure or free-swinging joint failure causing the complete loss of torque on a joint, a fully-actuated robot manipulator can be viewed as an underactuated robot manipulator. To detect and identify a complete actuator failure, an on-line fault detection operation is also presented. The proposed fault-tolerant control system contains a robust adaptive controller overcoming partial joint failures based on robust adaptive control methodology, an on-line fault detector detecting and identifying complete joint failures, and a robust adaptive controller overcoming partial and complete joint failures, and so eventually it can face and overcome joint failures and uncertainties. Numerical simulations are conducted to validate the proposed robust fault-tolerant control scheme.

• 전기학회논문지P
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• 제53권4호
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• pp.161-165
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• 2004

This thesis proposes a robust controller introducing the $H_{\infty}$ control theory, one of the robust control theories that can obtain desired control performance while ensuring robustness for the uncertainty and disturbance contained in the power system. This thesis also proposes an improved digital exciter control system for a synchronized generator using a digitally designed controller. Simulation to verify the usefulness of the proposed method was carried. Results show that the proposed control system manifests excellent control performance compared to existing control systems.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.692-695
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• 1997

Nonlinear robust attitude controller for 3-axis stabilized spacecraft is designed. Robust stability analysis for nonlinear spacecraft system with disturbance is conducted. External disturbances and parametric uncertainties decrease Spacecraft's attitude pointing accuracy. Sliding Mode Control(SMC) provides stability of system in the face of these disturbances and uncertainties. The concept of quadratic boundedness and quadratic stability are applied to the robust analysis for the nonlinear spacecraft system subject to bounded disturbance torques. Numerical simulation is conducted to compare the analysis result and actual nonlinear simulation. The simulation show that analysis result is valid.