• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.747-750
• /
• 1996

This paper considers the problem of robust H$_{\infty}$ control with regional stability constraints via output feedback to assure robust performance for uncertain linear systems. A robust H$_{\infty}$ control problem and the generalized Lyapunov theory are introduced for dealing with the problem, The output feedback H$_{\infty}$ controller makes the controlled outputs settle within a given bound and the control input not to be saturated. The regional stability constraints problem for uncertain systems can be reduced to the problem for the nominal systems by finding sufficient bounds of variations of the closed-loop poles due to modeling uncertainties. A controller design procedure is established using the Lagrange multiplier method. The controller design technique was illustrated on the track-following system of a optical disk drive.ve.

• Journal of the Korean Society for Precision Engineering
• /
• v.17 no.1
• /
• pp.68-75
• /
• 2000

In this paper, the robust controller design is performed for the speed control of the underwater vehicle diesel engine. Nonlinear model equations are acquired through the mathematical modeling using mean torque production model technique. It is very difficult to design the robust controller because those are high nonlinear and not expressed in terms of the matched uncertainty Therefore those are converted into the separable model into the linear nominal system and the nonlinear uncertainty term.

• 제어로봇시스템학회:학술대회논문집
• /
• 1990.10a
• /
• pp.485-492
• /
• 1990

This paper propose a optimal design method for robust notion controllers of under-water vehicles using the combined technique between classical and modern theories. The proposed method is presented which utilizes classical control methods to obtain a good robustness and modern control methods to set optimal gains. LQ, SVD, multivariable frequency analysis and Bode-Root Locus (BRL) plot are used.

• 제어로봇시스템학회:학술대회논문집
• /
• 1998.10a
• /
• pp.157-160
• /
• 1998

We argue that the combination of optimal control synthesis and QFT tuning enables design of controllers with levels of performance that surpasses what can be achieved using only a single technique. Using a constructive example, we demonstrate how the strength of each technique is utilized to arrive at a particularly desired controller in terms of tradeoffs between performance and controller complexity.

• Journal of Institute of Control, Robotics and Systems
• /
• v.8 no.4
• /
• pp.313-318
• /
• 2002

A robust attitude controller using Lyapunov redesign technique for spacecraft is proposed. In this controller, qua- ternion feedback is considered to have the attitude maneuver capability very close to the eigen-axis rotation. The controller consists of three parts: the nominal feedback parts which is a PD-type controller for the nominal system without uncertainties, the additional term compensating for the gyroscopic motion, and the third part for ensuring robustness to uncertainties. Lyapunov stability criteria is applied to stability analysis. The performance of the proposed controller is demonstrated via computer simulation.

• Proceedings of the KIEE Conference
• /
• 2005.07d
• /
• pp.2723-2725
• /
• 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.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.64 no.7
• /
• pp.1096-1103
• /
• 2015

Electromagnetic levitation system(EMLS) is one of the well known nonlinear systems due to its high degree of nonlinearities. Moreover, when there are uncertain parameters in EMLS, it is not easy to have an accurate control of EMLS. In this paper, we first apply a standard input-output feedback linearzing controller to EMLS and investigate the possible control error caused by uncertain coil resistor. Then, as a remedy, we design and apply a robust controller using Lyapunov redesign technique to deal with this uncertain coil resistor in the system. The validity of our robust controller is verified via system analysis and experimental results.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2000.05a
• /
• pp.142-145
• /
• 2000

A new robust load-frequency control (LFC) methodology is proposed for nonlinear power systems with the valve position limits of the governor in the presence of parametric uncertainties. The Takagi-Sugeno (TS) fuzzy model is adopted for fuzzy modeling of the nonlinear power system. A sufficient condition of the robust stability is presented in the sense of Lyapunov for the TS fuzzy model with parametric uncertainties. The intelligent digital redesign technique for the uncertain nonlinear power system is also studied. The effectiveness of the proposed robust fuzzy LFC controller design method is demonstrated through a numerical simulation.

• Journal of Korean Society of Industrial and Systems Engineering
• /
• v.46 no.4
• /
• pp.199-208
• /
• 2023

Taguchi method is one of the most popular approaches for design optimization such that performance characteristics become robust to uncontrollable noise variables. However, most previous Taguchi method applications have addressed a single-characteristic problem. Problems with multiple characteristics are more common in practice. The multi-criteria decision making(MCDM) problem is to select the optimal one among multiple alternatives by integrating a number of criteria that may conflict with each other. Representative MCDM methods include TOPSIS(Technique for Order of Preference by Similarity to Ideal Solution), GRA(Grey Relational Analysis), PCA(Principal Component Analysis), fuzzy logic system, and so on. Therefore, numerous approaches have been conducted to deal with the multi-characteristic design problem by combining original Taguchi method and MCDM methods. In the MCDM problem, multiple criteria generally have different measurement units, which means that there may be a large difference in the physical value of the criteria and ultimately makes it difficult to integrate the measurements for the criteria. Therefore, the normalization technique is usually utilized to convert different units of criteria into one identical unit. There are four normalization techniques commonly used in MCDM problems, including vector normalization, linear scale transformation(max-min, max, or sum). However, the normalization techniques have several shortcomings and do not adequately incorporate the practical matters. For example, if certain alternative has maximum value of data for certain criterion, this alternative is considered as the solution in original process. However, if the maximum value of data does not satisfy the required degree of fulfillment of designer or customer, the alternative may not be considered as the solution. To solve this problem, this paper employs the desirability function that has been proposed in our previous research. The desirability function uses upper limit and lower limit in normalization process. The threshold points for establishing upper or lower limits let us know what degree of fulfillment of designer or customer is. This paper proposes a new design optimization technique for multi-characteristic design problem by integrating the Taguchi method and our desirability functions. Finally, the proposed technique is able to obtain the optimal solution that is robust to multi-characteristic performances.

• Journal of the Korean Society for Precision Engineering
• /
• v.17 no.6
• /
• pp.135-142
• /
• 2000

In this paper, 3-dimensional numerical model of an escalator is developed to study the vibration characteristics. This proposed model is able to consider the elastic deformation of the frame during transient dynamic analysis. Deformation modes which are used to calculate the elastic deformation are selected from the FE model analysis. Because low frequency vibration is very important to the ride quality of fore/aft direction, low frequency deformation modes of the frame below 20Hz are considered. To show validity of this dynamics model, longitudinal acceleration of a step is compared with test data in frequency domain. Then robust design technique is applied to determine important design factors and improve ride quality with small number of experiments.