• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.25-25
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• 2000

This paper presents a design method of sliding mode control (SMC) for single input linear systems with mismatched uncertainties. We define a virtual state based on the controllable canonical form of the nominal system. And we define a sliding surface for the augmented system with a virtual state. This sliding surface makes it possible to use SMC technique with various types of controllers. In this paper, we construct a controller that combines SMC with robust controller. We design a robust controller for the system with only mismatched uncertainties using a form of linear matrix inequality (LMI). We make a virtual state from this robust control input and the states of the nominal system. And we design a sliding mode controller that stabilizes the overall closed-loop system.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.3
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• pp.193-197
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• 2001

This paper presents a design method of sliding model control (SMC) for single input linear systems with mismatched uncertainties. We define a virtual state based on the controllable canonical form of the nominal system. And we defined a sliding surface for the augmented system with a virtual state. This sliding surface makes it possible to use the SMC technique with various types of controllers. In this paper, we construct a controller that combines SMC with robust controller. We design a robust controller for the system with mismatched uncertainties using a form of linear matrix inequality(LMI). We make a virtual state from this robust control input and the states of the nominal system. And we design a sliding model controller that stabilizes the overall closed-loop system.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2602-2604
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• 2000

In this paper, we study robust linear optimal model following servo system in the presence of disturbances and parameter perturbations. A technique to directly design the generalized differential operator based unified control system that covers both differential operator based continuous time and delta operator based discrete time case is presented. The quadratic criterion function for a linear system is used to design the robust unified servo control system. This servo control system is designed by applying a simple genetic algorithm to follow the output of the reference model optimally. The characteristics of the proposed servo system are analysed and simulated to verify the robustness.

• Proceedings of the KIEE Conference
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• 1998.11b
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• pp.493-495
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• 1998

Robust design is one method to make manufacturing less sensitive to manufacturing process. Also it is cost effective technique to improve the quality process. This method uses statistically planned experiments to vary settings of important process control parameters. In this paper we apply fuzzy optimization and fuzzy logic system to robust design concept. First a method which uses fuzzy optimization in obtaining optimum settings by measured data from experiments will be presented. Second, fuzzy logic system is made to reduce experiments using experiments results consisted with key control parameter combinations. Then optimum parameter set points are obtained by the descrebed first fuzzy optimization method after prediction the results of each parameter combinations considering each control parameter variations by nonsingleton fuzzy logic system concept.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.1
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• pp.153-158
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• 2017

This paper investigates a robust low-complexity design problem for tracking control of uncertain switched pure-feedback systems in the presence of unknown control direction. The completely unknown non-affine nonlinearities are assumed to be arbitrarily switched. By combining the nonlinear error transformation technique and Nussbaum-type functions, a robust tracking controller is designed without using any adaptive function approximators. Thus, compared with existing results, the proposed control scheme has the low-complexity property. From Lyapunov stability theory, it is shown that the tracking error remains within the preassigned transient and steady-state error bounds.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.11
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• pp.1598-1604
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• 2015

In this paper, we treat the problem of a robust finite-time dissipative state feedback controller design method for discrete-time singular systems with polytopic uncertainties. A BRL(bounded real lemma) for finite-time stability of discrete-time singular systems is derived. A finite-time dissipative state feedback controller design method satisfying finite-time stability and dissipativity is proposed by LMI(linear matrix inequality) technique on the basis of the obtained BRL. Moreover it is shown that the obtained condition can be extended into polytopic uncertain systems by proper manipulations. Finally, illustrative examples are given to show the applicability of the proposed method.

• Journal of Ocean Engineering and Technology
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• v.26 no.1
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• pp.41-46
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• 2012

A deep-sea manganese nodule miner consists of 4 parts: the pickup device, crusher, disposal device, and tracked vehicle. The tracked vehicle is an essential component to keep the self-propelled miner moving across deep-sea soil. The performances of the tracked vehicle are influenced by noise factors: the shear strength of the seafloor, bottom current, seafloor slope, track speed, reaction forces of flexible hose, etc. It is necessary to adopt a robust design method that improves the performances and minimizes the variation caused by noise factors. Taguchi's method, the most widely known robust design method, searches for the robust optimum using an orthogonal array composed of the product of the inner array and outer array. In this paper, we propose a new screening technique to reduce the number of input factors and apply the MRSN (Multi-Response Signal to Noise) ratio to convert multiple performances into single one in order to overcome the difficulties and limitations of using Taguchi's method in a case with many input factors and multiple performances. A test miner was already designed and tested. It has about 1/10 the capacity of a commercial one and was successfully operated at an in-shore area. Taguchi's robust design was applied to the tracked vehicle of the test miner, and design improvements were implemented for the vehicle.

• Journal of Power Electronics
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• v.11 no.4
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• pp.430-438
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• 2011

This article proposes a robust nonlinear control based on Lyapunov's redesign, whose purpose is to deal with parametric uncertainty in the resistance of the motor windings. The robust controller design is based on the passivity properties of the motor, as well as energy shaping and damping injection. The application of this control technique is focused on electric vehicles mainly formed by a battery bank, a power inverter, an AC brushless motor and the mechanical transmission. The sine PWM technique is used to trigger the switching devices of inverter. The results were obtained from simulation, where is shown that robust control makes a proper tracking of electromagnetic torque.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.106-109
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• 1995

First, in this paper we propose a new dead best control system design technique by which we can specify a transient response before the settling time. Though the resultant system has the same system configuration as Reference[1], that is realized by adapting the performance index which includes the term of the square of difference between specified and pracitical responses. Next, we state a technique which gives the dead beat control system robustness and construct a robust dead beat control system. Simulations of the proposed dead beat control and robust dead beat control systems show expected results.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.1
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• pp.187-192
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• 2009

This paper presents a method for designing a robust controller that alleviates disturbance effects and compensates performance degradation owing to the time-delay. Disturbance observer(DOB) approach as a tool of robust control has been widely employed in industry. However, since the Pade approximation of time-delay makes the plant non-minimum phase, the classical DOB cannot be applied directly to the system with time-delay. By using a new DOB structure for non-minimum phase systems together with the Smith Predictor, we propose a new controller for reducing the both effects of disturbance and time-delay. Moreover, the closed-loop system can be made robust against uncertain time-delay with the help of a Pill controller tuning method that is based on a second-order plus dead time modeling technique.