• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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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..

• Journal of the Korean Society of Industry Convergence
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• v.18 no.3
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• pp.157-166
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• 2015

In this paper, we proposed a new robust control scheme to implement stable control of robot manipulators including nonlinear perameters The proposed robust controller is composed of a nonlinear controller and linear compemsation controller. It shows a good robust performance in reaching mode which does not possess invariance property. Thus, the proposed nonlinear controller showed a good robust performance in the whole region, It was illustrated that the proposed control showed a good transient response and trajectory tracking performance for robot manipulator with four joint by experiments.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.17 no.9
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• pp.805-812
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• 2007

This paper present a robust controller design method based on the estimation of velocity disturbance to construct a robust fine seek control system. A loop gain adjustment algorithm is introduced to accurately estimate the velocity disturbance in spite of the uncertainties of fine actuator. A weighting function is optimally selected from a minimum fine seek open-loop gain, calculated by estimating the velocity disturbance. A robust fine seek controller is designed by considering a robust $H_{\infty}$ control problem using the weighting function. The proposed controller design method is applied to the fine seek control system of a DVD rewritable drive and is evaluated through the experimental results.

• Proceedings of the KIPE Conference
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• 2010.11a
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• pp.298-299
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• 2010

In this paper a robust voltage controller of single-phase inverter for UPS is presented. The voltage controller is designed using ${\mu}-based$ robust control scheme to simultaneously guarantee robust stability and robust tracking performance in presence of filter and load parameter variations. Firstly the robust performance of the resulting controller is theoretically confirmed via ${\mu}-analysis$. Then simulation results for single-phase inverter system with linear and nonlinear loads demonstrate feasibility of the proposed control method providing improved performance - good regulation and fast dynamic response.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.20 no.4
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• pp.66-72
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• 2021

Since the behavior of an autonomous underwater vehicle (AUV) is influenced by disturbances and moments that are not accurately known, the depth control law of AUVs must have the ability to track the input signal and to reject disturbances simultaneously. Here, we proposed robust tracking control for controlling the depth of an AUV. An augmented closed-loop system is represented by an error dynamic equation, and we can easily show the asymptotic stability of the overall system by using a Lyapunov function. The robust tracking controller is consisted of the internal model of the command signal and a state feedback controller, and it has the ability to track the input signal and reject disturbances. The closed-loop control system is robust to parameter uncertainties. Simulation results showed the control performance of the robust tracking controller to be better than that of a P + PD controller.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.50 no.12
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• pp.575-583
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• 2001

It is hard to obtain good robust performance and robust stability for uncertain and time-varying system. The robust 2-DOF controller is frequently used to obtain the desired response and the good robustness. Two controllers can be independently designed. Generally, one controller reduces sensitivity to parameter variations, nonlinear effects, and other disturbances. On the other hand, the other controller reduces the error between the desired command and output. In this paper, the various robust perfect MFCs(model-following controllers) combined with TDC(Time Delay Control) are designed, and the imperfect stable MFC combined with TDC and SMC(Sliding Mode Control) is proposed. These controllers are based on the method of designing robust 2-DOF controllers for dynamic system with uncertainty. The performance of the proposed imperfect sable MFC has been evaluated through computer simulations. The simulation results indicate that the proposed controller shows the excellent performance characteristics for an overhead crane with uncertain and time-varying parameters.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.5
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• pp.411-418
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• 2006

There are mainly two types of bang-bang controllers for nominal linear time-invariant (LTI) system. Optimal bang-bang controller is designed based on optimal control theory and suboptimal bang-bang controller is obtained by using Lyapunov stability condition. In this paper, the suboptimal bang-bang control method is extended to LTI system involving both control input saturation and structured real parameter uncertainties by using Lyapunov robust stability condition. Two robust optimal bang-bang controllers are derived by minimizing the time derivative of Lyapunov function subjected to the limit of control input. The one is developed based on the classical quadratic stability(QS), and the other is developed based on the affine quadratic stability(AQS). And characteristics of the two controllers are compared. Especially, bounds of parameter uncertainties which theoretically guarantee robust stability of the two controllers are compared quantitatively for 1DOF vibrating system. Moreover, the validity of robust optimal bang-bang controller based on the AQS is shown through numerical simulations for this system.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.6 no.2
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• pp.155-160
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• 2006

In the paper a robust indirect adaptive fuzzy controller is proposed for balancing and position control of the inverted pendulum system. Because balancing control rules of the pendulum and position control rules of the cart can be opposite, it is difficult to design an adaptive fuzzy controller that satisfy both objectives. To stabilize the pendulum at a specified position, the proposed fuzzy controller consists of a robust indirect adaptive fuzzy controller for balancing and a supervisory fuzzy controller which emulates heuristic control strategy and arbitrate two control objectives. It is proved that the signals in the overall system are bounded. Simulation results are given to verify the proposed adaptive fuzzy control method.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.327-331
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• 1997

This paper presents the non-linear modeling and design of a robust sliding mode controller for film transfer systems. The tension of a film is sensitive to the speed difference between a winder and an unwinder. The change of the roll-radius as well as the moment of inertia result in the film transfer system begin variable and non-linear. In designing the robust controller. Two major aims are considered. The first aim is hat the web transferring speed tracks at any given reference speed; the second one is that the tension of the film tracks at any given reference tension. To verify the control algorithm, a Simulink model was built and compared with a conventional PID controller. In a computer simulation study, the suggested robust sliding mode controller shows better performance than the PID controller a various control inputs.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.6
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• pp.667-675
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• 1999

In this paper, we propose a robust controller design of RTP(Rapid Thermal Processing) system using structured uncertainty approach. Using the weighted mixed sensitivity function, we solve the robust stability problem against disturbance and temperature variation, and design a $\mu$ controller using curve fitting method against structured uncertainty. Also the reduction method should be requried because of the difficulty of implementaion with the obtained high order controller. We dal with robust stability and performance of RTP system by the design of $\mu$ controller for original model and Schur balanced reduced model. Finally the simulation results are proposed to show the validity of the proposed method.