• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 ITC-CSCC -2
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• pp.1220-1223
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• 2002

In this paper, numerical robust stability analysis method and its design are presented. L$_2$robust stability of the fuzzy system is analyzed by casting the systems into the diagonal norm bounded linear differential inclusions (DNLDI) formulation. Based on the linear matix inequality (LMI) optimization programming, a numerical method for finding the maximum stable ranges of the fuzzy feedback linarization control gains is proposed.

• 제어로봇시스템학회논문지
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• 제4권5호
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• pp.592-599
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• 1998

In this paper, we design a tracking controller which satisfies transient response specifications and maintains tracking error within a tolerable limit for the uncertain track-following system of an optical disk drive. To this end, a robust $H_{\infty}$ control problem with regional stability constraints and sinusoidal disturbance rejection is considered. The internal model principle is used for rejecting the sinusoidal disturbance caused by eccentric rotation of the disk. We show that a condition satisfying the regional stability constraints can be expressed in terms of a linear matrix inequality (LMI) using the Lyapunov theory and S-procedure. Finally, a tracking controller is obtained by solving an LMI optimization problem involving two linear matrix inequalities. The proposed controller design method is evaluated through an experiment.

• 한국정밀공학회지
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• 제30권12호
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• pp.1287-1293
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• 2013

In this paper, we consider variable speed wind turbine systems containing uncertain elements. Though PI controller is generally used for pitch control, it cannot guarantee a stability and performance of the complicated wind turbine systems. A robust pitch control scheme is proposed to regulate the electric power output above the rated wind speed. The pitch controller is designed in order to guarantee uniform boundedness and uniform ultimate boundedness based on the bound values of the set where the uncertainties are laid or moves. In order to verify the proposed control scheme, we present stability analysis and simulation results using Matlab/Simulink.

• 제어로봇시스템학회논문지
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• 제17권12호
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• pp.1188-1193
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• 2011

A nonlinear version of disturbance observer is presented. The system under consideration is an uncertain single input single output nonlinear system and the nominal plant is also a nonlinear system. Compared to the previous implementation given in [8], the proposed scheme does not require an auxiliary variable anymore, thus it has a simpler and more intuitive structure. A robust stability condition for the overall closed-loop system is also provided.

• 제어로봇시스템학회논문지
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• 제15권1호
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• pp.72-81
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• 2009

This paper presents a robust adaptive control method using model reference control strategy against autonomous robot systems with random friction nature. We approximate a nonlinear robot system model by means of a feedback linearization approach to derive nominal control law. We construct a Least Square (LS) based observer to estimate friction dynamics online and then represent a perturbed system model with respect to approximation error between an actual friction and its estimation. Model reference based control design is achieved to implement an auxiliary control in order for reducing control error in practice due to system perturbation. Additionally, we conduct theoretical study to demonstrate stability of the perturbed system model through Lyapunov theory. Numerical simulation is carried out for evaluating the proposed control methodology and demonstrating its superiority by comparing it to a traditional nominal control method.

• 대한전기학회논문지
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• 제41권3호
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• pp.300-310
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• 1992

This paper deals with the problem of robust pole-assignment control for linear systems with structured uncertainty. It considers two cases whose colsed-loop characteristic equations are presented as a family of interval polynomial and polytopic polynomial family respectively. We propose a method of finding the pole-placement region in which the fixed gain controller guarantees the required damping ratio and stability margin despite parameter perturbation. Some results of Kharitonov like stability and two kinds of transformations are included. As an illustrative example, we show that the proposed method can apply effectivly to the single magnet levitation system including some uncertainties (mass, inductance etc.).

• 한국공작기계학회논문집
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• 제13권2호
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• pp.40-46
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• 2004

Magnetic bearing has been adopted to support a rotor by electromagnetic force without mechanical contact and lubrication process. The recent growth of magnetic bearing applications in many industrial fields requires more accurate design of bearing-rotor system. Due to external forces and uncertainties of magnetic bearing system the actual performance and stability my be worse than it is designed. This paper describes the governing equations of rotor magnetic bearing systems and/or the designing of robust controller via standard $H_{\infty}$ control problem. The system stability and response characteristics are studied by simulations and verified with experimental results.

• 정보저장시스템학회논문집
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• 제1권2호
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• pp.137-142
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• 2005

In this paper, we propose a new servo system design strategy to reduce the position error signal(PES) and track mis-registration(TMR) in magnetic disk drive systems. The proposed method provides a systematic design procedure based on the plant model and an optimal solution via an optimization with a 'Robust Random Neighborhood Search(RRNS)' algorithm. In addition, it guarantees the minimum PES level as well as stability to parametric uncertainties. Furthermore, the proposed method can be used to estimate the performance at the design stage and thus can reduce the cost and time for the design of the next generation product. The reduction of PES as well as robust stability is demonstrated by simulation and experiments.

• 조명전기설비학회논문지
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• 제29권10호
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• pp.104-110
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• 2015

The disturbance observer (DOB) controller has been widely used in various industrial applications since it is capable of achieving robust stability and disturbance rejection. In this paper, we study the effect of Q-filter on disturbance observer controller for Electro-Magnetic suspension (EMS) systems. We consider three Q-filters and analyze their effects on the robust stability against parameter uncertainties due to mass variation. Moreover, we investigate the influence of sensor noise for three Q-filters. According to our study, robust stability improves as the order of Q-filter decreases. On the other hand, the larger the order of Q-filter, the more the effect of sensor noise can be removed.

• Nuclear Engineering and Technology
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• 제51권1호
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• pp.163-169
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• 2019

The robust controller synthesis and analysis of the water level process in the U-tube system generator (UTSG) is addressed in this paper. The parameter uncertainties of the steam generator (SG) are modeled as multiplicative perturbations which are normalized by designing suitable weighting functions. The relative errors of the nominal SG model with respect to the other operating power level models are employed to specify the weighting functions for normalizing the plant uncertainties. Then, a robust controller is designed based on ${\mu}$-synthesis and D-K iteration, and its stability robustness is verified over the whole range of power operations. A gain-scheduled controller with $H_{\infty}$-synthesis is also designed to compare its robustness with the proposed controller. The stability analysis is accomplished and compared with the previous QFT design. The ${\mu}$-analysis of the system shows that the proposed controller has a favorable stability robustness for the whole range of operating power conditions. The proposed controller response is simulated against the power level deviation in start-up and shutdown stages and compared with the other concerning controllers.