• 한국항공우주학회지
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• 제44권1호
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• pp.57-69
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• 2016

폐루프 기준으로 $H_{\infty}$ 제어기를 설계하는 알고리즘에는 3가지(2-ARE, mu-synthesis, LMI) 방법이 있다. 본 논문에서 3가지 $H_{\infty}$ 제어기 설계 알고리즘에 대한 기초 이론을 종합하고, Matlab$^{TM}$에 구현된 함수가 사용될 경우, 실무입장에서 가장 적절하다고 판단되는 $H_{\infty}$ 제어기 설계 알고리즘 제시를 위해 인공위성 자세 제어기 설계 후 결과를 비교 분석하였다: 2-ARE 방법과 LMI 방법은 robust stability, robust performance 및 control authority 측면에서 거의 유사하였으나, LMI 방법에 비해 2-ARE 방법이 weighting 함수설계에 더 민감하였고, mu-synthesis 방법은 다른 2가지 설계 방법에 비해 성능면에서 다소 떨어지고, control authority가 크게 나타났다. 따라서 인공위성 자세제어 설계를 위해 실무 관점에서 LMI 방법이 더 편리한 설계 알고리즘이라는 결론을 얻었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.197-200
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• 1996

This paper considers feedback error learning neural networks for robot manipulator control. Feedback error learning proposed by Kawato [2,3,5] is a useful learning control scheme, if nonlinear subsystems (or basis functions) consisting of the robot dynamic equation are known exactly. However, in practice, unmodeled uncertainties and disturbances deteriorate the control performance. Hence, we presents a robust feedback error learning scheme which add robustifying control signal to overcome such effects. After the learning rule is derived, the stability is analyzed using Lyapunov method.

• 전자공학회논문지B
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• 제32B권10호
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• pp.1259-1268
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• 1995

This note presents the robust root clustering problem of interval systems whose characteristic equation might be given as either a family of interval polynomials or a family of polytopes. Corresponding to damping ratio and robustness margin approximately, we consider a certain class of D-region such as parabola, left-hyperbola, and ellipse in complex plane. Then a simpler D-stability criteria using rational function mapping is presented and prove. Without .lambda. or .omega. sweeping calculation, the absolute criteria for robust D-stability can be determined.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.491-497
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• 1993

In MIMO design, input and output units are different from each other. By this reason, the effect of larger units to smaller one is not trivial and there is no method of proper scaling, optimal scaling. In this paper, robust stability of MIMO LQG/LTR design are analised when the plnat inputs and outputs are scalled. The upper bound of model error to guarantee the robust stability is obtained, and gain margin and phase margins are computed with respect to scalling matrices.

• 전자공학회논문지B
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• 제30B권3호
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• pp.22-30
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• 1993

In this paper, robust adaptive control algorithms which can be applied to unknown uncertain systems are suggested. Transform matrix for dividing states into "uncontrolled" states and "controlled" states and general searching procedure for the transform matrix which assign arbitrary n-1 eigen values for the uncontrolled subsystem of n-th orther single-input single-output systems of which state variables can be observable are also studied and utilized for the design of new-type controllers. We drived new-type control laws by using adaptive control theory and variable structure system and its stability is proved by using Lyapunov stability theory.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.499-499
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• 2000

The robust stability problems for nominally linear system with nonlinear, structured perturbations arc considered with Lyapunov direct method. The Lyapunov direct method has been utilized to determine the bounds for nonlinear, time-dependent functions which can be tolerated by a stable nominal system. In most cases quadratic forms are used either as components of vector Lyapunov function or as a function itself. The resulting estimates are usually conservative. As it is known, often the conservatism of the bounds we propose to use a piecewise quadratic Lyapunov function. An example demonstrates application of the proposed method.

• 제어로봇시스템학회지
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• 제10권3호
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• pp.21-26
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• 2004

Structured singular value (SSV)는 robust stability와 robust performance를 매우 엄밀하게 다루기 위해 고안되었다 (Doyle, 1982; Safonov, 1982). 이 엄밀성으로 제어시스템의 설계 및 분석에 광범위하게 사용되고 있다. 강건제어의 단초를 이루었으며 loop failure tolerance, decentralized integral controllability (Campo and Morari. 1994), D-stability (Lee and Edgar, 2001) 등에 SSY가 사용되고 있다. SSV의 중요성이 알려짐에 따라 이것에 관한 많은 연구가 있었다(Fan et at., 1991 ; Pacltard and Pander, 1993), 그러나 이 값의 계산은 매우 어려운 NP-hard인 것으로 판명되었으며 (Braatz et al.. 1994). 실수 불확실 변수에 대한 SSV의 경우 원하는 오차범위 내로 근사 값을 구하는 것도 마찬가지 인 것으로 밝혀졌다(Fu, 1997).(중략)

• 대한전자공학회논문지
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• 제25권12호
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• pp.1610-1617
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• 1988

In this paper, a robust discrete-time adaptive control with compensation is proposed for single-input single-output discrete-time plants which have unmodeled dynamics. The stability of the overall system is studied using the conic sector stability theorems when a normalized constant gain parameter adaptation algorithm and a properly chosen compensation are used. An illustrative exmple shows that this compensation can also increase the parameter adaptation speed. And a method of compensation using the adaptive observation is also discussed.

• 한국정밀공학회지
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• 제13권4호
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• pp.122-128
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• 1996

In high speed and high precision assembly systems such as a surface mounting device and robotend effector, the contact force control is required. As the operation repeats, the repetitive control is applied to reduce the periodic contact force errors. Since high order unmodelled dynamics are easily excited in contact force control, a Q filter was introduced and its robust stability was analyzed. Simulation and Experimental results show the effectiveness of the algorithm.

• 한국정밀공학회지
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• 제13권5호
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• pp.131-138
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• 1996

This paper suggests a servo control algorithm to reduce the repeatable tracking error which is not explicitly taken into account in the design of a conventional PID controller of a computer hard disk drive. The robust stability of the repetitive control system with multiplicative modelling error is analyzed, and the controller was implemented using a fixed point DSP(Digital Signal Processor). Experimental results show that the repetitive errors are suppressed effectively by the proposed controller.