• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.7
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• pp.66-77
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• 1997

This paper presents an automatic tuning method for parameters of a multivaiable self-tuning velocity-type PID controller which adapts to changes in the system parameters with time delays and noises. The velocity-type PID control structure is determined in the process of minimizing the variance of the auxiliarly output, and self-tuning effect is achieved through the recursive least square algorithm at the parameter estimation stage and also through the Robbins-Monro algorithm at the stage of optiminzing the design parameters of the controller. The proposed PID type multivariable self-tuning method is simple andeffective compared with other esisting multivariable self-tuning methods. Computer simulation has shown that the proposed algorithm is beter than the trial-and-error method in the tracking performance.

• Proceedings of the KIEE Conference
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• 1992.07a
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• pp.113-117
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• 1992

This paper is discribed to the application of PID controller for the frequency control of power systems. The proposed optimal PID controller is designed to obtain gain Parameters of P,I,D's coefficients according to optimization technique using the relatively ingeneous simplex method. The PID controller which is applied to one area, tie-line two area with(or without) exciter is showed good performance rather than that of optimal Pl controllor.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.10a
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• pp.227-228
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• 2009

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.352-354
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• 2004

In this paper, a parallel fuzzy controller for one degree of freedom magnetic levitation is designed and its performance is compared with the performance of a PID controller. Input, output scaling factor of fuzzy controller and gain of PID controller were tuned using the GA algorithm. The designed controllers are validated by numerical simulations. So it's shown that parallel fuzzy controller can give the better performance for the plant than PID controller.

• Proceedings of the Korea Institute of Convergence Signal Processing
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• 2003.06a
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• pp.165-168
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• 2003

In this paper the design of the model following control system is proposed using the PID control structure. The games of the PID controller in the proposed control system are automatically adjusted by back-propagation algorithm of the neural network. And applying to the position control system, it's performance is verified through the results of computer experiment.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.18 no.3
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• pp.503-509
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• 2014

In this paper, a PID controller with adaptive neural network compensator is proposed to control the formations of mobile robot. The control system is composed of a kinematic controller based on the leader-following robot and dynamic controller for considering the dynamics of the mobile robot. The dynamic controller is constituted by a PID controller and the adaptive neural network compensator for improving the performance and compensating the change in dynamic characteristics. Simulation results show the performance of the PID controller and the neural network compensator for the circular trajectory and linear trajectory. And it is verified that by improving the performance of a PID controller via the adaptive neural network compensator, the following robot's tracking performance is improved.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.1
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• pp.18-25
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• 2000

In the two-mass servo system driving a load through a flexible shaft, a shaft torsional vibration is often generated. PI controller has been generally used is speed control of such system because of the simplicity of structure and related theory. This paper presents the inertia ratio of the PI servo control system which can be designed by using optimal pole assignment method is fixed. Therefore, it's difficult to obtain the desired control characteristics for different systems only by PI control algorithm. To solve this problems the two-mass speed control system with PID controller is designed by using pole assignment method and an optimum PID parameters are derived by evaluating ITAE(Integral of time multiplied by the absolute error) performance index. But this design method has some problems due to a trade-off between the fast command following property and the attenuation of disturbances and vibrations. In this paper, 2-DOF PID control method which satisfies the command following property, the reduction of overshoot and the property of disturbance rejection at the same time is proposed. This is a practical speed controller using the desired value filter and the feedforward gain. From several simulations, it's clarified that the proposed 2-DOF PID controller is useful for the two-mass system, in comparison with the conventional PID controller.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.9 no.8
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• pp.1840-1846
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• 2005

In this paper, does by purpose DC servo motor speed controller design about PID coefficient tuning techniques that use genetic algerian. DC servo motor is used in application field of a peat many control machine or robot etc. and in this field, selection of controller parameters requires user's expert knowledge. Therefore, general amount of work engineers must continuously iteration tuning in controller parameters by trial and error. With this, when must tuning parameter coefficient about change of dynamic system or disturbance, can improve the efficiency according to following that is more precised and parameter coefficient value that is optimized by using genetic algorithm. In this paper, from dynamic character modeling get in analyze dynamic character of DC motor desist controller drive control possible that is fast response character md improved speed precision using a Genetic Algorithms.

• The Journal of Korea Robotics Society
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• v.19 no.2
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• pp.139-148
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• 2024

In this paper, we propose a two-degree-of-freedom snake robot head system and an I-PID (Intelligent Proportional-Integral-Derivative)-based controller utilizing RBF (Radial Basis Function) neural network and adaptive robust terms as a control strategy to reduce rotation occurring in the snake robot head. This study proposes a two-degree-of-freedom snake robot head system to avoid complex snake robot dynamics. This system has a control system independent of the snake robot. Subsequently, it utilizes an I-PID controller to implement a control system that can effectively manage rotation at the snake robot head, the robot's nonlinearity, and disturbances. To compensate for the time delay estimation errors occurring in the I-PID control system, an RBF neural network is integrated. Additionally, an adaptive robust term is designed and integrated into the control system to enhance robustness and generate control inputs responsive to signal changes. The proposed controller satisfies stability according to Lyapunov's theory. The proposed control strategy was tested using a 9-degreeof-freedom snake robot. It demonstrates the capability to reduce rotation in Lateral undulation, Rectilinear, and Sidewinding locomotion.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.5B
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• pp.442-448
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• 2006

This paper considers a home gateway(HG) that processes VOD services and controls home appliances. This paper proposes a PID algorithm-based adaptive bandwidth control method used in the HG, which guarantees QoS of incoming traffic such as VOD and real-time control data via control of outgoing traffic and have little effects on the CPU computation time. The proposed method is validated via implementation of real test environment.