• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1688-1691
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• 1997

In the time-invarient system, the adaptive controller was designed for the non-tracking error in the 1980's. In this study, the Model Reference Adaptive Control using on-line processing method is used to identify the coefficients of the model, and the Robust Controller (H.inf.) is designed to stabilize the rigid body and the flexible body of satellite, which can be perturbed due to disturbance, etc. The result obtained by H.inf. controller is compared with that of the PI(Proportional and Intergation) controller which is commonly used for stabilizing satellite.

• International Journal of Control, Automation, and Systems
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• v.5 no.6
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• pp.712-717
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• 2007

This paper is concerned with the problem of state feedback control of continuous-time nonlinear Markovian jump systems, which are represented by Takagi-Sugeno fuzzy models. A new method for designing state feedback stabilizing controllers is presented in terms of solvability of a set of linear matrix inequalities (LMIs), and it is shown that the new design method provides better or at least the same results of the existing method in the literature. Finally, a numerical example is given to illustrate the effectiveness of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1480-1483
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• 1996

A set of approaches suggested to control the eccentricity is discussed in this paper. Among these, filter-integrator method is used to design the controller, which also includes the input signal synchronization, stabilizing filter and eccentricity source discrimination. Using the S/W that is coded for real time application of that controller, we simulated the operations of that one. The simulation results show the characteristics of eccentricity compensation and eccentricity discrimination. However, from these results, we can see that only proper stabilization strategy certificates the safe eccentricity control.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.1140-1145
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• 1989

A general dynamic iterative learning control scheme is proposed for a class of nonlinear systems. Relying on stabilizing high-gain feedback loop, it is possible to show the existence of Cauchy sequence of feedforward control input error with iteration numbers, which results in a uniform convergance of system state trajectory to the desired one.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.6
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• pp.509-512
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• 2012

This paper presents the state feedback control design for discrete time nonlinear systems where there exists a time delay in input. It is shown that under some boundedness condition, the time delay nonlinear systems can be transformed into the time delay linear systems with time varying parameters. Sufficient conditions for existence of stabilizing state feedback controller are characterized by linear matrix inequalities. Finally, an illustrative example is given in order to show the effectiveness of our design method.

• Proceedings of the KIEE Conference
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• 1993.07b
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• pp.742-745
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• 1993

In this paper, instantaneous current tracking control inverter is applied to photovoltaic system and then optimum operating area is described by state space average method for optimum design of maximum output control. Also control system is realized by DSP and excellence of system shows the effectiveness of inverter system using the instantaneous control method.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.382-382
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• 2000

The external force disturbance is the one of the main causes that deteriorate the performance of the magnetic suspension. Thus, this paper develops a fuzzy estimator for gain scheduling control of magnetic suspension systems suffering from the unknown disturbance. The proposed fuzzy estimator computes the disturbance injected to the plant and the gain scheduled controller generates the corresponding stabilizing control input associated with the estimated disturbance. In the simulation results we confirm the novelty of the proposed control scheme comparing with the other method using a feedback linearization.

• Journal of Ocean Engineering and Technology
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• v.23 no.2
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• pp.1-7
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• 2009

This paper presents a sliding mode controller based on Ackermann's formula and applies it to stabilizing a two-wheeled mobile inverted pendulum in equilibrium. The mobile inverted pendulum is a system with an inverted pendulum on a mobile cart. The dynamic modeling of the mobile inverted pendulum was established under the assumptions of a cart with no slip and a pendulum with only planar motion. The proposed sliding mode controller was based upon a class of nonlinear systems whose nonlinear part of the modeling can be linearly parameterized. The sliding surface was obtained in an explicit form using Ackermann's formula, and then a control law was designed from reachability conditions and made the sliding surface attractive to the equilibrium state of the mobile inverted pendulum. The proposed controller was implemented in a Microchip PIC16F877 micro-controller. The developed overall control system is described. The simulation and experimental results are presented to show the effectiveness of the modeling and controller.

• Journal of Advanced Marine Engineering and Technology
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• v.34 no.2
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• pp.310-317
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• 2010

In this paper, we propose a method for swing-up and stabilization of a SESIP(Self-Erecting Single Inverted Pendulum) system which is one of the typical nonlinear systems. We use PV(Proportional velocity) controller for swinging up the pendulum and employ a PI-type state-feedback controller for stabilizing the pendulum. Control is switched to a stabilizing controller, which is designed to balance the inverted position of pendulum and the cart position to the near vertical position. Computer simulations are performed to illustrate the control performance of the proposed scheme.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.3
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• pp.1244-1252
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• 2011

This study was to investigate the effect of intensive trunk-pelvic stabilizing training using sling exercise on trunk muscle activity and balance in patients with hemiplegia. Twenty hemiplegic patients(6 month ${\leq}$, 1 years >) participated were divided into two groups randomly. Control group(n=10) had only general rehabilitation training and experimental group(n=10) had both the general rehabilitation training and intensive trunk-pelvic stabilizing training using sling. They were treated for 30 min./5 times/4 week. I measured ability of trunk control, muscle activity, and balance which were done before and after the intensive training using sling. In significant difference after training, show a significant difference in TIS(p<.001), in particular static(p<.05), dynamic(p<.01), coordination(p<.05) and muscle activity of RA(p<.001), EO(p<.001), ES(p<.001), Multifidus(p<.05), FMA(Balance)(p<.01), and static(p<.001) & dynamic(p<.001) balance ability on MTD-Balance system. As this study proved effective therapeutic exercise of trunk muscle activity and balance ability on intensive trunk-pelvic stabilizing training using sling, it could identify importance of trunk-pelvic stabilizing and control on balance.