• Journal of Communications and Networks
• /
• 제12권6호
• /
• pp.600-604
• /
• 2010

A method of width adaptation in the radial basis function network (RBFN) using stochastic gradient (SG) algorithm is introduced. Using Taylor's expansion of error signal and differentiating the error with respect to the step-size, the optimal time-varying step-size of the width in RBFN is derived. The proposed approach to adjusting widths in RBFN achieves superior learning speed and the steady-state mean square error (MSE) performance in nonlinear channel environment. The proposed method has shown enhanced steady-state MSE performance by more than 3 dB in both nonlinear channel environments. The results confirm that controlling over step-size of the width in RBFN by the proposed algorithm can be an effective approach to enhancement of convergence speed and the steady-state value of MSE.

• 설비공학논문집
• /
• 제22권5호
• /
• pp.275-281
• /
• 2010

Car HVAC is one of main factors influencing a potential customer's first impression. It should be fault-free, which requires the most stable control performance. So, the control algorithm consists of a proportional feedback only, not with an integral action needed for elimination of steady-state errors. To reduce the errors and make the response faster, feedforward algorithm based on predicted thermal load is added. To evaluate the performance, car HVAC is dynamically modelled and its control logic is simulated. The results shows that the proportional feedback leads to about $4^{\circ}C$ of steady-state error. When the feedback is combined with the feedforward algorithm and with a set value update based on disturbances, it predicts less than $1^{\circ}C$ of control error and improved thermal comfort.

• 대한전기학회논문지
• /
• 제39권5호
• /
• pp.470-477
• /
• 1990

Singh's multi-level method is extended to the optimal tracking control of a large interconnected dynamical system which has coupled states and coupled inputs. The steady-state tracking error and a convergence condition for the extended multi-level method are derived analytically and the results show that the steady-state tracking error and a convergence rate have to be compromised. Also, a new multi-level method which is advantageous over the Singh's method in steady-state tracking error and computational burden is proposed by introducing nominal inputs into the performance index. The resulting feedback gain matrix and the compensation vector are optimal for all initial conditions so that eventual on-line computation is minimal.

• 한국항공우주학회지
• /
• 제30권1호
• /
• pp.75-81
• /
• 2002

재진입 제어계에서는 항력가속도의 시간미분을 해석적으로 추정하므로 오차가 발생되기 쉽다. 더구나, 극초음속 영역에서의 정확한 항력계수 추정의 어려움과 스케일 고도의 비현실성도 정상상태오차의 원인이 된다. 우주왕복선의 경우, 제어계에 항력가속도 오차의 적분항을 첨가함으로서 정상상태 오차를 줄이는 방법을 취하였지만 페루프 시스템에 다극점을 갖게 하여 현대적인 제어기 합성에 어려움을 가져다 준다. 그러므로, 본 논문에서는 해석적 계산에 의해서 항력가속도 시간미분에 포함된 오차를 추정하고, 그 추정오차를 이용해 항력가속도 시간미분을 보정함으로써 정상상태 오차를 줄이는 방법인 외란 관측기의 설계를 제안하고자 한다. 결과로는 32개의 기준궤적을 대상으로 대기권 재진입 시스템의 성능을 검증해 본다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.179.5-179
• /
• 2001

Generally, while PD-type fuzzy controller has good performance in transient period, it has uniform steady state error of response. To improve limitations of PD-type fuzzy controller, we propose a new fuzzy controller to improve the performance of transient response and to eliminate the steady state error of response. In this paper, PD-type fuzzy controller is used a simplified indirect inference method(SIIM). When the SIIM is applied, the proposed method has the capability of the high speed inference and adapting with increasing the number of the fuzzy input variables easily. The outputs of this controller are the output calculated by PD-type fuzzy controller and the accumulated error scaling factor. Here, the accumulated error scaling factor is adjusted by fuzzy rule according to the system state variables. To show the usefulness of the proposed controller, it is applied to 0-type 2nd-order linear system.

• 동력기계공학회지
• /
• 제3권1호
• /
• pp.50-54
• /
• 1999

In order to reject the steady-state tracking error, it is common to introduce integral compensators in servosystems for constant reference signals. However, if the mathematical model of the plant is exact and no disturbance input exists, the integral compensation is not necessary. From this point of view, a two-degree-of-freedom(2DOF) servosystem has been proposed, in which integral compensation is effective only when there is modeling error for disturbance input. The present paper considers the design problem of 2DOF servosystem incorporating an observer. It is shown that if a state feedback gain and a observer gain satisfy a condition, the integral effect does not appear when modeling error or disturbance input exists. This result means that the servosystem does not behave as a 2DOF servosystem.

• 대한전자공학회논문지
• /
• 제19권3호
• /
• pp.37-45
• /
• 1982

본 논문은 변형된 디지탈 Costas loop에 관한 논문으로서 제1부의 계속이다. 본 제2부 논문에서는 시스템에 잡음이 있을 경우 그의 성능을 해석하였다. 입력신호가 white Gaussian 잡음이 첨가되면 고려되는 DPLL의 noise process는 phase error detertor의 tan-1(·)함수에 의해서 Rician이 됨을 보였다. 이 경우 Chapman-Kolmogorov 방정식을 수치적으로 풀므로써 1차와 2차 loop phase error의 steady state probability density함수, mean 및 variance를 얻었으며 이 결과를 컴퓨터 시뮬레이tus에 의해서 입중하였다.

• 한국생산제조학회지
• /
• 제20권2호
• /
• pp.121-128
• /
• 2011

As high precision industries such as semiconductor, TFT-LCD manufacturing and MEMS continue to grow, the demand for higher DOF precision stages has been increasing. In general, the stages should accommodate a prescribed range of payloads in order to position various precision manufacturing/inspection instruments. Therefore a nonlinear controller using sliding motion is developed, which bears mass perturbation and makes the upper plate of the stage move in 6 DOF. For the application of the nonlinear control, an observer is also developed based on expected noise covariance. To eliminate the steady state error of step response, integral terms are inserted into the state-space model. The linear term of the controller is designed using optimization scheme in which parameters can be weighted according to their physical significance, whereas the nonlinear term of the controller is designed using trial and error method. A comprehensive simulation study proves that the designed controller is robust against mass perturbation and completely eliminates steady state errors.

• 한국인터넷방송통신학회논문지
• /
• 제20권3호
• /
• pp.53-58
• /
• 2020

본 논문은 입력 전력 신호와 결정지향 오차 신호에 따라 스텝 크기가 변하는 가변 스텝 크기를 가지는 MSAGF-MMA의 성능 분석에 관한 것이다. 제안한 알고리즘은 변형된 Stop-and-Go 알고리즘으로 부터 얻어진 이진 플래그를 가지는 MMA에 스텝 크기가 입력 신호의 변동에 영향을 덜 받도록 함으로써 정상상태로의 수렴 속도를 안정하게 높일 수 있는 입력 전력 신호에 따라 변하도록 하였다. 그와 동시에 정상상태에서 잔류 오차가 작아질 수 있도록 결정지향 오차 신호에 따라 스텝 크기가 가변될 수 있도록 하였다. 컴퓨터 모의실험 결과, 제안한 알고리즘이 MMA 및 MSAGF-MMA와 비교하여 정상상태로의 수렴 속도 면에서 뿐만 아니라 정상상태에서의 잔류 ISI와 averaged-MSE 등의 평가에서 매우 뛰어난 성능을 가짐을 확인하였다.

• Journal of Electrical Engineering and Technology
• /
• 제12권5호
• /
• pp.1991-2000
• /
• 2017

This paper presents a compensative microstepping based position control with passive nonlinear adaptive observer for permanent magnet stepper motor. Due to the resistance uncertainties, a position error exists in the steady-state, and a ripple of position error appears during operation. The compensative microstepping is proposed to remedy this problem. The nonlinear controller guarantees the desired currents. The passive nonlinear adaptive observer is designed to estimate the phase resistances and the velocity. The closed-loop stability is proven using input to state stability. Simulation results show that the position error in the steady-state is removed by the proposed method if the persistent excitation conditions are satisfied. Furthermore, the position ripple is reduced, and the Lissajou curve of the phase currents is a circle.