• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.957-961
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• 1991

The parameters of electro-hydraulic servo system are closely dependent on the variation of system characteristics. Especially the parameter sensitivity is incleased in the servo system with heavy load and wide operating range. This paper shows the effect of parameter variation and the experimental parameter values of high power servo system.

• Smart Structures and Systems
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• 제9권4호
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• pp.373-392
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• 2012

Tracking control of systems with variable stiffness hysteresis using a gain-scheduled (GS) controller is developed in this paper. Variable stiffness hysteretic system is represented as quasi linear parameter dependent system with known bounds on parameters. Assuming that the parameters can be measured or estimated in real-time, a GS controller that ensures the performance and the stability of the closed-loop system over the entire range of parameter variation is designed. The proposed method is implemented on a spring-mass system which consists of a semi-active independently variable stiffness (SAIVS) device that exhibits hysteresis and precisely controllable stiffness change in real-time. The SAIVS system with variable stiffness hysteresis is represented as quasi linear parameter varying (LPV) system with two parameters: linear time-varying stiffness (parameter with slow variation rate) and stiffness of the friction-hysteresis (parameter with high variation rate). The proposed LPV-GS controller can accommodate both slow and fast varying parameter, which was not possible with the controllers proposed in the prior studies. Effectiveness of the proposed controller is demonstrated by comparing the results with a fixed robust $\mathcal{H}_{\infty}$ controller that assumes the parameter variation as an uncertainty. Superior performance of the LPV-GS over the robust $\mathcal{H}_{\infty}$ controller is demonstrated for varying stiffness hysteresis of SAIVS device and for different ranges of tracking displacements. The LPV-GS controller is capable of adapting to any parameter changes whereas the $\mathcal{H}_{\infty}$ controller is effective only when the system parameters are in the vicinity of the nominal plant parameters for which the controller is designed. The robust $\mathcal{H}_{\infty}$ controller becomes unstable under large parameter variations but the LPV-GS will ensure stability and guarantee the desired closed-loop performance.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1991년도 추계학술대회 논문집 학회본부
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• pp.175-178
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• 1991

The drive system of servo motor is requested to have robustness of disturbance and parameter variation. However, the dynamics of PMSM drive change significantly by forced disturbance and parameter variation. Moreover, the state error caused by them should be suppressed completely and rapidly. In this paper, the vector-control system of PMSM using dual adaptive control loop is investigated. In the proposed system, linear adaptive control loop rapidly recovers the state error caused by both disturbance and parameter variation. In the dual adaptive control loop, the inner loop reduces the system sensitivity of parameter variation and disturbance, and the outer loop suppresses the state error caused by them completely. The proposed servo system is verified through a computer simulations and experimental results.

• 수산해양기술연구
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• 제53권3호
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• pp.293-301
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• 2017

In this study, a winch and load motion control system design method is introduced. Especially, the winch and load (moving cart) are connected with long wire rope which is extended to few kilometers long. Therefore, the rope length changes such that many dynamic parameter values are changed as well by winding and releasing the rope from the winch system. In this paper, the authors designed the control system by considering the real time parameter variation to occupy and keep good control performance continuously. The effectiveness of introduced method was evaluated by simulation results.

• International Journal of Control, Automation, and Systems
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• 제1권2호
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• pp.243-251
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• 2003

In this paper, a new model for mobile soccer robot, a type of linear system, is presented. A controller, consisting of two loops the one of which is the inner state feedback loop designed for stability and plant be well conditioned and the outer loop is a well-known PI controller designed for tracking the reference input, is suggested. Because the plant, the soccer robot, is parameter dependent, it requires the controller to be insensitive to the parameter variation. To achieve this objective, the pole-sensitivity as a pole-variation with respect to the parameter variation is defined and design algorithms for state-feedback controllers are suggested, consisting of two matrices one of which is for general pole-placement and other for parameter insensitive. This paper shows that the PI controller is equivalent to the state feedback and the cost function for reference tracking is equivalent to the LQ cost. By using these properties, we suggest a tuning procedure for the PI controller. We that the control algorithm in this paper, based on the linear system theory, is well work by simulation, and the LPD system modeling and control are more easy treatment for soccer robot.

• 한국인터넷방송통신학회논문지
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• 제11권5호
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• pp.151-157
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• 2011

본 논문은 인체의 일정한 운동을 하는 동안에 시간의 변화에 따른 자세균형을 분석한다. 자세균형은 자세에 움직임 변화를 주어 다중파라미터로 변화 산출 값으로 나타냈다. 이렇게 산출된 값을 분석하여 균형자세 시스템을 구성하였다. 자세의 움직임 변화는 3가지 방법으로 눈을 감고 뜨는 방법, 머리를 앞뒤로 움직이는 방법과 상체 움직임 방법이다. 측정한 다중파라미터의 항목은 시각(Vision), 전정기관(Vestibular), 체성감각(Somatosensory), 중추신경계(CNS)이고, 측정파라미터의 평가는 안정성(Stability)으로 확인하였다. 균형자세 시스템은 이러한 변화에서 발생한 신호를 데이터 획득 장치에서 얻고, 신호를 신호 전달 장치를 통하여 전달하였으며, 데이터 분석을 통하여 자세에 대한 평가로 활용하였다. 궤환 시스템은 획득한 데이터를 재조정하는데 사용하였다. 발생되는 신호는 푸리에변환 하였고, 사용되는 주파수는 0.1Hz, 0.1-0.5Hz, 0.5-1Hz와 1Hz 이상을 사용하였다. 본연구의 결과로 시간 변화에서 운동부하를 부여함에 따라 인체의 자세변화에 따라 발생된 신호를 멀티파라미터 상에서 장시간 변화에 대한 파라미터 간의 변화를 통하여 개별 신체의 자세균형에 검증할 수 있는 시스템이 이루어져야 하며, 이를 통하여 새로운 검증 시스템에 활용할 수 있을 것으로 예상한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.185-190
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• 1991

In this paper, we present a method of analising a system with nonlinear parameter by pole sensitivity defined by the rate of pole movement with respect of non-linear parameter variation. Pole sensitivity give us not only the rate of pole movement but also the directional information. We present a method of design of a state feedback for a system with nonlinear system parameter by considering the pole sensitivity and show that the suggested method guarantee the stability robustness for a system with nonlinear parameter, parameter perturbation and urimodelled dynamics.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.451-455
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• 1993

Interaction between system and disturbance results in system with time-dependent parameter. Parameter variation due to interaction has random characteristics. Most of the randomly varying parameters in control problem is regarded as white noise random process which is not a realistic model. In real situation those random variation is colored noise random process. Modified F-P-K equation is proposed to get the response of the random parametric system using some correction factor. Proposed technique is employed to obtain the colored noise parametric system response and confirmed via Monte-Carlo Simulation.

• 전력전자학회:학술대회논문집
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• 전력전자학회 1998년도 전력전자학술대회 논문집
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• pp.90-94
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• 1998

The parallel inverter is popularly used because of its fault-tolerance capability, high-current outputs at constant voltages and system modularity. The conventional parallel inverter usually employes active and reactive power control or frequency and voltage droop control. However, these approaches have the disadvantages that the response time of parallel inverter control is slow against load and system parameter variation to calculate active, reactive power, frequency and voltage. This paper describes a novel control scheme for power equalization in parallel connected inverter. The proposed scheme has a fast power balance control response, a simplicity of implementation, and inherent peak current limiting capability since it employes a instantaneous current/voltage control with output voltage and current balance and output voltage regulation. A design procedure for the proposed parallel inverter controller is presented. Futhermore, the proposed control scheme is verified through the simulation in various cases such as the system parameter variation, the control parameter variation and the nonlinear load condition.

• 전력전자학회:학술대회논문집
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• 전력전자학회 1998년도 Proceedings ICPE 98 1998 International Conference on Power Electronics
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• pp.176-181
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• 1998

The parallel inverter is popularly used because of its fault-tolerance capability, high-current outputs at constant voltages and system modularity. The conventional parallel inverter usually employs active and reactive power control of frequency and voltage droop control. However, these approaches have the disadvantages that the response time of parallel inverter control is slow against load and system parameter variation to calculate active, reactive power, frequency and voltage. This paper describes a novel control scheme for power equalization in parallel-connected inverter. The proposed scheme has a fast power balance control response, a simplicity of implementation, and inherent peak current limiting capability since it employees an instantaneous current/voltage control with output voltage and current balance and output voltage regulation. A design procedure for the proposed parallel inverter controller is presented. Furthermore, the proposed control scheme is verified through the experiment in various cases such as the system parameter variation, the control parameter variation and the nonlinear load condition.