• 제어로봇시스템학회논문지
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• 제18권4호
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• pp.308-313
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• 2012

Robust tuning rules of the motion profile are proposed to minimize the residual vibration. For asymmetric S-curve profile, tuning rules are analytically formulated using Laplace-domain approach. When the system modeling is known exactly, by placing a single zero of the motion profile on the pole of the system, the residual vibration can be perfectly eliminated under undamped system. However, if there are some amounts of the modeling errors, the residual vibration significantly increases. To track this issue, the robust tuning rules against modeling error are discussed. One of the proposed robust tuning rules is placing the multiple zeros of the motion profile on the pole of the system, and the other is placing the zeros of the motion profile around the pole of the system. Thanks to the proposed robust tuning rules, motion profile becomes more robust to modeling errors while minimizing the residual vibration. By simulation, the effectiveness of the proposed robust tuning rules is verified.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.193-196
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• 1992

When there exist parameter uncertainty, modelling errors and nonminimum phase zeros in control object system. the stability robustness of conventional LQG and LOG/LTR methods are not satisfactory[2, 8]. Since these methods are performed on the infinite horizon, it is very hard to establish exact design parameters and thus they have lots of problems to be applied to real systems, So in this paper we propose RHLQG/FIRF optimal controller which has robust stability against parameter uncertainty, nonminimum phase zeros and modelling errors. This method uses only the information around at present and therefore shows good performance even when we do not know exact design parameters. We here compare LQG and LQG/LTR method with RHLQG/FIRF controller and exemplify that RHLQG/FIRF controller has better robust stability performance via simulations.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1999년도 제14차 학술회의논문집
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• pp.79-82
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• 1999

The right half plane (RHP) zeros may cause severe problems, such as undershoots, oscillations and time delay in the transient response of the systems. In this paper, we formulate a linear quadratic type problem to deal with the effects of the RHP zeros in the nonminimum phase systems. Based on the LQ formulation, this paper shows the trade-off relation between undershoot and rising time performances in nonminimum phase systems by using a new performance index which consists of new state and tracking error. And performances of the proposed method are shown via computer simulations.

• The Journal of the Acoustical Society of Korea
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• 제18권4E호
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• pp.31-36
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• 1999

Circulant Feedback Delay Networks (CFDN's), whose feedback matrix is circulant to control the stability of system and time-frequency response easier than unitary one, were recently proposed. However, the drawback of this structure is that the flatness of the frequency response of CFDN's is not enough and it is difficult to adjust the placement of zeros to decrease this problem. Therefore, we propose Modified CFDN's (MCFDN's) consisted of a general recursive filter and CFDN's to maintain maximally the impulse response of CFDN's and improve the flatness of frequency response without adjusting the placement of zeros. The delay unit of a general recursive filter's feedback loop is replaced by CFDN's, are omitted the direct path. We represent the usefulness of MCFDN's to build artificial reverberators and the main parameter to determine characteristics of MCFDN's in this paper.

• 로봇학회논문지
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• 제11권2호
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• pp.92-99
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• 2016

An electro-hydraulic actuator (EHA) is widely used in industrial motion systems and the increasing bandwidth of EHA position control is important issue. The model-inverse feedforward controller is known to extend the bandwidth of system. When the system has non-minimum phase (NMP) zeros, direct model inversion makes system unstable. To overcome this problem, an approximate model-inverse method is used. A representative approximate model inversion method is zero phase error tracking control (ZPETC). However, if zeros locate right half plane of z-plane, the approximate inverse model amplifies the high-frequency response. In this paper, to solve the problem of ZPETC, an adaptive model-inverse control is proposed. The adaptive algorithm updates feedforward term in real-time. The effectiveness of the proposed adaptive model-inverse position control strategy is verified by comparison with typical proportional-integral (PI) control and feedforward control by experiments. As a result, the proposed adaptive controller extends the bandwidth of EHA position control.

• Smart Structures and Systems
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• 제14권6호
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• pp.1081-1103
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• 2014

Real-time hybrid simulation (RTHS) has emerged as an important tool for testing large and complex structures with a focus on rate-dependent specimen behavior. Due to the real-time constraints, accurate dynamic control of servo-hydraulic actuators is required. These actuators are necessary to realize the desired displacements of the specimen, however they introduce unwanted dynamics into the RTHS loop. Model-based actuator control strategies are based on linearized models of the servo-hydraulic system, where the controller is taken as the model inverse to effectively cancel out the servo-hydraulic dynamics (i.e., model-based feedforward control). An accurate model of a servo-hydraulic system generally contains more poles than zeros, leading to an improper inverse (i.e., more zeros than poles). Rather than introduce additional poles to create a proper inverse controller, the higher order derivatives necessary for implementing the improper inverse can be calculated from available information. The backward-difference method is proposed as an alternative to discretize an improper continuous time model for use as a feedforward controller in RTHS. This method is flexible in that derivatives of any order can be explicitly calculated such that controllers can be developed for models of any order. Using model-based feedforward control with the backward-difference method, accurate actuator control and stable RTHS are demonstrated using a nine-story steel building model implemented with an MR damper.

• 마이크로전자및패키징학회지
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• 제15권1호
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• pp.39-44
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• 2008

In this paper, fully embedded 2.4GHz WLAN band pass filter (BPF) was investigated into a multi-layered organic packaging substrate using high Q spiral stacked inductors and high Dk MIM capacitors for low cost RF System on Package (SOP) applications. The proposed 2.4GHz WLAN BPF was designed by modifying chebyshev second order filter circuit topology. It was comprised of two parallel LC resonators for obtaining two transmission zeros. It was designed by using 2D circuit and 3D EM simulators for finding out optimal geometries and verifying their applicability. It exhibited an insertion loss of max -1.7dB and return loss of min -l7dB. The two transmission zeros were observed at 1.85 and 6.7GHz, respectively. In the low frequency band of $1.8GHz{\sim}1.9GHz$, the stop band suppression of min -23dB was achieved. In the high frequency band of $4.1GHz{\sim}5.4GHz$, the stop band suppression of min -l8dB was obtained. It was the first embedded and the smallest one of the filters formed into the organic packaging substrate. It has a size of $2.2{\times}1.8{\times}0.77mm^3$.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.418-421
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• 1997

A design method of robust controller for the longitudinal autopilot of BTT missile is considered. The difficulties are a set of linearized dynamic models which corresponds to different operating points has a wide range of parameters and it has even Non-Minimum Phase(NMP) zeros. In this paper, such a family of models is expressed by an interval plant. Then a robust control design method using QFT is represented. A simulation result shows that the proposed controller satisfies the given specification well.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.565-568
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• 1996

In this paper, a solution method is proposed to calculate the optimum solution to discrete optimal H$_{.inf}$ control problem for feedback of linear time-invariant system states and disturbance variable. From the results of this study, condition of existence and uniqueness of its solution is that transfer matrix of controlled variable to input variable is left invertible and has no invariant zeros on the unit circle of the z-domain as well as extra geometric conditions given in this paper. Through a numerical example, the noniterative solution method proposed in this paper is illustrated.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1992년도 하계학술대회 논문집 A
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• pp.279-281
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• 1992

In this paper, an LQG/LTR procedure for stable nonminimum phase systems is suggested using predictor scheme. In the method, the performance of the target feedback loop can be easily adjusted and the recovery error is less dependent on the location of NMP zeros than previous methods. The gain and phase margin and the robust ness for modeluncertainty of the suggested control system are obtained.