• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.5
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• pp.607-614
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• 1999

This paper deals with the design problem of the state estimator for servo system. The servo system has input time delay which depends on the computational time of control algorithm. The delayed input is a factor that brings out the state estimation error. So in order to reduce the state estimation error of the system, we propose a state estimator in which the delayed input of the system is considered. For this purpose, discrete time state space model is established accounting for the delayed input and a state estimator is designed based on this model. Kalman filter algorithm is employed in the design of the state estimator. The proposed estimator is used in the speed control of servo system with delayed input. Performance of the proposed state estimator is exemplified via simulations and experiments for servo system. Also, robustness of the proposed estimator to modeling error by variation of the system parameters is also shown in simulations.

• Proceedings of the KIEE Conference
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• 1998.07b
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• pp.537-540
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• 1998

This thesis deals with the design problem of the state estimator for digital servo system. Digital servo system has input time delay, which depends on the size of control algorithm. The delayed input is a factor that brings out the state estimation error. So, in order to reduce this state estimation error of the system, we proposes a state estimator in which the delayed input of the system is considered. At first, a discrete-time state-space model is established accounting for the delayed input. Next, the state estimator is designed based on this model. we employ Kalman filter algorithm in design of the state estimator. The performance of proposed state estimator is exemplified via some simulations and experiment for servo system. And robustness of the proposed estimator to modelling error by variation of the system parameter is also shown in these simulations.

• International Journal of Control, Automation, and Systems
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• v.3 no.1
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• pp.117-121
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• 2005

This paper deals with the state estimation of linear time-invariant discrete systems with unknown inputs. The forward sequences of the output are treated as additional outputs. In this case, the rank condition for designing the unknown input estimator is relaxed. The gain for minimal estimation error variance is presented, and a numerical example is given to verify the proposed unknown input estimator.

• International Journal of Control, Automation, and Systems
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• v.3 no.4
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• pp.646-647
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• 2005

A recently published paper demonstrates the utility of allowing delays in state estimators for linear systems with unknown inputs. In this note, we point out an error in the derivation of the estimator.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.1
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• pp.171-178
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• 2017

This paper studies the state estimation problem for static neural networks with time-varying delay. Unlike other studies, the controller scheme, which involves time-varying sampling and uncertainties, is first employed to design the state estimator for delayed static neural networks. Based on Lyapunov functional approach and linear matrix inequality technique, the non-fragile sampled-data estimator is designed such that the resulting estimation error system is globally asymptotically stable with $H_{\infty}$ performance. Finally, the effectiveness of the developed results is demonstrated by a numerical example.

• The Transactions of the Korean Institute of Power Electronics
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• v.5 no.2
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• pp.140-148
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• 2000

A robust current control technique with a simple time delayed estimator for a permanent magnet synchronous m motor (PMSM) drive is presented. Among the various CWTent control schemes for a voltage source inverter-fed P PMSM drive, the predictive control is known to give a superior performance. This control technique, however, r requires the full knowledge of machine parameters and operating conditions, and gives an unsatisfactory r response under the parameter mismatch between the motor and controller. To overcome such a limitation, the d disturbances caused by the parameter valiations will be estimated by using a" time delay contTol approach and u used for the computation of the reference voltages by a simple feedforwal"d control. The proposed control $ scheme is implemented on a PMSM using the software of DSP TlVIS:32OC:30 and the effectiveness is verified d through the comparative simulations and experiments.periments.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.31.5-31
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• 2001

In conventional perturbation estimators such as disturbance observers(DOB) [1, 2] or time-delayed controllers(TDC) [3{5}, the low pass filter(so-called Q-filter) plays an important role in the stability and performance. However, a general design guideline or analysis for the Q-filter has not been researched yet. In this paper, a guideline for the design of discrete Q-filter is suggested in terms of the analysis of the relationship between the filter parameters and stability performance robustness in discrete-time domain. The analysis clarifies the discrete-time effect of the perturbation estimator and provides a transparent relationship between performance and robustness depending ...

• The Journal of the Acoustical Society of Korea
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• v.18 no.7
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• pp.45-55
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• 1999

In this paper, we used the WLMS(Wavelet domain Least Mean Square) adaptive filter based on the wavelet transform to cancel grain noise. Usually, grain noise occurs in changes of the crystalline structure of metals in high temperature environment. It makes the detection of flaw difficult. The WLMS adaptive filtering algorithm establishes the faster convergence rate by orthogonalizaing the input vector of adaptive filter as compared with that of LMS adaptive filtering algorithm in time domain. We implemented the WLMS adaptive filter by using the delayed version of the primary input vector as the reference input vector and then implemented the CA-CFAR(Cell Averaging- Constant False Alarm Rate) threshold estimator. CA-CFAR threshold estimator enables to detect the flaw and back echo signals automatically. Here, we used the output signals of adaptive filter as its input signal. To Cow the statistical characteristic of ultrasonic signals corrupted by grain noise, we performed run test. The results showed that ultrasonic signals are nonstationary signal, that is, signals whose statistical properties vary with time. The performance of each filter is appreciated by the signal-to-noise ratio. After LMS adaptive filtering in time domain, SNR improves to about 2-3㏈ but after WLMS adaptive filtering in wavelet domain, SNR improves to about 4-6㏈.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.4
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• pp.295-304
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• 2000

In the teleoperation system, force and velocity signals are communicated between a master and a slave robot. The addition of force feedback to a teleoperation system benefits the operator by providing more information to perform given tasks especially for tasks requiring contact with environment. When the master and slave arms are located in different places, time delay is unavoidable and it is well known that the system can become unstable when even a small time delay exists in the communication channel. The control scheme proposed in this paper is based on the estimator with virtual master model. Delayed signal from the master robot can be replaced by the estimated signal with the virtual master model. This control scheme makes the teleoperation system stable for the given time delay while the conventional scheme is not. This new control scheme is verified through numerical simulations and an experiments using the dual axis testbed of the teleoperation system.

• Korean Journal of Agricultural and Forest Meteorology
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• v.24 no.2
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• pp.83-94
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• 2022

In order to actively prepare to frost damage that occurs in the process of growing crops, the spatial and temporal distribution of frost occurrence in South Korea was derived using frost observation data from 20 regions over the past 21 years (2000~2020). The main products are the number of frost days, first frost day, and last frost day by region. And the climatic trends of these results were identified by performing the Mann-Kendall trend test and Sen's slope estimator. In South Korea, a lot of frost occurs in the inland area to the west of the Taebaek and Sobaek Mountains. Relatively closer to the coastal area, the number of frost days is small, the first frost day is slow, and the last frost day is early. The east coast region has fewer frost days, the first frost day is later, and the last frost day is earlier than the west coast region. The southern sea, the southeastern sea region, and the island region rarely experience frost. As a result of the annual time series trend analysis, although South Korea is a country where climate warming is progressing, there was no trend in reducing the number of frost days and slowing the first frost day, and it was found that the last frost day is delayed by 0.5 days per year.