• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.5
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• pp.819-832
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• 2017

We propose a new switching control scheme for a ball and beam system by utilizing two linearization methods. First, the Jacobian linearization is applied and state observer is developed afterward. Then, motivated [6], the approximate input-output linearization is carried out, and after that, the Jacobian linearization is applied along with the design of state observer. Since the second approach requires two linearizations, it is called a two-step linearization method. The state observer is needed for the estimation of the velocities of ball and motor movement. Since the Jacobian linearization based controller tends to provide faster response at the initial time, and after that, the two-step linearization based controller tends to provide better response in terms of output overshoot and convergence to the origin, it is natural to give a switching control scheme to provide the best overall control response. The validity of our control scheme is shown in both simulation and experimental results.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.327-331
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• 1992

In this paper, we propose dynamic hybrid control method which takes the manipulator dynamics into consideration and extend to two cooperating robots. The first step is the linearization of the manipulator dynamics and the second step is the design of position/force controllers for the linearized model which takes account of both the command response and the robustness of the controllers to modeling errors and disturbance. We also consider load sharing for each robot.

• Journal of the Korean Mathematical Society
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• v.50 no.5
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• pp.1129-1163
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• 2013

Based on finite element discretization, two linearization approaches to the defect-correction method for the steady incompressible Navier-Stokes equations are discussed and investigated. By applying $m$ times of Newton and Picard iterations to solve an artificial viscosity stabilized nonlinear Navier-Stokes problem, respectively, and then correcting the solution by solving a linear problem, two linearized defect-correction algorithms are proposed and analyzed. Error estimates with respect to the mesh size $h$, the kinematic viscosity ${\nu}$, the stability factor ${\alpha}$ and the number of nonlinear iterations $m$ for the discrete solution are derived for the linearized one-step defect-correction algorithms. Efficient stopping criteria for the nonlinear iterations are derived. The influence of the linearizations on the accuracy of the approximate solutions are also investigated. Finally, numerical experiments on a problem with known analytical solution, the lid-driven cavity flow, and the flow over a backward-facing step are performed to verify the theoretical results and demonstrate the effectiveness of the proposed defect-correction algorithms.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.20 no.5
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• pp.125-133
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• 2006

This paper presents comparison results of Step Response Model of Dynamic Matrix Control(DMC) for a drum-type boiler-turbine system of a fossil power plant. Two possible kinds of step response models are investigated in designing the DMC, one is developed with the linearization of theoretical model and the other is developed with the process step-test data. Then, the control performances of each model-based DMC are simulated and evaluated. It is observed that the simulation results with the step-response model based on the test data show satisfactory results, while the linearized model is not suitable for the control of boiler-turbine system.

• Journal of the Korean Society of Propulsion Engineers
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• v.20 no.1
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• pp.28-36
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• 2016

Theoretical model of a variable thrust solid rocket motor with a pintle nozzle was derived. For the chamber pressure control, classical model linearization and proportional-intergral controller was used. And then two types of gain scheduling controller were suggested to imporve controller performance for the non-linear propulsion model. Considering characteristics of systems, control gains were scheduled by chamber pressure or free volume. Step responses of each controllers were compared. As a result, the proper control algorithm about characteristics of variable thrust rocket motor was suggested.

• Proceedings of the KIEE Conference
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• 2007.04c
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• pp.194-197
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• 2007

This paper proposes a linearization technique for the 3 level NPC type inverter, which increases the linear control range of inverter up to the 6-step inverter. The overmodulation range is divided into two modes depending on the modulation index(MI), In mode I, the reference angles are derived from the Fourier series expansion of the reference voltage corresponds to the MI. In mode II, the holding angles are also derived in the same way. Therefore, it is possible to obtain the linear control and the maximized utilization of PWM inverter output voltage.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.7
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• pp.683-687
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• 2007

In last decades, several linearization methods for the AOA measurements have been proposed, for example, Gauss-Newton method and Closed-Form solution. Gauss-Newton method can achieve high accuracy, but the convergence of the iterative process is not always ensured if the initial guess is not accurate enough. Closed-Form solution provides a non-iterative solution and it is less computational. It does not suffer from convergence problem, but estimation error is somewhat larger. This paper proposes a Self-Tuning Weighted Least Square AOA algorithm that is a modified version of the conventional Closed-Form solution. In order to estimate the error covariance matrix as a weight, a two-step estimation technique is used. Simulation results show that the proposed method has smaller positioning error compared to the existing methods.

• Proceedings of the KSR Conference
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• 2010.06a
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• pp.220-226
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• 2010

In this paper, the static overmodulation is proposed for the 2-phase full bridge inverter. The overmodulation strategy increases a fundamental output voltage and improves a voltage utilization up to the maximum in the overmodulation range. The linear modulation range and static overmodulation range are defined in the 2-phase full bridge inverter. The overmodulation strategies which increase a voltage utilization until the 4-step mode by linearization of the output voltage in overmodulation range are proposed. To maintain a linearity of the relation between a reference voltage and a fundamental output voltage, this paper suggests a compensation voltage, whose magnitude or phase is modified to the proposed control scheme. Simulation and experimentation results demonstrate the effectiveness of the proposed algorithms.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.485-489
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• 2006

In last decades, several linearization methods for the AOA measurements have been proposed, for example, Gauss-Newton method and closed-form solution. Gauss-Newton method can achieve high accuracy, but the convergence of the iterative process is not always ensured if the initial guess is not accurate enough. Closed-form solution provides a non-iterative solution and it is less computational. It does not suffer from convergence problem, but estimation error is somewhat larger. This paper proposes a self-tuning weighted least square AOA algorithm that is a modified version of the conventional closed-form solution. In order to estimate the error covariance matrix as a weight, two-step estimation technique is used. Simulation results show that the proposed method has smaller positioning error compared to the existing methods.

• Proceedings of the KSRS Conference
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• 2003.11a
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• pp.1137-1139
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• 2003

This paper proposed a practical method for building detection and extraction using airborne laser scanning data. The proposed method consists mainly of two processes: low and high level processes. The major distinction from the previous approaches is that we introduce a concept of pseudogrid (or binning) into raw laser scanning data to avoid the loss of information and accuracy due to interpolation as well as to define the adjacency of neighboring laser point data and to speed up the processing time. The approach begins with pseudo-grid generation, noise removal, segmentation, grouping for building detection, linearization and simplification of building boundary , and building extraction in 3D vector format. To achieve the efficient processing, each step changes the domain of input data such as point and pseudo-grid accordingly. The experimental results shows that the proposed method is promising.