• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.348-351
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• 1995

This note proposes a robust LQR method for systems with structured real parameter uncertainty based on Riccati equation approach. Emphasis is on the reduction of design conservatism in the sense of quadratic performance by utilizing the uncertainty structure. The class of uncertainty treated includes all the form of additive real parameter uncertainty, which has the multiple rank structure. To handle the structure of uncertainty, the scaling matrix with block diagonal structure is introduced. By changing the scaling matrix, all the possible set of uncertainty structures can be represented. Modified algebraic Riccati equation (MARE) is newly proposed to obtain a robust feedback control law, which makes the quadratic cost finite for an arbitrary scaling matrix. The remaining design freedom, that is, the scaling matrix is used for minimizing the upper bound of the quadratic cost for all possible set of uncertainties within the given bounds. A design example is shown to demonstrate the simplicity and the effectiveness of proposed method.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1989년도 하계종합학술대회 논문집
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• pp.57-61
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• 1989

An adaptive control scheme is presented for uncertain systems whose uncertaintiy bounds are expressed as a linear combination of unknown functions of special form. Both the states and the parameter estimate errors of the closed-loop system are proven to be bounded. The regulation errors can be made sufficiently small by adjusting the design parameters. An application of the proposed method to the position control of a simple pendulum is given.

• 한국수자원학회:학술대회논문집
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• 한국수자원학회 2021년도 학술발표회
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• pp.127-127
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• 2021

In order to estimate parameter uncertainty of hydrological models, the consideration of the likelihood functions which provide reliable parameters of model is necessary. In this study, the Bayesian Markov Chain Monte Carlo (MCMC) method with informal likelihood functions is used to analyze the uncertainty of parameters of the SURR model for estimating the hourly streamflow of Gunnam station of Imjin basin, Korea. Three events were used to calibrate and one event was used to validate the posterior distributions of parameters. Moreover, the performance of four informal likelihood functions (Nash-Sutcliffe efficiency, Normalized absolute error, Index of agreement, and Chiew-McMahon efficiency) on uncertainty of parameter is assessed. The indicators used to assess the uncertainty of the streamflow simulation were P-factor (percentage of observed streamflow included in the uncertainty interval) and R-factor (the average width of the uncertainty interval). The results showed that the sensitivities of parameters strongly depend on the likelihood functions and vary for different likelihood functions. The uncertainty bounds illustrated the slight differences from various likelihood functions. This study confirms the importance of the likelihood function selection in the application of Bayesian MCMC to the uncertainty assessment of the SURR model.

• 수산해양기술연구
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• 제30권4호
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• pp.329-340
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• 1994

This paper presents a dynamic compensation methodology for robust trajectory tracking control of uncertain robot manipulators. To improve tracking performance of the system, a full model-based feedforward compensation with continuous VS-type robust control is developed in this paper(i.e,. robust decentralized adaptive control scheme). Since possible bounds of uncertainties are unknown, the adaptive bounds of the robust control is used to directly estimate the uncertainty bounds(instead of estimating manipulator parameters as in centralized adaptive control0. The global stability and robustness issues of the proposed control algorithm have been investigated extensively and rigorously via a Lyapunov method. The presented control algorithm guarantees that all system responses are uniformly ultimately bounded. Thus, it is shown that the control system is evaluated to be highly robust with respect to significant uncertainties.

• 대한토목학회논문집
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• 제33권3호
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• pp.937-945
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• 2013

홍수범람도의 정확성은 입력자료, 모형변수, 모델접근방법 등을 포함한 전반적인 구축과정에 포함된 모든 변수들로부터 전달되는 불확실성에 의해 결정된다. 본 연구의 목적은 미국 Missouri주 Boonville시에 위치한 Missouri 강에 대한 홍수범람도 구축과정에서 모델 변수들 가운데 주 요소 (흐름조건, 조도계수)로부터 발생하는 불확실성을 조사하는 것이다. 본 연구를 수행하기 위하여 홍수범람면적의 불확실성 구간을 정량화하기 위한 GLUE (generalized likelihood uncertainty estimation)를 이용하였다. GLUE 수행과정에서 불확실성 구간은 두 개의 우도함수를 선택함으로 산정되었는데 선택된 우도함수는 제곱오차 합의 역 (1/SSE)과 절대오차 합의 역 (1/SAE)이다. GLUE의 결과는 제곱오차 합의 역에 의한 우도측정이 절대오차 합의 역에 의한 우도측정보다 관측 자료에 더 민감하였고, 두 개의 변수에 포함된 불확실성은 관측 자료의 약 2 %에 해당하는 홍수범람면적의 불확실성 구간에 전달되었다. 이러한 결과를 토대로, 본 연구는 홍수의 특성을 알아내는데 중요한 역할을 할 것으로 기대된다.

• Structural Engineering and Mechanics
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• 제27권3호
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• pp.263-276
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• 2007

This paper presents a fuzzy finite element model for the analysis of structures in the presence of multiple uncertainties. A new methodology to evaluate the cumulative effect of multiple uncertainties on structural response is developed in the present work. This is done by modifying Muhanna's approach for handling single uncertainty. Uncertainty in load and material properties is defined by triangular membership functions with equal spread about the crisp value. Structural response is obtained in terms of fuzzy interval displacements and rotations. The results are further post-processed to obtain interval values of bending moment, shear force and axial forces. Membership functions are constructed to depict the uncertainty in structural response. Sensitivity analysis is performed to evaluate the relative sensitivity of displacements and forces to uncertainty in structural parameters. The present work demonstrates the effectiveness of fuzzy finite element model in establishing sharp bounds to the uncertain structural response in the presence of multiple uncertainties.

• 한국안전학회지
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• 제39권3호
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• pp.75-83
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• 2024

Accurately assessing and managing risks in any endeavor is crucial. Risk assessment in engineering translates the abstract concept of risk into actionable strategies for systematic risk management. However, risk validation is met with significant skepticism, particularly concerning the uncertainty of probability. This study aims to address the aforementioned uncertainty in a multitude of ways. Firstly, instead of relying on deterministic probability, it acknowledges uncertainty and presents a probabilistic interval. Secondly, considering the uncertainty interval highlighted in OREDA, it delineates the bounds of the probabilistic interval. Lastly, it investigates how much explanatory power deterministic probability has within the defined probabilistic interval. By utilizing fault tree analysis (FTA) and integrating confidence intervals, a probabilistic risk assessment was conducted to scrutinize the explanatory power of deterministic probability. In this context, explanatory power signifies the proportion of probability within the probabilistic risk assessment interval that lies below the deterministic probability. Research results reveal that at a 90% confidence interval, the explanatory power of deterministic probability decreases to 73%. Additionally, it was confirmed that explanatory power reached 100% only with a probability application 36.9 times higher.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.416-419
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• 1995

A finite-dimensional approximation technique is developed for a class of spectral systems with input and output operators which are unbounded. A corresponding bounding technique on the frequency-response error is also established for control system design. Our goal is to construct an uncertainty model including a nominal plant and its error bounds so that the results from robust linear control theory can be applied to guarantee a closed loop control performance. We demonstrate by numerical example that these techniques are applicable, with a modest computational burden, to a wide class of distributed parameter system plants.

• 제어로봇시스템학회논문지
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• 제12권6호
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• pp.517-523
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• 2006

This paper is focused on a robust saturation controller for the stable linear time-invariant (LTI) system involving both actuator's saturation and structured real parameter uncertainties. Based on affine quadratic stability and multi-convexity concept, a robust saturation controller is newly proposed and the linear matrix inequality (LMI)-based sufficient existence conditions for this controller are presented. The controller suggested in this paper can analytically prescribe the lower and upper bounds of parameter uncertainties, and guarantee the closed-loop robust stability of the system in the presence of actuator's saturation. Through numerical simulations, it is confirmed that the proposed robust saturation controller is robustly stable with respect to parameter uncertainties over the prescribed range defined by the lower and upper bounds.

• Nuclear Engineering and Technology
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• 제55권7호
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• pp.2712-2722
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• 2023

For an accurate and efficient time-dependent Monte Carlo (TDMC) neutron transport analysis, several advanced methods are newly developed and implemented in the Seoul National University Monte Carlo code, McCARD. For an efficient control of the neutron population, a dynamic weight window method is devised to adjust the weight bounds of the implicit capture in the time bin-by-bin TDMC simulations. A moving geometry module is developed to model a continuous insertion or withdrawal of a control rod. Especially, the history-based batch method for the TDMC calculations is developed to predict the unbiased variance of a bin-wise mean estimate. The developed methods are verified for three-dimensional problems in the C5G7-TD benchmark, showing good agreements with results from a deterministic neutron transport analysis code, nTRACER, within the statistical uncertainty bounds. In addition, the TDMC analysis capability implemented in McCARD is demonstrated to search the optimum detector positions for the pulsed-neutron-source experiments in the Kyoto University Critical Assembly and AGN201K.