• 제어로봇시스템학회논문지
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• 제20권11호
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• pp.1142-1146
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• 2014

This paper addresses on a $H_{\infty}$ sampled-data stabilization of a Takagi-Sugeno (T-S) fuzzy system. The sampled-data stabilization problem is formulated as a discrete-time stabilization one via a direct discrete-time design approach. It is shown that the sampled-data fuzzy control system is asymptotically stable whenever its exactly discretized model is asymptotically stable. Based on an exact discrete-time model, sufficient design conditions are derived in the format of linear matrix inequalities (LMIs). An example is provided to illustrate the effectiveness of the proposed methodology.

• 전력전자학회논문지
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• 제10권3호
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• pp.219-225
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• 2005

본 논문에서는 평균전류모드제어를 이용하는 컨버터의 전류응답을 예측할 수 있는 새로운 이산시간 소신호 모델을 구한다. 평균전류모드제어는 최대전류모드제어와 달리 전류제어를 위해 복잡한 보상기 회로를 사용하므로 컨버터의 동작 특성 해석이 어렵다. 평균전류모드제어를 사용하는 컨버터의 소신호 전류응답을 예측하기 위해 샘플러모델을 제안하고, 이 모델로부터 새로운 이산시간 소신호 모델을 구한다. 제안된 방식은 기존 방식과 달리 복잡한 형태의 보상기를 사용하는 컨버터에도 적용 가능하다. 제안한 새로운 이산시간 소신호 모델을 이용한 예측 결과를 스위칭 모델 시뮬레이션 프로그램인 PSIM을 이용한 시뮬레이션 결과 및 실험결과와 비교하여 제안한 새로운 이산시간 소신호 모델의 우수성을 보인다.

• 드라이브 ㆍ 컨트롤
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• 제14권4호
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• pp.23-28
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• 2017

Time-delay control with internal model (TDCIM) is the controller for robot manipulators that applies the time-delay estimation and the concept of internal model control (IMC). TDCIM is robust against unknown dynamics and non-linear friction like coulomb friction and static friction. It is simple and computationally efficient. This study presents the relationship between the discrete TDCIM and the discrete PID controller. The PID controller is the most popular control law in the real application. But often the PID controller can be difficult to achieve the desired level of control performance. The result in this study provides a good candidate solution to these situations.

• 한국시뮬레이션학회논문지
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• 제21권4호
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• pp.35-46
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• 2012

실시간 시스템의 복잡도가 증가함에 따라 임시방편적 시스템 해석 방법은 시스템 동작 영역 전체를 완전하게 분석하는 데는 한계가 있다. 모델링을 기반으로 한 정형 기법은 그러한 한계점을 극복 할 수 있다. 본 논문은 모델 기반 정형 기법을 이용하여 실시간 시스템의 안전성 및 필연성 등과 같은 논리적 타당성을 이산 사건 모델 수준에서 분석하는 방법을 제안한다. 먼저, 분석 대상 실시간 시스템은 이산사건 수준에서 계층적으로 모듈화하여 모델을 명세하는 수학적 형식론인 DEVS (Discrete Event Systems Specification) 형식론으로 기술된다. 다음으로, 기술된 DEVS 모델은 시간 명세가 포함된 전역 상태 공간을 표현하는 C-DEVS (Communicating DEVS) 형식론으로 표현한 후 C-DEVS 형식론의 해석 알고리즘을 통해 시스템 동작을 분석된다. 제안된 C-DEVS 형식론 및 해석 알고리즘은 주어진 시스템의 동작 특성을 분석하는 과정에서 시스템의 상태 공간을 완전하게 빠짐없이 탐색하는 것을 보장한다. 간단한 건널목 제어 시스템의 안전성 분석 사례 연구를 통하여 제안된 모델 기반 해석 기법의 효율성을 예시 하였다.

• 대한전기학회논문지:전력기술부문A
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• 제48권11호
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• pp.1441-1447
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• 1999

A discrete time domain modeling is presented for the pulse-width modulated series resonant converter (PWM-SRC) with a discontinuous current mode. This nonlinear system is linearized about its equilibrium state to obtain a linear discrete time model for the investigation of small signal performances such as the stability and transient response. The usefulness of this small signal model is verified through the dynamic simulation.

• 대한수학회지
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• 제50권1호
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• pp.17-39
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• 2013

The study of nonlinear discrete-time control dynamical systems with disturbance is an important topic in control theory. In this paper, we concentrate our efforts to multiple valued iterative dynamical systems, which model the nonlinear discrete-time control dynamical systems with disturbance. After establishing the validity of such modeling, we study the invariant set theory of the multiple valued iterative dynamical systems, including the controllability/reachablity problems of the maximal invariant sets.

• 조명전기설비학회논문지
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• 제24권12호
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• pp.193-200
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• 2010

In this paper, the eigenvalue sensitivity analysis is calculated in the power system which is including both generator controllers such as Exciter, PSS and thyristor controlled FACTS devices in transmission lines such as TCSC. Exciter and PSS are continuously operating controllers but TCSC has a switching device which operates non-continuously. To analyze both continuous and non-continuous operating equipments, the RCF method one of the numerical analysis method in discrete time domain is applied using discrete models of the power system. Also the eigenvalue sensitivity calculation algorithm using state transition equations in discrete time domain is devised and applied to a sampled system. As a result of simulation, the eigenvalue sensitivity coefficients calculated using discrete system models in discrete time domain are changed periodically and showed different values compared to those of continuous system model in time domain by the effect of periodic switching operations of TCSC.

• 한국산업정보학회논문지
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• 제16권4호
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• pp.45-52
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• 2011

In the real-field of control cases for robot manipulators, there always exists a modeling error, which results the model has the uncertainties in its parameters and/or structure. In many modem applications, digital computers are extensively used to implement control algorithms to control such systems. The discretization of the nonlinear dynamic equations of such systems results in a complicated discrete dynamic equations. Therefore, it will be difficult to design a discrete-time controller to give good tracking performances in the presence of certain uncertainties. In this paper, a discrete-time sliding mode control algorithm for nonlinear and time varying robot manipulators with uncertainties is presented. Sufficient conditions for guaranteeing the convergence of the discrete-time SMC system are derived. As example simulations, the proposed SMC algorithm is applied to a two-link robotic manipulator with unknown dynamics. The results of the simulation indicate that the developed control scheme is effective in manipulators and electro-mechanical system control.

• 전기학회논문지
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• 제58권7호
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• pp.1411-1417
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• 2009

In this paper, we consider the design of $H_{\infty}$ control of linear discrete-time systems having no mathematical model. The basic approach is to use Q-learning which is a reinforcement learning method based on actor-critic structure. The model-free control design is to use not the mathematical model of the system but the informations on states and inputs. As a result, the derived iterative algorithm is expressed as linear matrix inequalities(LMI) of measured data from system states and inputs. It is shown that, for a sufficiently rich enough disturbance, this algorithm converges to the standard $H_{\infty}$ control solution obtained using the exact system model. A simple numerical example is given to show the usefulness of our result on practical application.

• 한국수학사학회지
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• 제27권3호
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• pp.197-210
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• 2014

Species like insects and fishes have, in many cases, non-overlapping time intervals of one generation and their descendant one. So the population dynamics of such species can be formulated as discrete models. In this paper various discrete population models are introduced in chronological order. The author's investigation starts with the Malthusian model suggested in 1798, and continues through Verhulst model(the discrete logistic model), Ricker model, the Beverton-Holt stock-recruitment model, Shep-herd model, Hassell model and Sigmoid type Beverton-Holt model. We discuss the mathematical and practical significance of each model and analyze its properties. Also the stability properties of stationary solutions of the models are studied analytically and illustratively using GSP, a computer software. The visual outputs generated by GSP are compared with the analytical stability results.