• The Transactions of the Korean Institute of Electrical Engineers
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• v.40 no.6
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• pp.606-614
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• 1991

A robust direct adaptive controller with respect to additive and multiplicative unmodeled dynamics is designed. A new term, proportional to the product of the bounded tracking error and normalizing signal, is added to the conventional control input for improvement of robustness and performances of an adaptive system. It is shown by the mathematical analysis and simulation results that the stability of the closed loop system is guaranteed and the performance of the system is improved.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1601-1606
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• 1991

We present an algorithm to approximate the Voronoi diagrams of 2D objects bounded by algebraic curves. Since the bisector curve for two algebraic curves of degree d can have a very high algebraic degree of 2 * d$^{4}$, it is very difficult to compute the exact algebraic curve equation of Voronoi edge. Thus, we suggest a simple polygonal approximation method. We first approximate each object by a simple polygon and compute a simplified polygonal Voronoi diagram for the approximating polygons. Finally, we approximate each monotone polygonal chain of Voronoi edges with Bezier cubic curve segments using least-square curve fitting.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1197-1200
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• 1996

This paper is concerned with the design of robust state feedback controller for a class of linear time-delay systems with norm-bounded nonlinear uncertainties. Under the proposed delay-independent criterion, asymptotic stability for the system is investigated using the conventional Lyapunov method. Moreover, the robust controller can be obtained by solving the linear matrix inequality which is equivalent to the suggested conditions.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.172.1-172
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• 2001

In this paper we show the stability analysis of the discrete nonlinear system with average bounded variation of the input. This is the discrete counterpart of that continuous one. We use the Lyapunov stability to prove the boundedness of the steady-state error. Also the allowable maximum variation bounds and the region of attraction are given as the function of the system parameters. Moreover, we prove the uniform convergence for the constant input.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.441-444
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• 1989

This correspondence presents a recursive estimation algorithm which, unlike conventional ones; updates the estimates only when a sufficient improvement can be obtained with a bounded noise assumption, the resulting sequence of estimates is a sequence of convex sets(ellipsoids) in the parameter space. For the cases studied, the algorithm use less than 20 percent of the. data to update, the estimate and still acquired good accuracy for spectral estimation.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.1073-1076
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• 1991

This paper presents a robust model reference adaptive controller for continuous-time single-input single-output linear time-invariant systems which are subjected to output-dependent disturbances as well as bounded external disturbances. In the derived controller form, an additional output error feedback term is included to over-ride the destabilizing effects by the output-dependent disturbances.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.420-423
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• 1995

The stability of system is one of the important aspects and to judge system's stability is another complicated problem. Previously, new technique derived from relaxing Lyapunov conditions has been already introduced and in this paper, this proposed technique applies to the practical dynamic systems. This utility of numerical procedures prove the comparable improvements of the estimation of robustness for dynamic systems having structured (bounded) perturbations.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.68-72
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• 1986

Upper bounds of the perturbed Co-semigroups of the infinite dimensional systems are investigated by using the algebraic Riccati equation(ARE). In the case that the solution P of the ARE is strictly positive, the perturbed semigroups are uniformly bounded. A sufficient condition for the solution P to be strictly positive is provided. The uniform boundedness plays an important role in extending approximately weak stability to weak stability on th whole space. Exponential Stability of the perturbed semigroups is studied by using the Young's inequlity. Some further discussions on the uniform boundedness of the perturbed semigroups are given.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.9
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• pp.60-66
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• 1997

WE consider the stabilization of a class of multivariable nonlinear system using variable structure output feedback control. A high-gain observer is used to estimate state variable while rejecting the effect of the disturbances. We design a globally bounded output feedback variable structure controller that semi-globally stabilize the closed-loop system, while state variables do not exhibit a peaking.

• ETRI Journal
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• v.6 no.1
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• pp.3-9
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• 1984

This paper presents a direct adaptive poleplacement control scheme which is applicable to discrete-time non-minimum phase systems. It is proved that by this scheme the poles can be placed at the desired locations and the overall state vector of the system is uniformly bounded if the reference input is sufficiently rich, and also proved that in case of insufficiently rich reference input the overall system can still be stabilized though the poles may not be placed exactly at the desired locations. The effectiveness of this scheme is verified by digital computer simulations.