• Journal of Advanced Marine Engineering and Technology
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• v.26 no.4
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• pp.432-438
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• 2002

In this paper, we described a technique for the swing-up control of a 2 link acrobat robot using a cannonical form which is derived form the law of conservation of an angular momentum based on the center of the first joint. The wide usefulness of the canonical form of the acrobat robot, which was suggested here, is could also be applied to control a free flying robot or an underactuated planar manipulator with no gravity term. Some simulation results are provided to verify the effectiveness of the proposed algorithm

• The Transactions of the Korean Institute of Electrical Engineers
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• v.41 no.7
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• pp.773-783
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• 1992

There have been several control schemes for the single input systems with unmeasurable state variables using variable structure control(VSC) theory. However, each of them is a study on the systems which can be represented in the phase canonical form or non-phase canonical form dynamic equation separately. As these control algorithms have difficulties in practical application by its theoretical limitations, in this paper we propose a new VSC theory which overcomes those limitations, in this paper we propose a new VSC theory which overcomes those limitations of proposed schemes. This new control scheme can be realized for the general linear systems which have unmeasurable state variables. And the switching function of this VSS algorithm consists of measurable state variable function(reduced-order switching function) and its derivatives. Also in the construction of control imput only measurable state variables are used.

• Bulletin of the Korean Mathematical Society
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• v.55 no.6
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• pp.1823-1834
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• 2018

The position vector field x is the most elementary and natural geometric object on a Euclidean submanifold M. The position vector field plays very important roles in mathematics as well as in physics. Similarly, the tangential component $x^T$ of the position vector field is the most natural vector field tangent to the Euclidean submanifold M. We simply call the vector field $x^T$ the canonical vector field of the Euclidean submanifold M. In earlier articles [4,5,9,11,12], we investigated Euclidean submanifolds whose canonical vector fields are concurrent, concircular, torse-forming, conservative or incompressible. In this article we study Euclidean submanifolds with conformal canonical vector field. In particular, we characterize such submanifolds. Several applications are also given. In the last section we present three global results on complete Euclidean submanifolds with conformal canonical vector field.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.601-604
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• 1997

In this paper, a pole assignment problem in the unit disk for a linear discrete system is discussed. The analysis is based on the Luenberger's canonical form and Gershgorin's disk. The proposed method for pole assignment is convenient for a linear time invariant discrete system.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.159-162
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• 1997

This paper describes robust stabilization of nonlinear single-input uncertain systems without matching conditions. We consider nonlinear systems with a vector of unknown constant parameters perturbed about a known value. The approach utilizes the generalized controller canonical form to lump the unmatched uncertainties recursively into the matched ones. This can be achieved via nonlinear coordinate transformations which depend not only on the states of the nonlinear system but also on the control input. Then the dynamic robust control law is derived and the stability result is also presented.

• Journal of applied mathematics & informatics
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• v.6 no.3
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• pp.851-858
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• 1999

A new problem of the theory of finite automata (Rabin-Scott's automata) is considered. So called basis automaton for the given regular language l is defined. this automaton is unique for the given L, it is defined by two au-tomata of canonical form: for L and for its inverse language LR. Some properties of basis automata are considered. Such properties make these automata most convenient for using in some special tasks dealing with the given regular language.

• Journal of the Korean Institute of Telematics and Electronics
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• v.18 no.3
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• pp.9-14
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• 1981

A nonexhaustive procedure for obtaining minimally testable Reed-Muller Canonical (RMC) forms with minimal 1itera1s of switching functions is presented, And, it is shown that this proced tore allows nonexhaustive and near-optimal handling of functions with Doft Care conditions.

• The Journal of Society for e-Business Studies
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• v.8 no.1
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• pp.113-119
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• 2003

This paper proposes a new multiplicative inverse algorithm for the Galois field GF (2/sup m/) whose elements are represented by optimal normal basis type Ⅱ. One advantage of the normal basis is that the squaring of an element is computed by a cyclic shift of the binary representation. A normal basis element is always possible to rewrite canonical basis form. The proposed algorithm combines normal basis and canonical basis. The new algorithm is more suitable for implementation than conventional algorithm.

• Journal of architectural history
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• v.6 no.3 s.13
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• pp.167-182
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• 1997

The process of interpretation comprises the passage from blindness to pre-canonical responses, then the canonical interpretation and its dissemination. and finally silence and oblivion. But oblivion does not necessarily imply the conclusion of the interpretative process of work. A reinterpretation may follow. This study aims at searching the source of reinterpretation of Ronchamp Chapel. I analyzed the canonical interpretation. the site, function, and form of the chapel. I concluded that the contextualism, semiology, regionalism and other architectural conception may be the frame of reference for reinterpretation of Ronchamp Chapel.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1593-1598
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• 2004

In this paper, we use the input and output maps and develop simple procedures to obtain realizations for linear continuous-time systems. The procedures developed are numerically efficient and yield explicit formulae for the state space matrices of the realization in terms of the system parameters, notably the system modes. Both cases of the systems with distinct modes and repeated modes are treated. We also present a procedure for converting a realization obtained through the input or output map into the Jordan canonical form. The transformation matrices required to bring the realization into the Jordan canonical form are specified entirely in terms of the system modes.