• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.7
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• pp.127-134
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• 2015

In this note, a continuous sliding surface transformed variable structure systems by the saturation function is presented for MIMO uncertain linear plants. A discontinuous sliding surface transformed VSS is proposed theoretically. The closed loop exponential stability together with the MIMO existence condition of the sliding mode on the predetermined sliding surface is investigated. For practical applications, a continuous approximation of the discontinuous VSS is made by means of the saturation function. The discontinuity of the control input as the inherent property of the VSS is much improved in view of the practical aspects. Through a design example and simulation studies, the usefulness of the proposed continuous transformed VSS controller is verified.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.41 no.6
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• pp.607-614
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• 1992

A continuous variable structure system control for a DC servomotor tracking controller is proposed to alleviate the chattering problems. The stability property of the proposed algorithm is analyzed in detail. The prescribed tracking error is guaranteed under load variations based on the stability analysis. Through the comparative simulations between the proposed algorithm and the conventional VSS, the effectiveness of the proposed algorithm is proved.

• Journal of Environmental Health Sciences
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• v.19 no.3
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• pp.17-21
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• 1993

Characteristics of a downflow anaerobic packed bed reactor with raschig ring ceramics as a packing were measured and discussed for the basic evaluation of the process. A synthesized glucose substrate wastewater were used as a feed and process characteristics such as pH, biogas production, composition of produced gas, COD removal and VSS were measured with the hydraulic retention time (HRT) changing from 0.25 to 2 days. As a result, this type of reactor was applicable in continuous operation within the given HRT range and the transient period approaching the steady state was about 20 days. The content of methane in produced gas increase with HRT was always high above 50% enough to use as energy source. The COD removal efficiency increased gradually as HRT increased. The axial profile of VSS concentration in the reactor usually showed the maximum at the lower region and the minimum at the middle. The VSS concentration at the upper region and the exit appeared similarly. However, at 0.25 day of HRT, the VSS concentration of effluent became higher than that of the upper region. Therefore the optimum HRT of this reactor occurred about 0.5 day, at which the production of methane began to be just stabilized and loss of VSS and COD removal were resonable.

• Journal of Astronomy and Space Sciences
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• v.11 no.2
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• pp.281-295
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• 1994

In this paper, the Variable Structure System(VSS) theory with new continuous switching dynamic equation is used to design an automatic controller for the active nutation damping in momentum bias stabilized spacecraft. In the application of VSS theory to a linearized multivariable system with the nutation damping systems, there exist some disadvantages such as how to determine the switching gains and how to reduce the chattering phenomina and reaching phase in input and state trajectories. To solve these drawbacks, this paper presents the continuous switching dynamic equation instead of the discontinuous switching logics to obtain the sliding mode. The new design approach is much simpler than the VSS theory. And there do not exist chattering phenomina in this method because the obtained control inputs are continuous. Simultaneously the reaching phase is reduced by a suitable choice of design factor.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.1300-1305
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• 1990

A VSS observer-based sliding mode control is described for continuous-time systems with uncertain nonlinear elements, in which the Euclidean norm of unknown element is bounded by a known value. For a case of complete state information, we first derive a sliding mode controller consisting of three parts: a linear state feedback control, an equivalent input and a min-niax control. It is then shown that the present attractiveness condition is simpler than that for a case without using the concept of equivalent input. We next design a VSS observer as a completely dual form to the sliding mode controller. Finally, we discuss a cas of incomplete state information by applying the VSS observer.

• Microbiology and Biotechnology Letters
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• v.24 no.5
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• pp.597-603
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• 1996

This study was carried out to examine degradation characteristics of microalgae Chlorella vulgaris in methane fermentation. We measured COD and VS reduction, gas and methane productivity, VFA (volatile fatty acid), respectively. Then we calculated material balance and hydrolysis rates in soluble and solid material. The substrate concentration was controlled from 14 gCOD$_{cr}$/l to 64 gCOD$_{cr}$/l in batch cultures, and HRT (hydraulic retention time) controlled from 2 days to 30 days in continuous experi- ments. The results were as follows. In batch culture, accumulated gas productivity increased with the increase of the substrate concentration. The SS and VSS was removed all about 30% increase of substrate concentration and the most of the degradable material removed during the first 10 days. The curve of gas and methane production rate straightly increased until substrate concentration is 26 gCOD$_{cr}$/l. In continuous culture experiments, the removal rates at HRT 10days were 20% for total COD and TOC, respectively. At longer HRT, there was no increase in the removal efficiency. At HRT 15 days, the removal rates were 30% for SS and VSS, respectively. Soluble organic materials were rapidly degraded, and so there was no accumulated. Soluble COD concentration was not increase regardless of HRT-increasing. That meaned the hydrolysis was one of the rate-limiting stage of methane fermentation. The first-order rate constants of hydrolysis were 0.23-0.28 day$^{-1}$ for VSS, and 0.07-0.08 day$^{-1}$ for COD.

• Environmental Engineering Research
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• v.10 no.6
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• pp.283-293
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• 2005

Characteristics of sulfur-based autotrophic denitrification in a semi-continuous type reactor and the kinetic parameters were studied. Enriched autotrophic denitrifying culture was used for the reactor operation. Biomass growth on sulfur particles and in the liquid medium was monitored using the DAPI staining method. From the result of ion concentration changes and the biomass growth, maximum specific growth rate, ${\mu}_{max}$, and the half velocity constant, $K_M$, were estimated as $0.61\;d^{-1}$ and 3.66 mg/L, respectively. Growth yield coefficient, Y values for electron acceptor and donor were found as 0.49 gVSS/g N and 0.16 gVSS/g S. The biomass showed specific denitrification rate, ranging 0.86-1.13 gN/g VSS-d. A half-order equation was found to best simulate the denitrification process in the packed bed reactor operated in the semi-continuous mode.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.463-467
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• 1991

A continuous variable structure system control as a DC servomotor trackhig controller is proposed for the improvement of the chattering problems. The stability property of the proposed algorithms is analyzed. The prescribed trackfiig error is gauranteed in the existence of load variations based on the stability analysis.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.27 no.1
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• pp.89-96
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• 1994

The recovery posibility of granular sludge inactivated due to high organic loading at stawrt-up stage of UASB reactors was examined at various storage periods while kept at a constant temperature of $35^{\circ}C$. It was noticed that the inactivated sludge kept without feeding recovered microbial activity much faster than that kept with continuous feeding. The activity of the sludge gradually recovered to the point where the organic removal rate of 0.15g of 0.15g COD/g VSS-day at the inactivated stage had changed to 0.36g COD/g VSS-day after 60 days of storage without feeding, which was similar to the active granular sludge activity of 0.38g COD/g VSS-day. There was no significant different in the characteristics of activity recovery between granular sludge and smashed sludge.

• Microbiology and Biotechnology Letters
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• v.42 no.3
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• pp.307-311
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• 2014

This study investigated the effects of polyurethane foam on continuous hydrogen production from mixed wastes. Molasses was co-fermented with non-pretreated sewage sludge in a sequencing batch reactor. The results indicated that the addition of polyurethane foams as a microbial carrier in the reactor mitigated biomass loss at HRT 12 h, while most of the biomass was washed out during the operation period with no carrier. There was a stable hydrogen production rate of $0.4L-H_2/l/d$ in the carrier-sequencing batch reactor. Suspended biomass in the carrier-reactor indicated it possessed the highest specific hydrogen production rate ($241{\pm}4ml-H_2/g\;VSS/d$) when compared to that of biomass on the surface ($133{\pm}10ml-H_2/g\;VSS/d$) or inner carrier ($95{\pm}14ml-H_2/g\;VSS/d$).