• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.405-412
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• 1992

The problem we consider in this paper is more demanding than the problem of input-output linearization with state equivalence recently solved by Cheng, Isidori, Respondek, and Tarn. We request that the MIMO nonlinear system, for which the problem of input-output linearization with state-equivalence is solvable, can be decoupled. In exchange for further requirement like this, our problem produces more usable and informative results than the problem of input-output linearization with state-equivalence. We present the necessary and sufficient conditions for our problem to be solvable. We characterize each of the nonlinear systems satisfying these conditions by a set of parameters which are invariant under the group action of state feedback and transformation. Using this set of parameters, we can determine directly the unique one, among the canonical forms of decouplable and controllable linear systems, to which a nonlinear system can be transformed via appropriate state feedback and transformation. Finally, we present the necessary and sufficient conditions for our problem to be solvable with internal stability, that is, for stable decoupling.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.11
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• pp.1809-1818
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• 1997

Mathematical models of industrial robots or manipulators are highly nonlinear equations with nonlinear coupling between the variables of motion. As the working speed has been fast, the effects of nonlinear terms have become serious. So the control algorithm based on approximately linearized equation looses the efficiency. In order to design the control law for the nonlinear models, Hunt-Su's nonlinear transformation method and Marino's feedback equivalence condition are used with linear quadratic regulator(LQR) theory in this study. Nonlinear terms of the system are eliminated and coupled terms are decoupled by this feedback law. This method is applied to a 3-D.O.F. vertical articulated manipulator by both experiments and simulations and compared with PID control which is widely used in the industry.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.272-275
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• 1989

In this paper feedback linearization of valve-controlled nonlinear hydraulic velocity control system is studied. The $C^{\infty}$ nonlinear transformation T is obtained, and it is shown that this transformation is global one. Linear equivalence of nonlinear hydraulic velocity control system is obtained by this global nonlinear transformation, and linear state feedback control law is applied to this linear model. It is shown that this transformation method is to the linear approximation by simulation study..

• Journal of KSNVE
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• v.7 no.6
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• pp.985-991
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• 1997

Combustion instability is a common phenomenon in a ducted flame burner and is known as accompanying low frequency oscillation. This is due to the interaction between unsteady heat release rate and sound pressure field, that is, thermoacoustic feedback. In Rayleigh criterion, combustion instability is triggered when the heat addition is in phase with acoustic oscillation. A Rijke type burner with a pre-mixed flame is built for investigating the effect of Reynolds number and equivalence ratio on thermoacoustic oscillation. The results suggest that the frequency of max, oscillation is dependent on Reynolds number and equivalence ratio whereas its magnitude is not a strong function of these two parameters.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.2
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• pp.94-101
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• 1996

The equations of motion for a basic industrial robotic system which has a rigid or a flexible arm are derived by Lagrange's equation, respectively. Especially, for the deflection of the flexible arm, the assumed mode method is employed. These equations are highly nonlinear equations with nonlinear coupling between the variables of motion. In order to design the control law for the rigid-arm robot, Hunt-Su's nonlinear transformation method and Marino's feedback equivalence condition are used with linear quadratic regulator(LQR) theory. The control law for the rigid-arm robot is employed to input the desired path and to provide the required nonlinear transformations for the flexible-arm robot to follow. By using the implicit Euler method to solve the nonlinear equations, the comparison of the motions between the flexible and the rigid robots and the effect of flexibility are examined.

• 한국연소학회:학술대회논문집
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• 2015.12a
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• pp.215-218
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• 2015

Simultaneous laser ignition and spectroscopy is a scheme that enables rapid determination of the local equivalence ratio and condensed fuel concentration during a reaction in a two phase spray flame. We have conducted quantitative analysis of the LIBS signals according to the equivalence ratio, droplet size, droplet number density and droplet concentration as a part of novel feedback control strategy proposed for flame ignition and stabilization with simultaneous in situ combustion flow diagnostics. This is a desirable scheme since such real time information onboard an engine for instance can be constantly monitored and fed back to the control loop to enhance the mixing process and minimize emissions of unwanted species and potential combustion instability.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.3
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• pp.625-631
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• 2011

This paper presents a discrete-time output feedback consensus algorithm for Multi-Agent Systems (MAS). Under the assumption that an agent is aware of the relative state information about its neighbors, a state feedback consensus algorithm is designed based on Linear Matrix Inequality (LMI) method. In general, however, it is possible to obtain its relative output information rather than the relative state information. To reconcile this problem, an Unknown Input Observer (UIO) is employed in this paper. To this end, first it is shown that the relative state information can be estimated using the UIO and the measured relative output information. Then a certainty-equivalence type output feedback consensus algorithm is proposed by combining the LMI-based state feedback consensus algorithm with the UIO. Finally, simulation results are given to illustrate that the proposed method successfully achieves the state consensus.

• Nuclear Engineering and Technology
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• v.51 no.5
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• pp.1195-1208
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• 2019

This paper introduces a new two-step procedure for PWR depletion analyses. This procedure adopts the albedo-corrected parameterized equivalence constants (APEC) method to correct the lattice-based raw cross sections (XSs) and discontinuity factors (DFs) by accounting for neutron leakage. The intrinsic limitations of the conventional two-step methods are discussed by analyzing a 2-dimensional SMR with the commercial DeCART2D/MASTER code system. For a full-scope development of the APEC correction, the MASTER nodal code was modified so that the group constants can be corrected in the middle of a microscopic core depletion. The basic APEC methodology is described and color-set problems are defined to determine the APEC functions for burnup-dependent XS and DF corrections. Then the new two-step method was applied to depletion analyses of the SMR without thermal feedback, and its validity was evaluated in terms of being able to predict accurately the reactor eigenvalue and nodal power profile. In addition, four variants of the original SMR core were also analyzed for a further evaluation of the APEC-assisted depletion. In this work, several combinations of the burnup-dependent and -independent XS and DF corrections were also considered. The results show that the APEC method could enhance the nodal equivalence significantly with inexpensive additional costs.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1699-1704
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• 1991

The states, inputs, outputs and parameters of a complex-system are all complex values. The introduction of such complex systems makes it more suitable to treat not only the robust control but also the pole assignment in the separate regions. The relation called "equivalence in the discrete sense" is introduced to define a complex-system corresponding to a real-system with real-axis poles as well as complex conjugate poles. The relation between the feedback-control laws of the equivalent systems in the discrete sense are derived so that their closed-loop systems should hold the equivalence in the discrete sense.ete sense.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1997.04a
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• pp.621-626
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• 1997

Combustion instability is a common phenomenon in a ducted flame burner and is known as accompanying low frequency oscillation. This is due to the interaction between unsteady heat release rate and sound pressure field, that is, thermoacoustic feedback. In Rayleigh criterion, combustion instability is triggered when the heat additions is in phase with acoustic oscillation. A Rijke type burner with a pre-mixed flame is built for investigating the effect of Reynolds number and equivalence ratio on thermoacoustic oscillation. In addition, the effect of wall temperature is presented. The results suggest that the frequency of max. oscillation is dependent on Reynolds number and equivalence ratio whereas its magnitude is not a strong function of these two parameters. On the other hand, the wall temperature distribution has much strong effects on the oscillation, even creates different mode of acoustic resonance.