• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.141.1-141
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• 2001

This paper describes an approach for synthesizing a modularized gain scheduled PD type fuzzy logic controller(FLC) for a high maneuverable aircraft system, where the gains of FLC are on-line adapted according to the flight condition. Specially, the systematic procedure via root locus technique is carried out for the sellection of the gains of FLC. Simulation results demonstrate that the proposed gain scheduled fuzzy logic controller yields better control performance than the normal (without gain scheduling) fuzzy controller.

• 수산해양기술연구
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• 제32권1호
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• pp.59-66
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• 1996

This paper considers robust stability and transient behavior of the Two - Degree - of - Freedom(2DOF) servosystem. A class of uncertainties allowed in the plant model is obtained, to which the servosystem is robustly stable for any gain of the integral compensator. This result implies that if the plant uncertainty is the allowable set defined by the condition, a high - gain compensation can be carried out preserving stability to achieve a high - speed tracking response. The transient behavior attainable by the limit of the high - gain compensation is calculated using the singular perturbation approach.

• International Journal of Control, Automation, and Systems
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• 제5권6호
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• pp.691-700
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• 2007

This paper proposes a simple but effective design method of PID control using a numerical optimization method. In order to achieve both stability and performance, gain and phase margins and performance indices of step response directly compose of the cost function. Hence, the proposed approach is a multiobjective optimization problem. The main effectiveness of this approach results from the strong capability of the used optimization method. A one-dimensional example concerning gain margin illustrates the practical applicability of the optimization method. The present approach has many degrees of freedom in controller design by only adjusting related weight constants. The attained PID controller is compared with Wang#s and Ho#s methods, IAE, and ISE for a high-order process, and the simulation result for various design targets shows that the proposed approach achieves desired time-domain performance with a guarantee of frequency-domain stability.

• 전기전자학회논문지
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• 제22권1호
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• pp.121-126
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• 2018

본 논문은 관측기 기반의 제어기를 이용한 비선형 다개체 시스템의 일치문제를 다룬다. 이를 위하여 기존의 저이득 제어기에 고이득 접근방법을 결합한다. 리아푸노프 방법을 이용하여 제안한 관측기 기반의 일치 제어기가 삼각구조 비선형 시스템의 일치를 보장해줌을 보인다.

• ETRI Journal
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• 제39권1호
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• pp.51-61
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• 2017

This paper demonstrates a systematic approach for the design of broadband, high efficiency, high power, Class-AB RF amplifiers with high gain flatness. It is usually difficult to simultaneously achieve a high gain flatness and high efficiency in a broadband RF power amplifier, especially in a high power design. As a result, the use of a computer-aided simulation is most often the best way to achieve these goals; however, an appropriate initial value and a systematic approach are necessary for the simulation results to rapidly converge. These objectives can be accomplished with a minimum of trial and error through the following techniques. First, signal gain variations are reduced over a wide bandwidth using a proper pre-matching network. Then, the source and load impedances are satisfactorily obtained from small-signal and load-pull simulations, respectively. Finally, two high-order Chebyshev low-pass filters are employed to provide optimum input and output impedance matching networks over a bandwidth of 100 MHz-500 MHz. By using an EM simulation for the substrate, the simulation results were observed to be in close agreement with the measured results.

• 전자공학회논문지SC
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• 제47권2호
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• pp.8-15
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• 2010

본 논문은 비선형 시스템에 대하여 강인한 고이득 관측기 설계 방법을 제안하였고 그것의 안정성을 리아푸노프 이론을 기반으로 분석하였다. 그 시스템의 상태는 측정 할 수 없다고 가정하였다. 제안된 고이득 관측기는 역학식에 추정 오차의 적분을 포함한다. 그것은 고이득 관측기의 성능을 향성시키고 제안된 관측기가 잡음, 불확실성, 피킹 현상과 같은 것들에 대해 강인하도록 만든다. 그것의 안정성은 리아푸노프 방법에 의해 분석된다. 이를 출력 되먹임 제어기에 적용하였고 모의실험 결과를 통해 기존의 관측기기반의 출력 되먹임 제어기, 상태 되먹임 제어기와 비교하여 제안된 방법의 효율성을 증명하였다.

• 한국콘텐츠학회논문지
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• 제20권3호
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• pp.81-91
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• 2020

본 연구는 자살예방 메시지를 획득프레이밍과 손실프레이밍의 두 가지 방식으로 제시했을 때 메시지 프레이밍의 효과 차이가 있는지를 탐색하였다. 또한 자살생각의 유무, 성별에 따라 메시지 프레이밍의 효과 차이가 있는지 탐색하였다. 본 연구의 대상은 총 98명의 대학생으로, 자살생각을 해본 적이 있는지의 유무에 따라 집단을 구분하였다. 이들에게 획득프레이밍과 손실프레이밍의 자살예방 메시지를 제시한 후 메시지에 대한 태도를 측정하였다. 그 결과 자살 생각을 해본 적이 있는 집단에서는 획득프레이밍 메시지와 손실프레이밍 메시지에 대한 호의적 태도가 유사하게 나타났다. 반면, 자살 생각을 해본 적이 없는 집단은 손실프레이밍에 비해 획득프레이밍 메시지가 더 호의적인 것으로 나타났다. 또한 여성은 남성에 비해 획득프레이밍 메시지에 대해 더 호의적이었으며, 설득 효과도 컸다. 이러한 결과는 자살예방 메시지를 제시할 때 표적 집단에 따라 효과적인 프레이밍이 다르다는 것을 시사한다. 마지막으로 본 연구의 제한점과 추구 연구방향에 대해 논의하였다.

• ETRI Journal
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• 제45권4호
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• pp.690-703
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• 2023

Multistage amplifiers have become appropriate choices for high-speed electronics and data conversion. Because of the large number of high-impedance nodes, frequency compensation has become the biggest challenge in the design of multistage amplifiers. The new compensation technique in this study uses two differential stages to organize feedforward and feedback paths. Five Miller loops and a 500-pF load capacitor are driven by just two tiny compensating capacitors, each with a capacitance of less than 10 pF. The symbolic transfer function is calculated to estimate the circuit dynamics and HSPICE and TSMC 0.18 ㎛. CMOS technology is used to simulate the proposed five-stage amplifier. A straightforward iterative approach is also used to optimize the circuit parameters given a known cost function. According to simulation and mathematical results, the proposed structure has a DC gain of 190 dB, a gain bandwidth product of 15 MHz, a phase margin of 89°, and a power dissipation of 590 ㎼.

• 제어로봇시스템학회논문지
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• 제19권8호
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• pp.731-737
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• 2013

In this paper, we propose an image-based output feedback robust controller of robot manipulators which have bounded parametric uncertainty. The proposed controller contains an integral action and high-gain observer in order to improve steady state error of joint position and performance deterioration due to measurement errors of joint velocity. The stability of the closed-loop system is proved by Lyapunov approach. The performance of the proposed method is demonstrated by simulations on a 5-link robot manipulators with two degrees of freedom.

• Journal of Power Electronics
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• 제9권1호
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• pp.74-84
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• 2009

The design and implementation of a high performance PID (Proportional Integral & Differential) style controller with zero-phase error tracking property is considered in this article. Unlike a ball screw driven system, the controller in a direct drive system should provide a high level of tracking performance while avoiding the problems due to the absence of the gear system. The stiff mechanical element in a direct drive system allows high precise positioning capability, but relatively high tracking ability with minimal position error is required. In this work, a feasible position controller named 'Unified PID controller' is presented. It will be shown that the function of the closed position loop can be designed into unity gain system in continuous time domain to provide minimal position error. The focus of this work is in two areas. First, easy gain tunable PID position controller without speed control loop is designed in order to construct feasible high performance drive system. Second, a simple but powerful zero phase error tracking strategy using the pre-designed function of the main control loop is presented for minimal tracking error in all operating conditions. Experimental results with a s-curve based position pattern commonly used in industrial field demonstrate the feasibility and effective performance of the approach.