• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.950-953
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• 2003

In this paper, sigma-delta A/D converter for ADSL modems using oversampling technique is designed. Conventionally, the oversampling A/D converter is consist of opamps, switched capacitors, quantizers, infernal D/A converters, and decimation filters. 3-bit flash A/D converter, 3-bit thermometer-based D/A converters, and sub-blocks are used for high speed operation. HSPICE simulator and CADENCE tool are used for verification and layout of the designed modulator. The internal A/D converter and D/A converters are operated at 130 MHz. In design of decimation filter Matlab is used for calculating coefficients and ModelSim and VHDL are used for design.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.20 no.10
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• pp.900-906
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• 2010

This note proposes vibration-free motor control through modified LQG/LTR methodology. A conventional LQG/LTR method is a design tool in the frequency domain. However, unlike the conventional one, the proposed one is a time response based design method. This feature is firstly designed by parameterized settling time control gain through the target loop design procedure and the feature is secondly realized by loop transfer recovery. In order to show convergence to the target loop transfer functions, asymptotic behaviors of the open and the closed loop transfer functions are shown. At the conclusion, it is verified that the proposed method is robustly stable to parametric uncertainties through ${\mu}$-plot.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.19 no.2
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• pp.169-175
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• 2009

This paper presents motion control of the Inchworm composed of the piezoelectric actuators and mechanical elements. Piezoelectric actuator shows nonlinear response characteristics including hysteresis due to the ferroelectric characteristics. This paper proposes feedback control scheme to improve the ability of tracking response to complex input signal and suppress the phenomenon of hysteresis using the sliding mode control technique with the integrator. The sliding mode control system has the limit to minimize both the settle time and overshoot. For making up this limit, this paper also suggests input shaping technique suitable to the inchworm control system.

• Journal of Drive and Control
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• v.10 no.4
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• pp.22-28
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• 2013

Mechanical and electrical properties of a DDV(Direct Drive servo Valve) with electric feedback are analysed via reverse analysis technique in this work. The DDV is disassembled and mechanical parameters, such as spool mass, spring stiffness and port size are identified. The servo amplifier, which is built in the valve, is reversely analysed and the control scheme and gains for several control actions are also identified. The electrical feedback for spool displacement improves much better the valve performance, such as hysteresis and dynamic bandwidth frequency, than an ordinary mechanical feedback valve. Integrating control action with very large gain was adopted in the valve amplifier, and it seemed to give high performance.

• Journal of Drive and Control
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• v.18 no.3
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• pp.16-22
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• 2021

The variable structure controller has the characteristic that while in sliding mode, the system moves along the switching plane in the vicinity of the switching plane, so it is robust to the parameter fluctuations of the plant. However, a controller based on a variable structure may not meet the desired performance when it is commanded to track any input or exposed to disturbances. To solve this problem, a sliding mode controller based on the IVSC approach excluding an integrator is proposed in this study. The proposed sliding mode control was applied to the position control of a hydraulic cylinder piston. The sliding plane was determined by the pole placement and the control input was designed to ensure the existence of the sliding mode. The feasibility of the modeling and controller was reviewed by comparing it with a conventional proportional control through computer simulation using MATLAB software and experiment in the presence of significant plant parameter fluctuations and disturbances.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.8-13
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• 1998

A tracking controller is presented for RLFJ(rigid link flexible joint) robot manipulators with only position measurements. The controller is developed based on the integrator backstepping design method and on the two observers: the first is simple linear form observer for the filtered link velocity errors and the other for the actuator velocities. The proposed controller achieves exponential tracking of link positions and velocities while keeping all internal signals bounded. It also guarantees exponential convergence of the estimated signals to their actual ones. Finally, simulation results are included to demonstrate the tracking performance.

• Journal of the Korean Institute of Telematics and Electronics
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• v.23 no.5
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• pp.605-615
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• 1986

The phase-locked loop(PLL) is a communication receiver which operates as a coherent detector by continuously correcting the phase error. In this paper analysis for the Phase-error behavior of analog phase-locked loop (APLL) in the presence of additive white gaussian noise has been done theoretically and experimentally. A close form solution of the first-order loop is obtained and approximate solutions are derived for the second-order loops with RC, leadlag and perfect integrator filters. The perdormance of APLL's and their characteristics are also thoroughly investigated through experiments. In order to analyze the effect of the stochastic nature on nonlinear dynamics characteristics of the second order APLL, the phase error distribution and its variance have been obtained by using the Fokker-Planck equation. Theoretical results agree closely with those of experiment.

• Journal of the Korean Society for Precision Engineering
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• v.10 no.4
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• pp.118-127
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• 1993

A nonlinear control design method called the QJQG/LTR method is presented for the depth control of underwater vehicles with the deadzone of the flow control valve. And, it is shown how the design plant model can be formulated in the QLQG/LTR depth control system design for underwater vehicles which have the triple integrator. In order to show the effectiveness of this control system, the linear LQG/LTR control system neglected the deadzone effect and the nonlinear QLQG/LTR control system considered it are compared. It is found that the QLQG/LTR control system is relatively insensitive to the input magnitude, even if there exists a hard nonlinearity in the plant.

• The Journal of Korea Robotics Society
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• v.19 no.1
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• pp.8-15
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• 2024

This paper proposes a linear model predictive control of 6-DOF remotely operated underwater vehicles using nonlinear robust internal-loop compensator (NRIC). First, we design a integrator embedded linear model prediction controller for a linear nominal model, and then let the real model follow the values calculated through forward dynamics. This work is carried out through an NRIC and in this process, modeling errors and external disturbance are compensated. This concept is similar to disturbance observer-based control, but it has the difference that H_∞ optimality is guaranteed. Finally, tracking results at trajectory containing the velocity discontinuity point and the position tracking performance in the disturbance environment is confirmed through the comparative study with a traditional inverse dynamics PD controller.

• Journal of the Institute of Electronics and Information Engineers
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• v.53 no.7
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• pp.39-46
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• 2016

This paper describes the third order feedforward delta-sigma modulator with inverter-based integrators and a 1.5bit comparator for the application of audio signal processing. The proposed 3rd-order delta-sigma modulator is multi-bit structure using 1.5 bit comparator instead of operational amplifier. This delta-sigma modulator has high SNR compared with single-bit 4th-order delta-sigma modulator in a low OSR. And it minimizes power consumes and simplified circuit structure using inverter-based integrator and using inverter-based integrator as analogue adder. The modulator was designed with 0.18um CMOS standard process and total chip area is $0.36mm^2$. The measured power cosumption is 28.8uW in a 0.8V analog supply and 66.6uW in a 1.8V digital supply. The measurement result shows that the peak SNDR of 80.7 dB, the ENOB of 13.1bit and the dynamic range of 86.1 dB with an input signal frequency of 2.5kHz, a sampling frequency of 2.56MHz and an oversampling rate of 64. The FOM (Walden) from the measurement result is 269 fJ/step, FOM (Schreier) was calculated as 169.3 dB.