• 융합신호처리학회논문지
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• 제2권1호
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• pp.101-107
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• 2001

본 연구는 유연한 빔의 위치를 제어하기 위한 강인한 제어기 설계를 위한 하나의 방법으로서 혼합 $H_2/H_{\infty}$과 $\mu$이론을 이용한 하나의 방법을 제시하고 있다. 먼저 제어기의 설계를 위한 유연한 빔의 수식모델을 얻기 위해 해석적인 방법과 실험을 통한 방법을 적용하였다. 이 결과로서 강인한 제어기의 설계를 위해 필요한 불확실성의 영역에 대한 정확한 정보를 얻을 수 있다. 다음, 혼합 $H_2/H_{\infty}$ 이론을 상기모델에 적용하여 강인한 제어기를 설계하고, 여기에 $\mu$이론을 적용하여 일반적으로 혼합 $H_{\infty}$ 제어기가 가질 수 있는 보수성을 완화시킨다 마지막으로 Simulation과 실험을 통하여 설계된 제어기의 유효성을 보인다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1998년도 하계종합학술대회논문집
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• pp.219-222
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• 1998

This paper presents the Mixed H2/H$\infty$ controller design method with the regional pole placements for underwater vehicle. Since the small and light underwater vehicle is sensitive to disturbances and parameter uncertainties, we design the controller which guarantees robustness against time-delays, parameter uncertainties and disturbances. The LMI(linear matrix inequality) formulations for pole placements in specific regions and H2 and H$\infty$ performances are reviewed. The desired controller can be obtained by solving these LMIs.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.35-40
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• 1998

A nonlinear attitude model of a satellite with thrusters, magnetic torquers and a reaction wheel cluster is developed. Then the linearized version of this satellite attitude model is derived far the attitude hold mode. For comparison purpose, various control methods are considered for attitude control of a satellite. We consider a proportional derivative controller which is actually used in the remote sensing satellite, KOMPSAT. Then a comparison is made with an H$_2$controller, an H$\sub$$\infty$/ controller, and a mixed H$_2$/ H$\sub$$\infty$/ controller. The analysis and numerical studies show that the proportional derivative controller's performance is limited in the sense that the pitch angle cannot approach zero. The simulations also show that among three control methods (H$_2$control, H$\sub$$\infty$/ control, and mixed H$_2$/ H$\sub$$\infty$/ control) H$_2$control has the fastest response time, H$\sub$$\infty$/ control has the slowest and mixed H$_2$/ H$\sub$$\infty$/ control comes in between the first two control methods. On the other hand, H$\sub$$\infty$/ control used least amount of control effort while H$_2$control required the most.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1999년도 제14차 학술회의논문집
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• pp.129-132
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• 1999

This paper deals with the optimal filtering problem constrained to input noise signal corrupting the measurement output for linear discrete-time systems. The transfer matrix H$_2$and/or H$_{\infty}$ norms are used as criteria in an estimation error sense. In this paper, the mixed $H_2/H_{\infty}$ filtering Problem in lineal discrete-time systems is solved using the LMI approach, yielding a compromise between the H$_2$and H$_{\infty}$ filter designs. This filter design problems we formulated in a convex optimization framework using linear matrix inequalities. A numerical example is presented.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 B
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• pp.750-753
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• 1998

This paper gives a simple parameterization of all stable unbiased filters to solve the suboptimal mixed $H_2/H_{\infty}$ filtering problem. Using the central filter, mixed $H_2/H_{\infty}$ filter is designed which minimizes the upper bound for the $H_2$ norm of the transfer matrix from a white noise to the estimation error subject to an $H_{\infty}$ norm constraint on the transfer matrix from an energy-bounded noise to the estimation error. The problem of finding suitable estimator gain can be converted into a convex optimization problem involving linear matrix inequalities.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 신호처리소사이어티 추계학술대회 논문집
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• pp.401-404
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• 2003

이 논문에서는 이산형 상태공간 모델에 대한 $H_2$, $H_{\infty}$, 및 혼합 $H_{\infty}$ FIR 필터를 선형행렬부등식(LMI)를 이용하여 제안한다. 제안되는 필터는 FIR 구조로서 $H_2$ 및 $H_{\infty}$ 관점에서의 성능기준을 만족함과 더불어 선형성 및 불편향성의 특성을 지니고, 초기 상태에 관한 정보를 필요로 하지 않는다. 그리고 FIR 구조로 인해 기존의 FIR 형태의 필터에 비해 불확실성에 대해 보다 견실하며 빠른 수렴성을 갖는다. 모의 실험을 통해 이러한 장점을 예시한다.

• 전자공학회논문지B
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• 제33B권6호
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• pp.12-22
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• 1996

A numerous designs of PI controllers have been suggested to solve out trade-off between tracing and regulating problems. We constructed the PI controller system with two-degree-of-freedom that is more analytic and a better approach to a practical one. In the conventional H$_{2}$ design of optimal PI controllers, the cost function includes only the plant output terms due to the divergent problems. Since the platn input temr is not considered in PI controller design, occasionally, the plant input thends to be either very large or saturated. To solve the prior mentioned problems, we employed a mixed $H_2/H_{\infty}$ method that combines the H$_{2}$ design method to decide optimal parameters of PI controller and the $H_2/H_{\infty}$ design method to minimize the maximum amplitude of plant input. The calculation time of the H$_{infty}$ norm was considerably reduced by the simple scalar function obtained by the wiener-hopf factorization of non-scalar functions.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 B
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• pp.599-602
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• 1999

In this paper, the genetic algorithm is used to design a mixed $H_2/H{\infty}$ controller. Two kinds of controller forms, Youla's form and the general form are considered to design a mixed $H_2/H{\infty}$ controller Efficient searching methods are sought to minimize the given $H_2$ cost function under the $H{\infty}$ constraint. It is verified by an example that the developed algorithm can provide stable results in the region where unstable results are shown by the conventional gradient method.

• 제어로봇시스템학회논문지
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• 제6권4호
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• pp.276-284
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• 2000

In this paper, the genetic algorithm is used to design a mixed H₂/ H/sub ∞/ controller Two kinds of controller forms, Youla's form and the general form, are considered to design a mixed H₂/ H/sub ∞/ controller. Efficient searching methods are sought to minimize the given H₂cost function under the H∞ constraint. It is verified by an example that the developed algorithm can provide stable results in the region where unstable results are shown by the conventional gradient method.

• 한국마린엔지니어링학회:학술대회논문집
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• 한국마린엔지니어링학회 2006년도 전기학술대회논문집
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• pp.77-78
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• 2006

A mixed method between $H_2\;and\;H_{\infty}$ control are widely applied to systems which has parameter perturbation and uncertain model to obtain an optimal robust controller. Brushless Direct Current (BLDC) motors are widely used for high performance control applications. Conventional PID controller only provides satisfactory performance for set-point regulation. However, with the presence of nonlinearities, uncertainties and perturbations in the system, conventional PID is not sufficient to achieve an optimal robust controller. This paper presents an approach to ease designing a Mixed $H_2/H_{\infty}$ PID controller for controlling speed of Brushless DC motors and the genetic algorithm is used to solve the optimized problems. Numerical results are shown to prove that the performance in the proposed controller is better than that in the optimal PID controller using LQR approach.