• ETRI Journal
• /
• 제35권5호
• /
• pp.943-946
• /
• 2013

Instead of the extended Kalman filter, the unscented Kalman filter (UKF) has been used in nonlinear systems without initial accurate state estimates over the last decade because the UKF is robust against large initial estimation errors. However, in a multirate integrated system, such as an inertial navigation system (INS)/Global Positioning System (GPS) integrated navigation system, it is difficult to implement a UKF-based navigation algorithm in a low-grade or mid-grade microcontroller, owing to a large computational burden. To overcome this problem, this letter proposes a modified UKF that has a reduced computational burden based on the basic idea that the change of probability distribution for the state variables between measurement updates is small in a multirate INS/GPS integrated navigation filter. The performance of the modified UKF is verified through numerical simulations.

• 제어로봇시스템학회논문지
• /
• 제2권2호
• /
• pp.73-80
• /
• 1996

This paper proposes a stabilizing controller for the multirate sampled-data systems which have a periodic output measurement scheme. A sufficient condition for maintaining observability in the multirate sampled-data system is derived and a design strategy for disturbance rejection is proposed. The proposed controller has IMC structure, and can be decomposed into the disturbance estimator and the inverse of the fast uniform sampled plant. We assume that the plant is open-loop stable and the disturbance consists of a sum of finite number of sinusoids with different frequencies. An example is presented for illustrations.

• International Journal of Control, Automation, and Systems
• /
• 제4권4호
• /
• pp.506-515
• /
• 2006

This paper studies an intelligent digital control for nonlinear systems with multirate sampling. It is worth noting that the multirate control design is addressed for a given nonlinear system represented by Takagi-Sugeno (T-S) fuzzy models. The main features of the proposed method are that i) it is provided that the sufficient conditions for stabilization of the discrete-time T-S fuzzy system in the sense of Lyapunov stability criterion, which is can be formulated in the linear matrix inequalities (LMIs); and ii) the stability properties of the trivial solution of the digital control system can be deduced from that of the solution of its discretized versions. An example is provided for showing the feasibility of the proposed method.

• 제어로봇시스템학회논문지
• /
• 제5권2호
• /
• pp.131-138
• /
• 1999

In discrete-time controlled system, sampling time is one of the critical parameters for control performance. It is useful to employ different sampling rates into the system considering the feasibility of measuring system or actuating system. The systems with the different sampling rates in their input and output channels are named multirate system. Even though the original continuous-time system is time-invariant, it is realized as time-varying state equation depending on multirate sampling mechanism. By means of the augmentation of the inputs and the outputs over one Period, the time-varying system equation can be constructed into the time-invariant equation. In this paper, an alternative time-invariant model is proposed, the design method and the stability of the LQG (Linear Quadratic Gaussian) control scheme for the realization are presented. The realization is flexible to construct to the sampling rate variations, the closed-loop system is shown to be asymptotically stable even in the inter-sampling intervals and it has smaller computation in on-line control loop than the previous time-invariant realizations.

• 한국통신학회논문지
• /
• 제37B권9호
• /
• pp.734-740
• /
• 2012

본 논문에서는 인트라세션 네트워크 코딩을 사용하여 멀티레이트 멀티홉 무선 네트워크의 처리율을 향상하기 위한 방법을 제안한다. 멀티레이트는 다양한 전송 속도를 사용하여 전송 속도와 전송 반경에 대하여 다양한 타협점을 가질 수 있어 환경 변화에 따른 성능 변화에 대처할 수 있다. 이러한 멀티레이트 환경에서 인트라세션 네트워크 코딩을 사용할 경우 새로운 전송 속도를 결정하는 방법을 제안한다. 멀티레이트를 사용하는 각 노드에서 인트라세션 네트워크 코딩을 사용하여 유효 전송 속도를 계산하고 가장 높은 유효 전송 속도를 갖는 전송 속도를 선택한다. 선택된 전송 속도를 사용하여 동시 전송 집합을 결정하고 선형계획법을 적용하여 멀티홉 무선 네트워크의 처리율을 계산한다. MATLAB과 lp_solve IDE 프로그램을 이용하여 두 가지 토폴로지에서 성능 평가를 수행하였으며, 제안한 방식의 처리율이 향상되었다.

• 한국인터넷방송통신학회논문지
• /
• 제10권6호
• /
• pp.31-37
• /
• 2010

본 논문은 다중전송률 다중사용자 다중반송파 DS/CDMA 시스템에 대한 역상관 검출기의 특성을 분석하고, 주파수 선택 레일레이 페이딩 체널에서 시뮬레이션하였다. 비트 오류 확률에 대한 성능을 단일 전송률 MC-DS/CDMA 시스템과 비교하였다. 다중전송률 송신구조로써 가변확산길이가 MC-DS/CDMA 시스템에 사용되었다. 시뮬레이션 결과, 다중전송률 MC-DS/CDMA의 역상관기는 단일 전송률 시스템에 비하여 높은 BER 성능을 나타내었다.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
• /
• pp.708-710
• /
• 2004

This paper studies a multirate sampled-data control for LTI systems by using the digital redesign (DR) method. In this note, to well tackle the problem associated with both the state matching and the stabilization, our nobel strategy is to minimize the linear quadratic cost function. The main features of the proposed method are that i) the delta-operator-based descretization method is applied to improve the state-matching performance in the fast sampling limit and/or the large input multiplicity; ii) the proposed multirate control scheme can improve the state-matching performance in the long sampling limit; iii) some sufficient conditions that guarantee the stability of the closed-loop discrete-time system and provide a guarantee cost for the cost function can be formulated in the LMIs format; and iv) an optimal sampled-data controller in the sense of minimizing the upper bound of the cost function is also given by means of an LMI optimization procedure.

• 제어로봇시스템학회논문지
• /
• 제8권7호
• /
• pp.547-555
• /
• 2002

This paper proposes a stabilizing controller for the multirate sampled-data systems, which have a periodic output measurement scheme, in case of the open-loop unstable plant. A sufficient condition for maintaining observability in the multirate sampled-data systems is derived and a design strategy for filtered disturbance rejection is proposed. We also propose a design method for the plant output estimator. It is shown that the proposed pre-stabilizing controllers can stabilize the plant through the simulations. The proposed controller has IMC structure, and can be decomposed into the pre-stabilizing controller, the plant output estimator, the filtered disturbance estimator and the inverse of the fast pre-stabilized plant model. We assume that the plant is open-loop unstable and the disturbance consists of a sum of finite number of sinusoids with different frequencies. Some examples are presented for illustrations.

• 전기학회논문지
• /
• 제62권7호
• /
• pp.1020-1026
• /
• 2013

Multirate filtering process on the biological signals like Electrocardiogram (ECG) and Photoplethysmogram (PPG) can be defined as the digital signal processing algorithm in which the sampling rate varies to omit or interpolate the intermediate values between the sampled data. With this aim, we suggest a new multirate filtering algorithm by deleting the extraneous data to eliminate the unwanted degradations such as granular noise due to the usage of high sampling frequency and simultaneously to detect the fiducial features of ECG and PPG with reducing the complexity of resolving fiducial points such as R-peak, Pulse peak and Pulse Transit Time (PTT). After the experimental simulations performed, we can conclude the fact that we can detect the fiducial features of ECG and PPG signal in terms of R-peak, Pulse peak and PTT without the loss of accuracy even if we do not maintain the original sampling frequency.

• 융합신호처리학회논문지
• /
• 제4권4호
• /
• pp.47-51
• /
• 2003

디지털제어에 잘 사용되어 온 유한정정제어를 연속계에 적용하기는 연속계의 점근성 때문에 어려운 것으로 알려져 있다. 그러나 유한 Laplace변환을 전달함수에 적용하고 여기에 정정조건을 적용하여 제어기를 설계한 연속계 유한정정제어기(CDBC, Continuous-time Deadbeat Controller)에 대해서 연구가 되고 있다. 이에 따라 지연요소가 전달함수에 사용되어 정정을 위한 차수 및 보간조건이 유도되어 제어기가 설계되거나, 디지털 유한정정제어기를 설계하고 이를 연속계 제어기로 변환하기 위해 평활요소로 사용하여 CDBC를 구성하기도 한다. 본 논문에서는 다중 샘플링을 적용하여 제어기와 출력귀환루프의 샘플링 속도를 달리하였으며, 2차 평활요소를 디지털 유한정정제어기에 사용한 CDBC를 연구한다. 이러한 다중 샘플링은 샘플링 주기 동안에 제어루프를 또 샘플링하여 전체적인 출력응답을 개선할 수 있다. 제어기는 직렬 적분 보상기를 전향경로에 배치하고 지역 귀환보상기를 귀환 루프에 도입한다. Matlab Simulink을 사용하여 시뮬레이션을 한다.