• 한국소음진동공학회논문집
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• 제12권1호
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• pp.12-20
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• 2002

To control the noise of an enclosed sound field, we built a state space model using the acoustic modal parameter description. Using the state space model, we can investigate the controllability and observability, and find an appropriate position of control speaker and microphone to control sound field of the enclosed space. We implemented LQR(linear quadratic regulator) controller and reduced order observer to reduce the first acoustic mode. Experiments showed satisfactory results of 4∼10 dB reduction of magnitude of the first acoustic mode, and support the feasibility of the proposed scheme to lightly damped acoustic field.

• 제어로봇시스템학회논문지
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• 제3권4호
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• pp.332-337
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• 1997

디스크립터(Descriptor) 표현은 상태공간 표현을 확장시킨 일반적인 시스템의 기술방법으로 파라미터의 물리적인 구조를 보존하고 있으며, 임펄스를 포함한 현상을 기술할 수 있다. 또한, 대규모 시스템의 모델화가 용이하며, 프로퍼(Proper)이지 않은 시스템을 기술할 수 있고 구속조건을 가진 동적시스템의 기술이 가능하는 등의 특징을 지니고 있다. 그러나, 디스크립터 시스템의 해는 미분항을 포함하고 있으므로 노이즈 및 파라미터 변동에 대해서 매우 민감하여, 관측기설계시 강인(Robust)한 관측기설계가 요구된다. 본 논문에서는 디스크립터 시스템에 대해 로바스트 관측기의 일종인 비례적분(PI) 관측기의 설계에 대해서 논한다. 먼저, 디스크립터 시스템에 대한 PI 관측기의 존재조건을 유도하였으며, 체계적인 설계법을 보였다. 또한, PI 관측기의 존재조건이 Rosenbrock의 가관측 조건하에서 간단히 보여지며, 이것은 시스템 행렬의 Rank 조건에 의해 쉽게 구해질 수 있다.

• 전자공학회논문지SC
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• 제41권2호
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• pp.29-36
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• 2004

본 논문에서는 시변 시간지연을 갖는 선형시스템의 분수 모델 간략화를 다룬다. 이를 위해 선형 시간지연 시스템의 축소된 소인수 분해를 정의하고 선형 행렬부등식의 해를 이용하여 구한다. 축소된 소인수의 일반화 가제어성, 가관측성 그래미안을 이용하여 시스템의 균형화된 상태공간 모델을 구현한다. 모델 차수축소는 균형화된 상태공간 모델의 일부 상태변수를 절삭하여 얻어지며 모델 오차의 상한치를 제시한다. 제안된 방법의 효용성을 수치 예를 통하여 입증한다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2015년도 제46회 하계학술대회
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• pp.1383-1384
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• 2015

In this paper, a dynamics model embedded navigation filter is newly suggested for underwater autonomous systems without position or attitude aid. In order to ensure the observability on the INS errors, the hydrodynamics of the underwater vehicle is incorporated with the INS attitude error. This approach allows us to estimate and compensate the INS errors in spite of using external velocity sensor. Through the simulation, the performance and effectiveness of the proposed scheme are demonstrated.

• 한국통신학회논문지
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• 제13권6호
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• pp.510-520
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• 1988

無限誤長 상태 공간 디지틀 필터를 有限誤長 상태 공간 디지틀 필터로 실현할 때 量子化 誤差인 상태 공간 계수〔ABCD〕의 미소 변동에 기인한, 출력 오차 分散을 $\Delta$〔ABCD〕의 分散으로 正規化하였다. 즉, S=E을 統計的 感度로 정의하고 시스템 구조적 성질을 나타내는 可制御性 Gramian, 그리고 2차 모드 해석 방법을 상태 공간 디지틀 필터에 확장해서 最小 統計的 感度를 갖는 실현 구조를 합성하였으며 시뮬레이션을 통하여 최소 구조 합성의 유효성을 확인하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.486-486
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• 2000

This paper is concerned with a transfer alignment method for the SDINS(StrapDown Inertial Navigation System) under ship motions. Major error sources of transfer alignment are data transfer time-delay, lever-arm velocity and ship body flexure. Specifically, to reduce alignment errors induced by measurement time-delay effects, the error compensation method through delay state augmentation is suggested. A linearized error model for the velocity and attitude matching transfer alignment system is first derived by linearizing the nonlinear measurement equation with respect to its time delay and augmenting the delay state into the conventional linear state equations. And then it is shown via observability analysis and computer simulations that the delay state can be estimated and compensated during ship motions resulting in considerably less alignment errors.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.488-488
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• 2000

This paper proposes a stabilizing controller for multirate sampled-data systems which have a periodic output The proposed controller has IMC structure, and can be decomposed into a ye-stabilizing controller, an output estimator, a filtered disturbance estimator and the inverse of the fast ye-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. A sufficient condition for maintaining observability in the multirate sampled-data system is derived and a design strategy for filtered disturbance rejection is proposed. In addition, we propose a design method (or the plant output estimator. The simulation results show that the proposed stabilizing controllers can stabilize the plant

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.489-489
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• 2000

Recently, Reinforcement Learning(RL) methods have been used far teaming problems in Partially Observable Markov Decision Process(POMDP) environments. Conventional RL-methods, however, have limited applicability to POMDP To overcome the partial observability, several algorithms were proposed [5], [7]. The aim of this paper is to extend our previous algorithm for POMDP, called Labeling Q-learning(LQ-learning), which reinforces incomplete information of perception with labeling. Namely, in the LQ-learning, the agent percepts the current states by pair of observation and its label, and the agent can distinguish states, which look as same, more exactly. Labeling is carried out by a hash-like function, which we call Labeling Function(LF). Numerous labeling functions can be considered, but in this paper, we will introduce several labeling functions based on only 2 or 3 immediate past sequential observations. We introduce the basic idea of LQ-learning briefly, apply it to maze problems, simple POMDP environments, and show its availability with empirical results, look better than conventional RL algorithms.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.525-525
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• 2000

In this paper, we present recursive algorithms for state space model identification using subspace extraction via Schur complement. It is shown that an estimate of the extended observability matrix can be obtained by subspace extraction via Schur complement. A relationship between the least squares residual and the Schur complement matrix obtained from input-output data is shown, and the recursive algorithms for the subspace-based state-space model identification (4SID) methods are developed. We also proposed the above algorithm for an instrumental variable (IV) based 4SID method. Finally, a numerical example of the application of the algorithms is illustrated.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.283-283
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• 2000

In this paper, we deals with a decentralized control scheme with input compensation form for gantry crane systems. By considering the gantry crane's characteristics, the system is decentralized into two subsystems such as the travelling and sway subsystem, and the hoisting subsystem. For decentralizing the system, a simple algorithm is proposed using observability canonical form. The decentralized subsystems include unknown input which coupled with other subsystems and actuator failures. These unknown input and actuator failures are estimated by using PI observation techniques and those estimated values are used to construct an input compensation form. Lastly, the proposed decentralized control scheme far the gantry crane systems is verified by crane simulation.