• International Journal of Control, Automation, and Systems
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• v.1 no.1
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• pp.76-82
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• 2003

This paper establishes some integral equalities formulated by zeros located in the convergence region of a Laplace transformable function. Using the definition of the Laplace transform, it shows that Laplace transformable functions have to satisfy the integral equalities in the time-domain, which can be applied to the understanding of the fundamental limitations on the control system represented by the transfer function. In the unity-feedback control scheme, another integral equality is derived on the output response of the system with open-loop poles located in the convergence region of the output function. From these integral equalities, two sufficient conditions related to undershoot and overshoot phenomena in the step response, respectively, are investigated.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.8
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• pp.672-681
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• 2000

Based on the dynamic anti-windup strategy a novel control methodology for state constrained control systems is presented. First a linear controller is designed for an open-loop stable plant to show a desirable nominal performance by ignoring state constraints. And then an additional dynamic compensator is introduced to preserve the nominal performance as closely as possible int he face of state constraints. This paper focuses on the second step under the assumption that a linear controller has already been designed appropriately by using an effective controller design method. By minimizing a reasonable performance index the dynamic compensator is derived explicitly which is expressed int he plant and controller parameters. the proposed method not only guarantees the total stability of the overall resulting systems but also provides desirable output performance because it solves the state-positioning problem completely.

• Journal of KSNVE
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• v.6 no.5
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• pp.567-574
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• 1996

This paper concerns an articulated space robot with flexible links. The equations of its motion are derived by means of the Lagrangian mechanics. Assuming that magnitude of elastic motions are relatively small, the perturbation approach is taken to separate the original equations of motion into linear and nonlinear equations. Th effect the desired payload motion, open loop control inputs are first determined based on the nonlinear equations. One the other hand, in order to reduce the positional errors during the maneuver, vibration suppression is actively done with a feedforward control for disturbance cancellation to some extent. Additionally, for performance robustness against residual disturbance, an LQ control modified to have a prescribed degree of stability is applied based on the linear equations. Measurement equations are formulated to be used for the maximum likelihood estimator to reconstruct states from the original robot equations of motion. Finally, numerical simulations show effectiveness of the proposed control design scheme.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.8
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• pp.936-941
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• 2011

This paper deals with the issue of motion control of a single rod cylinder-load system using simple adaptive control (SAC) method. Prior to controller design, the experiment of open-loop response has been performed. Based on it, design parameters of transfer function are obtained and used for controller design. The effect of parallel feedforward compensator has been investigated by computer simulation, suppressing the oscillatory motion. Through experiments it is conformed that the SAC method gives good tracking performance compared to the PD control method.

• 유공압시스템학회:학술대회논문집
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• 2010.06a
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• pp.62-65
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• 2010

Field robot represented by excavator can be applied for various working in manufacturing, construction, agriculture etc. Because of the flexibility of its multi-joint mechanism and the high power of hydraulic actuators. Since the excavator operates in the hazardous working circumstance, operators exposed in harmful environment. Therefore, automation system has been investigated to protect from the harmful environment. In this paper, the method to construct the remote control system is proposed. The remote control system is consisted of a manual and auto mode. Manual mode controls a hydraulic cylinder as open loop control. and auto mode controls the end effecter of excavator using tracking control system. The efficiency of remote control system was evaluated through the field test.

• 유공압시스템학회:학술대회논문집
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• 2010.06a
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• pp.81-85
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• 2010

This paper deals with the issue of motion control of a single rod cylinder-load system using simple adaptive control (SAC) method. Prior to controller design, the experiment of open-loop response has been performed. Based on it, design parameters of transfer function are obtained. The effect of parallel feedforward compensator has been investigated by computer simulation, suppressing the oscillatory motion. Through experiments it is conformed that the SAC method gives good tracking performance compared to the PD control method.

• Proceedings of the KIPE Conference
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• 2007.07a
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• pp.421-423
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• 2007

In this paper, The authors apply a state feedback control using an optimal control theory to improve the stability of the control and the dynamic response of the DC-DC converter system with a number of different loads. To execute a this state feedback control, The authors present the pole placement technique using Linear Quadratic Regulator(LQR) to optimally control the system. An integrator can also be included in the open-loop path in order to minimize the steady-state error of the output voltage. To confirm the superiority of the controller, The simulation results are presented.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.11b
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• pp.1189-1196
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• 2001

When fluid flows at high speed over an open cavity, large acousitc pressure is produced by fluid/structure interaction at the downstream edge of the cavity. The goal of this paper is suggestion of effective control method to suppress the noise generated from cavity and numerically simulation of active control. The cavity instability mechanism is simulated and a close-loop control algorithm is implemented. The effects of the actuator and some control function are discussed. The compressible Navier-Stokes equations are solved with the high-order and high-resolution numerical schemes to precisely simulate the interaction between flow and acoustic. The results show that noise is effectively suppressed with the control method suggested in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.71.4-71
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• 2001

This paper presents swing up and stabilization control of an underactuated two-link robot called the Pendubot. This device is a two-link planar robot with an actuator at the shoulder, but no actuator at the elbow. The controller swings up first link from its open loop stable equilibrium point to the unstable equilibrium point and then, catches the unactuated second link to balance it there. Two control algorithms are used for this task. Proportional Derivative Control technique is used to design the swing up control. The linear model of Pendubot is obtained by linearizing the nonlinear dynamic equations about the desired equilibrium point and LQR technique is used to design a stabilization controller.

• Proceedings of the Korea Society for Simulation Conference
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• 1999.10a
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• pp.170-175
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• 1999

본 논문에서는 국내에서 운전 중인 한 가스터빈 출력제어 회로의 구성을 살펴보고 현장에서 취득한 자료를 근거로 하여 가스터빈의 모델과 제어기의 조정, 그리고 MW 신호 피이드백 회로에 필터의 사용효과를 시뮬레이션을 통해 살펴보았다. 전력계통의 주파수가 가스터빈 출력제어계의 시상수에 비해 상당히 빠르게 변하므로 자동 주파수 추종을 할 경우 제어계가 쉽게 불안정해진다. 이 출력제어계의 MW 피이드백 회로의 1차지연 요소를 사용하면 안정성 향상에 좋은 효과가 있으며, 이 지연요소의 시상수를 크게 할수록 안정도는 더 향상되며 Open Loop의 특성을 보이게 된다. 그러나, 주파수 추종운전이 아닌 운전원의 출력 증감발 요구에는 시간지연 없이 응답을 하여야 하므로 적절한 설정을 할 필요가 있다. 가스터빈의 연료제어 계통을 포함한 출력제어계에 순수 시간지연 요소가 없으면 피이드백 회로에 1차지연 요소를 사용하지 않는 것이 더 좋은 출력제어 응답을 나타낸다. 그러나 실제 모들 가스터빈에는 다소 시간지연 요소를 포함하고 있으므로 일반적으로 피이드백 회로에 시간지연 요소를 사용하므로써 안정성을 향상시킬 수 있다.