• International Journal of Control, Automation, and Systems
• /
• v.6 no.4
• /
• pp.620-625
• /
• 2008

The $H_{\infty}$ entropy in $H_{\infty}$ control theory is discussed based on investigating information transmission in continuous-time linear stochastic systems. It is proved that the stabilizing feedback does not change the time-average information transmission between system input and output, and the $H_{\infty}$ entropies of open- and closed-loop stable transfer functions are bounded by mutual information rate between input and output in the open-loop system. Furthermore, a new $H_2$ upper bound for $H_{\infty}$ entropy is introduced with a numerical example. Thus the $H_{\infty}$ entropy of a stable transfer function is sandwiched between $H_2$ norms of the original system and a static feedback system.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.680-684
• /
• 2005

This paper presents a data-based stability analysis of a MIMO linear time-invariant discrete-time system, as an extension of the previous results for a SISO system. In the MIMO case, a similar discussion as in the case of a SISO system is also applied, except that an augmented input and output space is considered whose dimension is determined in relation to both the orders of the input and output vectors and the numbers of inputs and outputs. As certain subspaces of the input and output space, both output data space and closed-loop data space are defined, which contain all the behaviors of a system, respectively, with zero input in open-loop and with a control input in closed-loop. Then, we can derive the data-based stability conditions, in which the open-loop stability can be checked by using a data matrix whose column vectors span the output data space and the closed-loop stability can also be checked by using a data matrix whose column vectors span the closed-loop data space.

• Journal of Institute of Control, Robotics and Systems
• /
• v.5 no.4
• /
• pp.385-393
• /
• 1999

An open loop vibrational control for an underactuated mechanical system with amplitude and frequently modulation is investigated. Since there is no direct external input to an unactuated joint, the dynamic coupling between the actuated and unactuated joints is utilized for controlling the unactuated joint. Feedback linearization has been performed to incorporate fully the known nonlinearities of the underactuated system considered. The actuated joints are firstly positioned to their desired locations, and the periodic oscillatory inputs are applied to the actuated joints to move the remaining unactuated joints to their target positions. The amplitudes and frequencies of the vibrations introduced are determined through averaging analysis. A systematic way of obtaining an averaged system for the underactuated system via a coordinate transformation is developed. A control design example of 2R planer manipulator with a free joint with no brake is provided.

• 제어로봇시스템학회:학술대회논문집
• /
• 1986.10a
• /
• pp.298-303
• /
• 1986

A robust and efficient dynamic control algorithm for the position control of robotic manipulators is proposed. This algorithm consists of an open loop control and a closed loop control. The former may have a larger sampling time than the latter. The robustness and efficiency of this algorithm is demonstrated by the simulation about position control of a three-link manipulator with payload and parameter uncertainty.

• Proceedings of the KSME Conference
• /
• 2001.11a
• /
• pp.723-729
• /
• 2001

Electro-hydraulic shift control of a vehicle automatic transmission has been predominantly carried out via an open-loop control based on numerous time-consuming calibrations. Despite remarkable success in practice, the variations of system characteristics inevitably deteriorate the performance of the tuned open-loop controller. As a result, the controller parameters need to be continuously updated in order to maintain satisfactory shift quality. This paper presents a self-learning algorithm for automatic transmission shift control in a construction vehicle during inertia phase. First, an observer reconstructs the turbine acceleration signal (impossible to measure in a construction vehicle) from the readily accessible turbine speed measurement. Then, a control algorithm based on a quadratic function of the turbine acceleration is shown to guarantee the asymptotic convergence (within a specified target bound) of the error between the actual and the desired turbine accelerations. A Lyapunov argument plays a crucial role in deriving adaptive laws for control parameters. The simulation and hardware-in-the-loop simulation (HILS) studies show that the proposed algorithm actually delivers the promise of satisfactory performance despite the system characteristics variations and uncertainties.

• Korean Journal of Applied Biomechanics
• /
• v.17 no.2
• /
• pp.83-91
• /
• 2007

This experiment studied the change in a human's control of his or her static posture by analyzing the stabilogram diffusion and, by using the said study, evaluated the control ability of different groups with different experiences. The postures had a rising requirement of heel-rise according to three conditions: heel-toe, ball, toe; the groups were divided into dance major student and non-dance majors. The results of the critical points according to posture did not show a direct relation with the change in postures that had a rising requirement of heel-rise. The diffusion coefficient(D) had greater stochastic activity for short-term regions that utilize open-loop controls without feedback than for long-term regions that used closed-loop controls with feedback to maintain balance. The directional results of the body undergoing disturbance showed that A/P direction's diffusion coefficient (D) was larger than that of M/L direction. Both feet's planar diffusion coefficients were a linear combination of the diffusion coefficients calculated for the x and y axis. In studying the different abilities to control posture between a dance major student and a non-dance majors, a comparison of open-loop control's diffusion coefficient(D) was effective, and dance major student had superior control ability to that of non-dance majors.

• Proceedings of the KIEE Conference
• /
• 2001.04a
• /
• pp.93-95
• /
• 2001

This paper describes detent force minimization techniques of Permanment Magnet Linear Synchronous Motor(PMLSM) for the improvement of control and the driver system to control the position and velocity, PMLSM are simulated by operating open-loop system and PI control system, and in actuality the control system is implemented by DSP based controller and PWM inverter to investigate the characteristics of both open-loop system and PI control system.

• 제어로봇시스템학회:학술대회논문집
• /
• 1989.10a
• /
• pp.577-582
• /
• 1989

This is a study of the translational end-point control of a single link flexible arm-with a tip mass. The beam is mounted on a translational mechanism driven by the ball screw, whose rotation is controlled by DC servomotor. The problem of shifting the end-point from its initial position to the commanded position is studied analytically both for the open-loop control subjected to some path functions and for the closed-loop control using the feedback of the tip information.

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.49 no.4
• /
• pp.69-77
• /
• 2012

We propose a PLL-type position control method for step motors. Our control method considerably improves the instability problem at rapid acceleration or deceleration, which is a major problem of conventional open loop control methods. Moreover, our controller reduces the steady state position error to zero and guarantees lower vibration and acoustic noise at high speed. Also, our controller can produce more torque at high speed, and hence it can extend the controllable velocity range. To demonstrate the practical significance of our control method, we present some simulation results for a commercially available step motor using Simulink.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
• /
• v.15 no.9
• /
• pp.743-749
• /
• 2002

A 1.5V 70㏈ 100MHz CMOS class-AB complementary operational amplifier is presented. For obtaining the high gain and the high unity gain frequency, the input stage of the amplifier is designed with rail-to-rail complementary differential pairs which are symmetrically parallel-connected with the NMOS and the PMOS differential input pairs, and the output stage is designed to the rail-to-rail class-AB output stage including the elementary shunt stage technique. With this design technique for output stage, the load dependence of the overall open loop gain is improved and the push-pull class-AB current control can be implemented in a simple way. The designed operational amplifier operates perfectly on the complementary mode with 180$^{\circ}$ phase conversion for 1.5V supply voltage, and shows the push-pull class-AB operation. In addition, the amplifier shows the DC open loop gain of 70.4 ㏈ and the unity gain frequency of 102 MHz for $C_{L=10㎊∥}$ $R_{L=1㏁}$ Parallel loads. When the resistive load $R_{L}$ is varied from 1 ㏁ to 1 ㏀, the DC open loop gain of the amplifier decreases by only 2.2 ㏈.a$, the DC open loop gain of the amplifier decreases by only 2.2 dB.