• Proceedings of the KIEE Conference
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• 1988.11a
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• pp.28-31
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• 1988

This paper proposes a new linear adaptive position controller of DC servo motor. The proposed method can improve the drive performance and rapidly reject the state error caused by both parameter variations and force disturbance. The structure of this adaptive control method is based multiloop feedback control and model reference control. Simulation results are presented to verify the improved response when parameter variations and load disturbance give relatively significant effects to the servo system.

• International Journal of Control, Automation, and Systems
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• v.1 no.2
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• pp.243-251
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• 2003

In this paper, a new model for mobile soccer robot, a type of linear system, is presented. A controller, consisting of two loops the one of which is the inner state feedback loop designed for stability and plant be well conditioned and the outer loop is a well-known PI controller designed for tracking the reference input, is suggested. Because the plant, the soccer robot, is parameter dependent, it requires the controller to be insensitive to the parameter variation. To achieve this objective, the pole-sensitivity as a pole-variation with respect to the parameter variation is defined and design algorithms for state-feedback controllers are suggested, consisting of two matrices one of which is for general pole-placement and other for parameter insensitive. This paper shows that the PI controller is equivalent to the state feedback and the cost function for reference tracking is equivalent to the LQ cost. By using these properties, we suggest a tuning procedure for the PI controller. We that the control algorithm in this paper, based on the linear system theory, is well work by simulation, and the LPD system modeling and control are more easy treatment for soccer robot.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.43 no.4
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• pp.107-115
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• 2020

Support vector regression (SVR) is devised to solve the regression problem by utilizing the excellent predictive power of Support Vector Machine. In particular, the ⲉ-insensitive loss function, which is a loss function often used in SVR, is a function thatdoes not generate penalties if the difference between the actual value and the estimated regression curve is within ⲉ. In most studies, the ⲉ-insensitive loss function is used symmetrically, and it is of interest to determine the value of ⲉ. In SVQR (Support Vector Quantile Regression), the asymmetry of the width of ⲉ and the slope of the penalty was controlled using the parameter p. However, the slope of the penalty is fixed according to the p value that determines the asymmetry of ⲉ. In this study, a new ε-insensitive loss function with p1 and p2 parameters was proposed. A new asymmetric SVR called GSVQR (Generalized Support Vector Quantile Regression) based on the new ε-insensitive loss function can control the asymmetry of the width of ⲉ and the slope of the penalty using the parameters p1 and p2, respectively. Moreover, the figures show that the asymmetry of the width of ⲉ and the slope of the penalty is controlled. Finally, through an experiment on a function, the accuracy of the existing symmetric Soft Margin, asymmetric SVQR, and asymmetric GSVQR was examined, and the characteristics of each were shown through figures.

• The Transactions of the Korean Institute of Power Electronics
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• v.17 no.3
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• pp.213-221
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• 2012

In a PWM inverter-fed IPMSM (Interior Permanent Magnet Synchronous Motor) drive, a dead time is inserted to prevent a breakdown of switching device caused by the short-circuit of DC link. This distorts the inverter output voltage resulting in a current distortion and torque ripple. In addition to the dead time, nonlinearity exists in switching devices of the PWM inverter, which is generally dependent on operating conditions such as the temperature, DC link voltage, and current. The voltage disturbance caused by the dead time and inverter nonlinearity directly influences on the inverter output performance, and it is known to be more severe at low speed. In this paper, a new compensation scheme for the dead time and inverter nonlinearity under the parameter variation is proposed for a PWM inverter-fed IPMSM drive. The overall system is implemented using DSP TMS320F28335 and the validity of the proposed algorithm is verified through the simulation and experiments.

• The Bulletin of The Korean Astronomical Society
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• v.38 no.2
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• pp.57.1-57.1
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• 2013

We investigate the method to measure both the present value of the matter energy density contrast and the Hubble parameter directly from the measurement of the linear growth rate which is obtained from the large scale structure of the Universe. From this method, one can obtain the value of the nuisance cosmological parameter $\Omo$ (the present value of the matter energy density contrast) within 3% error if the growth rate measurement can be reached $z >3.5$. One can also investigate the evolution of the Hubble parameter without any prior on the value of $H_0$ (the current value of the Hubble parameter). Especially, estimating the Hubble parameter are insensitive to the errors on the measurement of the normalized growth rate $f \sigma_8$. However, this method requires the high $z$ ($z >3.5$) measurement of the growth rate in order to get the less than 5% errors on the measurements of $H(z)$ at $z \leq 1.2$ with the redshift bin $\Delta z = 0.2$. Thus, this will be suitable for the next generation large scale structure galaxy surveys like WFMOS and LSST.

• Communications for Statistical Applications and Methods
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• v.10 no.2
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• pp.341-352
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• 2003

Collecting data through experiment, the observers are an import source of measurement error and the inference on the measure of agreement, say kappa, is necessary. The models commonly used are complicated general mixture model, which have many nuisance parameters. Orthogonalization of parameters reduce the effect of nuisance parameter. Orthogonalization of estimating function gives the same effect as the parameter orthogonalization. In this study, the method for orthogonalization of estimating equation is studied and applied to the Beta-binomial model to examine the properties of the estimate of kappa. As a result, the likelihood function is insensitive to the change of the nuisance parameter and bias is smaller than the result of m.1.e. when kappa has extreme values

• Proceedings of the KIEE Conference
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• 2003.11b
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• pp.43-46
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• 2003

In this paper, a novel rotor flux estimation method of an induction motor using support vector machine(SVM) is presented. Two veil-known different flux models with respect to voltage and current are necessary to estimate the rotor flux of an induction motor. The theory of the SVM algorithm is based on statistical teaming theory. Training of SVH leads to a quadratic programming(QP) problem. The proposed SVM rotor flux estimator guarantees the improvement of performance in the transient and steady state in spite of parameter variation circumstance. The validity and the usefulness of Proposed algorithm are throughly verified through numerical simulation.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1712-1717
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• 1991

The paper describes estimation errors of unsteady flowrate measurements due to parameter changes in a quasi-remote instantaneous flowrate measurement method (abbreviate as QIFM) and an instantaneous flowrate measurement method using two points pressure measurements (abbreviate as TPFM). By introducing error performance index, the influence of parameter changes on the accuracy, and dynamic response of the estimated unsteady flowrate are evaluated. Of four parameters, the variation of the length of the pipeline and speed of sound produce large errors in the estimated unsteady flowrate during transient periods. The effect of kinematic viscosity of the working fluid(oil) is relatively insensitive in unsteady flowrate estimation.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.5
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• pp.977-983
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• 2011

This paper proposes a new adaptive speed controller to achieve a robust speed control of a permanent magnet synchronous motor(PMSM). The proposed adaptive regulator does not require any information on the motor parameter and load torque values, so it is very insensitive to model parameter and load torque variations. Also, the stability of the proposed adaptive control system is proven. To validate the robustness of the proposed adaptive speed controller, both simulation and experimental results are provided under motor parameter and load torque variations. It is clearly demonstrated that the proposed adaptive regulator can accurately control the speed of permanent magnet synchronous motors.

• Journal of Mechanical Science and Technology
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• v.20 no.11
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• pp.1801-1812
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• 2006

In this paper, a 4-wheel vehicle model including the effects of tire slip was considered, along with variable parameter sliding control, pushrod force as the end control parameter, and an antilock sliding control, in order to improve the performance of the vehicle longitudinal response. The variable sliding parameter is made to be proportional to the square root of the pressure derivative at the wheel, in order to compensate for large pressure changes in the brake cylinder. A typical tire force-relative slip curve for dry road conditions was used to generate an analytical tire force-relative slip function, and an antilock sliding control process based on the analytical tire force-relative slip function was used. A retrofitted brake system, with the pushrod force as the end control parameter, was employed, and an average decay function was used to suppress the simulation oscillations. Simulation results indicate that the velocity and spacing errors were slightly larger than the results that without considering wheel slip effect, the spacing errors of the lead and follower were insensitive to the adhesion coefficient up to the critical wheel slip value, and the limit for the antilock control on non-constant adhesion road condition was determined by the minimum of the equivalent adhesion coefficient.