• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.68.5-68
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• 2001

This paper investigates the problem of linear parameter-dependent output feedback controllers design for interconnected linear parameter-varying(LPV) plant. By using a parameter-independent common Lyapunov function, sucient conditions for solving the problems are established, which allow us to design linear parameter dependent decentralized controllers in terms of scaled H-infinite control problems for related linear systems without interconnections. The solvability conditions are expressed in terms of finite-dimensional linear matrix inequalities(LMI´s) evaluated at the extreme points of the admissible parameter set.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.23 no.11 s.170
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• pp.1970-1981
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• 1999

The low-cycle fatigue behaviour of a SiC-particulate-reinforced Al-Si cast alloy with two different volume fractions has been investigated from a series of strain-control led fatigue tests with zero and nonzero tensile mean strains. The composites including the unreinforced matrix alloy, exhibited cyclic hardening behaviour, with more pronounced strain-hardening for the composites with a higher volume fraction of the SiC particles. For the tensile mean strain tests, the initial high tensile mean stress relaxed to zero for the ductile Al-Si alloy, resulting in no influence of the tensile mean strain on the fatigue life of the matrix alloy. However, tensile mean strain for the composite caused tensile mean stresses and reduced fatigue life. The pronounced effects of mean strain on the low-cycle fatigue life of the composite compared to the unreinforced matrix alloy were attributed to the initial large prestrain and non-relaxing high tensile mean stress in the composite with very limited ductility and Cyclic plasticity. Fatigue damage parameter using strain energy, density efficiently accounted for the mean stress effects. Predicted fatigue life using the damage parameter correlated fairly well with the experimental life within a factor of 3. Also, the fatigue damage parameter indicated the inferior life in the low-cycle regime and superior life in the high-cycle regime for the composite, compared to the unreinforced matrix alloy.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.7
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• pp.742-752
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• 2009

Engineering design involves the specification of many variables that define a product, how it is made, and how it behaves applied to computer, communication and control fields. Before some variables can be determined, other variables must first be known or assumed. This fact implies a precedence order of the variables, and of the tasks of determining these variables consequently. Moreover, design of complex systems may involve a large number of design activities. In this paper, the activity-activity incidence matrix is considered as a representation of design activity analysis which mainly focuses on the precedence constraint with an object of doing IDEF3 in process-centered view. In order to analyze the activity-activity incidence matrix, a heuristic algorithm is proposed, which transforms an activity-activity, parameter-formula, and parameter-parameter incidence matrix into a lower triangular form. The analysis of the structured matrices can not only significantly reduce the overall project complexity by reorganizing few critical tasks in practice, but also aims at obtaining shorter times considering the solution structure by exploring concurrency.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.4
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• pp.788-792
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• 2010

The problem of delay-dependent and parameter-dependent robust stability condition for discrete-time uncertain singular systems with polytopic uncertainty and interval time-varying delay is considered. A new robust stability condition based on parameter-dependent Lyapunov function is derived in terms of LMI (linear matrix inequality). Moreover, the proposed robust stability condition is a general condition for both singular and non-singular systems. A numerical example is presented to demonstrate the effectiveness of the proposed method.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.39 no.8
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• pp.792-804
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• 1990

This paper describes an efficient optimization algorithm by calculating sensitivity function for power system stabilization. In power system, the dynamic performance of exciter, governor etc. following a disturbance can be presented by a nonlinear differential equation. Since a nonlinear equation can be linearized for small disturbances, the state equation is expressed by a system matrix with system parameters. The objective function for power system operation will be related to the system parameter and the initial state at the optimal control condition for control or stabilization. The object function sensitivity to the system parameter can be considered to be effective in selecting the optimal parameter of the system.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.5
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• pp.395-401
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• 2004

We present an AILC(Adaptive Iterative Learning Control) scheme and a sufficient condition for system parameter identification for uncertain robotic systems that perform the same tasks repetitively. It is guaranteed that the joint velocity and position asymptotically converge to the reference joint velocity and position, respectively. In addition, it is proved that a sufficient condition for parameter identification is the PE(Persistent Excitation) condition on the regressor matrix evaluated at the reference trajectory during the operation period. Since the regressor matrix on the reference trajectory can be easily computed prior to the real robot operation, the proposed algorithm provides a useful method to verify whether the parameter error converges to zero or not.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.5
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• pp.351-356
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• 2002

This papaer deals with a model reduction problem for linear systems with time varying parameters. For this problem, a controllability Grammian and an observability Grammian are introduced and computed by solving linear matrix inequalities. Using the controllability/observability Grammian, a balanced state space realization for linear parameter varying systems is obtained. From the balanced state space realization, a reduced model can be obtained by truncating not only states but also time varying parameters and an upper bound of the model reduction error is derived as well.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.5 s.176
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• pp.1271-1280
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• 2000

A sensor placement technique to identify structural parameter was developed. Experimental results must be acquired to identify unknown dynamic characteristics of a targeting structure for the comparison between analytical model and real structure. If the experimental environment was not equipped itself properly, it can be happened that some valuable information are distorted or ill-condition can be occurred. In this work the index to determine exciting points was derived from the criterion of maximizing parameter sensitivity matrix and that to choose measurement points was from that of preserving the invariant of sensitivity matrix. This idea was applied to a compressor hull structure to verify its performance. The result shows that the selection of measurement and excitation points using suggested criteria improve the ill-conditioning problem of inverse type problems such , as model updating.

• Journal of Mechanical Science and Technology
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• v.17 no.12
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• pp.1886-1893
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• 2003

This paper examines the parameter observability of a calibration system that consrains a mobile platform to a planar table to take the calibration data. To improve the parameter observability, we find the optimal configurations providing the calibration with maximum contribution. The QR-decomposition is used to compute the optimal configurations that maximize the linear independence of rows of an observation matrix. The calibration system is applied to the parallel type manipulator constructed for a machining center. The calibration results show that all the necessary kinematic parameters assigned in a Stewart-Gough platform are identifiable and convergent to desirable accuracy.

• Proceedings of the KIEE Conference
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• 2001.07a
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• pp.112-115
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• 2001

Eigenvalue perturbation theory of augmented system matrix(AMEP) is a useful tool in the analysis and design of large scale power systems. This paper describes the application results of AMEP algorithm with respect to all controller parameter of KEPCO systems. AMEP for interarea and local mode can be used for turning controller parameter, and verifying system data and linear model of controller.