• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.560-564
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• 1996

A mixed H$^{2}$/$H^{\infty}$ controller design method for linear systems with time delay in all variables and parameter uncertainties in all system matrices is proposed. Robust $H^{\infty}$ performance and H$^{2}$ performance condition that accounts for model-matching of closed loop system and disturbance rejection is also derived. With expressing uncertain system with linear fractional transformation form, we transform the robust stability and performance problem to the H$^{2}$/$H^{\infty}$ optimization problem and design a mixed H$^{2}$/$H^{\infty}$ controller. Using the proposed method, mixed H$^{2}$/$H^{\infty}$ controller for underwater vehicle with time delay and parameter variations are designed. Simulations of a design example with hydrodynamic parameter variations and disturbance are presented to demonstrate the achievement of good robust performance.t performance.ance.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.1
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• pp.43-53
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• 1997

A robust stability condition for linear systems with time delay in all variables and parameter uncertainties in all system matrices is derived. Robust performance condition that accounts for robust model-matching of closed loop system and disturbance rejection is also derived. Using the robust performance condition, robust $H^{\infty}$ controller and .mu.(sgructured singular value) controller with two-degree-of-freedom(2DOF) are designed. The controller structure is considered for $H^{\infty}$ controller, while uncertainity structure is considered for .mu. controller. Using the proposed method, $H^{\infty}$ and .mu. controllers for underwater vehicle with time delay and parameter variations are designed. Simulations of a design example with hydrodynamic parameter variations and disturbance are presented to demonstrate the achievement of good robust performance.ce.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2000.05a
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• pp.195-198
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• 2000

We propose a new wavelet neural network structure, for which we apply new recurrent nodes to the network, in this paper for the dynamic system identification and control. We will construct the wavelet neural network by using wavelet frame function. The function does not have the best approximation property, but it may be possible to apply some modification to the structure of the network because the constriction of orthogonality is loosened a little. This wavelet neural network we propose can obtain previous state information by its structure of the network without any addition of input, though the conventional wavelet network needs additional previous state input for the improvement of the dynamic performance. In numerical experience, the performance of the new wavelet neural network we propose in the nonlinear system with uncertainity of parameter Is equal to that of the wavelet network which used the additional previous information input, superior to that of the conventional wavelet network.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.8 no.2
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• pp.109-116
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• 1988

The strength and load of structure are varied with the Passage of time, and become a process of probability. It is possible to estimate the reliability from the relation between strength and load. Considering the safety, It is reasonable to estimate allowable stress from the safety factor based on the reliability. In this study, the method to estimate probability of fracture, which is index of reliability for rail subjeict to long term fatigue load were examined. In estimation of reliablity it is meaningless to evaluate numerical value especially this difficult case estimating parameter of random variable. To overcome this problem, conventional design method estimating relative reliability were proposed. In this study the Cornell method were examined. The uncertainity of random variale, ie coefficient of variation which is the index of variation of strength and load were considered. The effect of uncertainity related to probability of fracture, and safety factor based on reliability were examined. The results of this study are followed. The reliability of weld metal were influenced by variation of strength more then load, and base metal were influenced by load. It is confirmed that the allowable stress range calculating with factor of safety based an reliability is conservative.