• Journal of Institute of Control, Robotics and Systems
• /
• v.22 no.8
• /
• pp.650-655
• /
• 2016

In this paper, a novel RLS-based DOB (Recursive Least Squares Disturbance Observer) scheme is proposed to improve the performance of DOB for nominal model identification. A nominal model can be generally assumed to be a second order system in the form of a proper transfer function of an ARMA (Autoregressive Moving Average) model. The RLS algorithm for the model identification is proposed in association with DOB. Experimental studies of the balancing control of a one-wheel robot are conducted to demonstrate the feasibility of the proposed method. The performances between the conventional DOB scheme and the proposed scheme are compared.

• The Journal of the Acoustical Society of Korea
• /
• v.29 no.6
• /
• pp.374-380
• /
• 2010

It is known that the problem of FIR filtering with noisy input and output data can be solved by a total least squares (TLS) estimation. It is also known that the performance of the TLS estimation is very sensitive to the ratio between the variances of the input and output noises. In this paper, we propose a convex combination algorithm between the ordinary recursive LS based TLS (RTLS) and the ordinary recursive LS (RLS). This combined algorithm is robust to the noise variance ratio and has almost the same complexity as the RTLS. Simulation results show that the proposed algorithm performs near TLS in noise variance ratio ${\gamma}{\approx}1$ and that it outperforms TLS and LS in the rage of 2 < $\gamma$ < 20. Consequently, the practical workability of the TLS method applied to noisy data has been significantly broadened.

• 제어로봇시스템학회:학술대회논문집
• /
• 1993.10a
• /
• pp.58-63
• /
• 1993

A recursive on-line algorithm with orthogonal ARMA identification is proposed for linear MIMO systems with unknown parameters, time delay, and order. This algorithm is based on the Gram-Schmidt orthogonalization of basis functions, and extended to a recursive form by using new functions of two dimensional autocorrelations and cross-correlations of inputs and outputs. The proposed algorithm can also cope with slowly time-varying or order-varying systems. Various simulations reveal the performance of the algorithm.

• Journal of the Korean Institute of Telematics and Electronics B
• /
• v.31B no.4
• /
• pp.48-54
• /
• 1994

A recursive on-line algorithm with orthogonal ARMA identification is proposed for linear systems with unkonwn time delay, order, and parameters. The algorithm is based on the Gram-Schmidt orthogonalization of basis functions, and extendedto recursive form by using two dimensional autocorrelations and crosscorrelations of input and output with constant data length. The proposed algorith can cope with slowly time-varying or order-varying delayed system. Various simulations reveal the performance of the algorithm.

• Proceedings of the KIEE Conference
• /
• 1995.07b
• /
• pp.937-940
• /
• 1995

The purpose of this paper is to present a nonlinear system identification method, where an adaptive nonlinear recursive state-spare(ANRSS) filter is employed as its filter structure, and a variable step (VS) algorithm is applied as its adaptation law. To demonstrate the validity of the proposed method, some simulation results are included.

• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.8
• /
• pp.849-853
• /
• 2014

In micro-scale electromechanical systems, the power to perform accurate position sensing often greatly exceeds the power needed to generate motion. This paper explores the implications of sampling rate and amplifier noise density selection on the performance of a system identification algorithm using a capacitive sensing circuit. Specific performance objectives are to minimize or limit convergence rate and power consumption to identify the dynamics of a rotary micro-stage. A rearrangement of the conventional recursive least-squares identification algorithm is performed to make operating cost an explicit function of sensor design parameters. It is observed that there is a strong dependence of convergence rate and error on the sampling rate, while energy dependence is driven by error that may be tolerated in the final identified parameters.

• Journal of the Korean Institute of Telematics and Electronics B
• /
• v.31B no.10
• /
• pp.32-43
• /
• 1994

This paper presents new QRD-based recursive least squares algorithms for bilinear lattice filter. Bilinear recursive least square lattice algorithms are derived by using the QR decomposition for minimization covariance matrix of predication error by applying Givens rotation to the bilinear recursive least squares lattics algorithms. The proposed algorithms are applied to the bilinear system identification to evaluate the performance of algoithms. Computer simulations show that the convergence properties of the proposed algorithms are superior to that of the algorithms proposed by Baik when signal includes the measurement noise.

• The Journal of the Acoustical Society of Korea
• /
• v.14 no.3
• /
• pp.37-48
• /
• 1995

This paper presents an sstimation of ARMA coefficients of noisy ARMA system using generalized total least square (GTLS) method. GTLS problem for ARMA system is defined as minimizing the errors between the noisy output vectors and estimated noisy-free output. The GTLS problem is solved in closed form by eigen-problem and the perturbation analysis of GTLS is presented. Also its recursive solution (recursive GTLS) is proposed using the power method and the covariance formula of the projected output error vector into the input vector space. The simulation results show that GTLS ARMA coefficients estimator is an unbiased estimator and that recursive GTLS achieves fast convergence.

• Journal of the Korean Society of Mechanical Technology
• /
• v.13 no.3
• /
• pp.73-79
• /
• 2011

In this study, an analytical realization of end-milling system was introduced using recursive parametric modeling analysis. Also, the numerical mode analysis of end-milling system with different conditions was performed systematically. In this regard, a recursive least square modelling algorithm and the natural mode for real part and imaginary one was discussed. This recursive approach (RLSM) can be adopted for on-line end-milling identification. After experimental practice of the end-milling, the end-milling force was obtained and it was used for the calculation of FRF (Frequency response function) and mode analysis. Also the FRF was analysed for the prediction of a end-milling system using recursive algorithm.

• Journal of Power Electronics
• /
• v.18 no.2
• /
• pp.492-501
• /
• 2018

In the rotor-flux oriented control used in induction motors, the electrical parameters of the motors should be identified. Among these parameters, the mutual inductance and rotor resistance should be accurately tuned for better operations. However, they are more difficult to identify than the stator resistance and stator transient inductance. The rotor resistance and mutual inductance can change in operations due to flux saturation and heat generation. When detuning of these parameters occurs, the performance of the control is degenerated. In this paper, a novel method for the concurrent identification of the two parameters is proposed based on recursive least square estimation and model reference adaptive control.