• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.75.1-75
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• 2002

Several model order reduction methods for large RLC circuits have been developed in the last few years. Krylop subspace based methods are extremely effective for generating the low order models of large system but there is no optimal theory for the resulting models. Alternatively, methods based truncated balanced realization have an optimality property but are too computationally expensive to use on complicated problems such as large RLC circuits. In this paper, we present a method for improving time domain response of reduced order RLC circuits. The method used here is based on combing Krylop subspace based method and truncated balanced realization method plus residualization. The metho...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1219-1219
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• 1991

This paper proposes the model order reduction with pass band error reduction in the frequency domain of discrete time linear systems. The algorithm is the new method of reduced order model which reduces passband error by changing controllability and observability gramian used with weighted functions. A numerical example shows that this algorithm has lower passband error than balanced w&l and weighted function characteristics in frequency domain.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2006년도 추계학술대회논문집
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• pp.925-933
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• 2006

Using the physics-based model for the vibration isolation system, the model uncertainties are described. With the model including parameter perturbations, the robust controller to meet the robust performance and stability is designed through $\mu$-synthesis by DK-iteration. The order of controller is reduced by virtue of Hankel norm approximation technique to allow the efficient implementation in the real-time experimental environment without any performance degradation. The performance of the reduced $\mu$-controller is accessed in comparison with the original one. The experiments validate the superiority of the proposed control scheme against the model uncertainties and its applicability with varying payload.

• 한국소음진동공학회논문집
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• 제16권12호
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• pp.1262-1271
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• 2006

Using the physics-based model for the vibration isolation system, the model uncertainties are described. With the model including parameter perturbations, the robust controller to meet the robust performance and stability is designed through $\mu$-synthesis by DK-iteration. The order of controller is reduced by virtue of Hankel norm approximation technique to allow the efficient implementation in the real-time experimental environment without any performance degradation. The performance of the reduced $\mu$-controller is accessed in comparison with the original one. The experiments validate the superiority of the proposed control scheme against the model uncertainties and its applicability with varying payload.

• 대한기계학회논문집
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• 제17권2호
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• pp.385-392
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• 1993

This paper presents a new stable composite control law for the flexible joint robot manipulators, which incorporate an additional stabilizing control law with the sliding property. The singularly perturbated models in this paper include inertia moments which are functions or the deformations of actuators as well as link positions. The values of renewedly defined fast controller variables are computer from the corrected reduced-order model without additional computational loads. Proposed schemes are compared with the conventional one. The simulations for 2 DOF flexible joint manipulator show that the proposed schemes are more stable than the conventional scheme, and especially effective for the manipulator with high joint-flexibilities.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.38.6-38
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• 2001

This paper presents a steady state optimal control algorithm for the weakly coupled discrete time bilinearsystems. The optimal solution for the overall system is obtained by solving a sequence of reduced order algebraic Riccati equations with an arbitrary accuracy. The obtained solutions converge to the optimal solutions by using the iteration method. We verify the proposed method by applying it to a real world numerical example.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.639-642
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• 1988

In this paper, the problem of regulation in the presence of a known firing disturbance is considered. We show how one can apply a disturbance-utilizing control(DUC) theory to a actual gun servo model. Applied disturbance-utilizing control theory is established by combining LQ regulator and reduced order observer in the discrete time domain. To see the performance of the applied method, computer simulation results are given.

• 한국마린엔지니어링학회:학술대회논문집
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• 한국마린엔지니어링학회 2005년도 후기학술대회논문집
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• pp.49-50
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• 2005

This paper presents a scheme for state observer-based stabilization control of inverted pendulum systems. The feedback gain matrices of both the state feedback controller and the state observer are obtained by a real-coded genetic algorithm(RCGA) such that the given performances indices are minimized.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.266-271
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• 1992

This paper presents a new stable composite control law for the flexible joint robot manipulators, which incorporate the additional stabilizing control law with sliding property. The singularly perturbated models include inertia moments functions of the deformations of actuator. The newly defined fast controller variable is computed from the corrected reduced-order model without additional computational loads. The simulations for 2 DOF flexible joint manipulator show that the proposed schemes are more stable than conventional one, and especially effective for the manipulator with high joint-flexibilities.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1995년도 추계학술대회 논문집 학회본부
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• pp.178-181
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• 1995

In this paper, on-line adaptive friction compensation scheme for the precise position control is presented. 2 DOF system with compliance and friction is used for the plant model. In order to reduce the calculation time for the parameter estimation, 1 DOF estimation model is used. The computer simulation and experimental results show the validity of the supposed scheme.