• 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.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.4
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• pp.104-109
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• 1997

A robust controller design to corrdinate a robot manipulator under unknown system parameters and bounded disturbance inputs is presented in this paper. Generally, robust controllers require high input torque so that they may face input saturation in actual application due to the power limitation of the actuator. To solve this problem, an improved robust controller with saturated input torque using a fuzzy logic control is proposed. Numerical examples are shown to validate the proposed controller using two degree-of-freedom planar arm.

• Proceedings of the KIEE Conference
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• 1988.11a
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• pp.80-83
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• 1988

In this paper a robust control law is presented which stabilezes overall system via pole reassignment and loop-shaping. A robust adaptive controller is designed combining this robust control law and a robust estimator.

• Communications for Statistical Applications and Methods
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• v.4 no.1
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• pp.21-32
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• 1997

Robust regression based on M-estimator reduces and/or bounds the influence of outliers in the y-direction only. Therefore, when several influential observations exist, diagnostics in the robust regression is required in order to detect them. In this paper, we propose influence diagnostics in the robust regression based on M-estimator and its one-step version. Noting that M-estimator can be obtained through iterative weighted least squares regression by using internal weights, we apply the weighted least squares (WLS) regression diagnostics to robust regression.

• Communications for Statistical Applications and Methods
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• v.11 no.1
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• pp.153-160
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• 2004

In recent years, the size of data set which we usually handle is enormous, so a lot of outliers could be included in data set. Therefore the robust procedures that automatically handle outliers become very importance issue. We consider the robust estimation problem of location parameter in the univariate case. In this paper, we propose a new method for defining robustness weights for the weighted mean based on the median distance of observations and compare its performance with several existing robust estimators by a simulation study. It turns out that the proposed method is very competitive.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.155.5-155
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• 2001

The robust predictive control law which use the bound estimation is proposed for uncertain robot manipulators. Since the control design of a real manipulator system may often be made on the basis of the imperfect knowledge about model, it´s an important tend to design a robust control law that will guarantee the desired performance of the manipulator under uncertain elements. In the preceeding work, the robust predictive control law was proposed. In this work, we propose a class of robust predictive control of manipulators with the bound estimate technique and fe stability based on Lyapunov function is presented.

• 한국데이터정보과학회:학술대회논문집
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• 2004.04a
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• pp.131-139
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• 2004

Robust parameter design is to identify appropriate settings of control factors that make the system's performance robust to changes in the noise factors that represent the source of variation. In this paper, we introduce a factor analysis approach to simultaneously optimize multiple quality characteristics in the robust parameter design. An example is illustrated to compare it with already proposed method.

• Journal of applied mathematics & informatics
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• v.27 no.3_4
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• pp.903-908
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• 2009

The shrink parameter in ridge regression may be contaminated by outlying points. We propose robust cross validation scores in ridge regression instead of classical cross validation. We use robust location estimators such as median, least trimmed squares, absolute mean for robust cross validation scores. The robust scores have global robustness. Simulations are performed to show the effectiveness of the proposed estimators.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.26-26
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• 2000

We study on the velocity matching algorithm for transfer alignment of inertial navigation system(INS) using robust H$_2$ filter. We suggest an uncertainty model for INS and apply the suggested discrete robust H$_2$ filter to the uncertainty model compared with kalman filter, the discrete robust H$_2$ filter is shown by simulation to have good performance of alignment time and accuracy.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.217-217
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• 2000

A decentralized robust EA(eigensoucture assignment) controller is designed for an active suspension system of a vehicle based on a full car model with 7-degree of freedom. Using overlapping decomposition, the full car model is decentralized by two half car models. For each half car model, a robust eigenstructure assignment controller can be obtained by using optimization approach. The performance of the decentralized robust EA controller is compared with that of a conventional centralized EA controller through computer simulations.