• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.18 no.5
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• pp.198-202
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• 2004

This thesis proposes a robust controller introducing the H$_{\infty}$ control theory, one of the robust control theories that can obtain desired control performance while ensuring robustness for the uncertainty and disturbance contained in the power system. The performance of the designed controller is examined by extensive non-linear time domain simulation. Results show that the proposed H$_{\infty}$ controller is superior to that of the conventional controller.

• Transactions on Control, Automation and Systems Engineering
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• v.2 no.3
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• pp.175-181
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• 2000

This paper investigates the robust nonlinear H$_{\infty}$ filter with FIR(Finite Impulse Response) structure for nonlinear discrete time-varying uncertain systems represented by the state-space model having parameter uncertainty. Firstly, when there is no parameter uncertainty in the system, the discrete-time nominal nonlinear H$_{\infty}$ FIR filter is derived by using the equivalence relationship between the FIR filter and the recursive filter, which corresponds to the standard nonlinear H$_{\infty}$ filter. Secondly, when the system has the parameter uncertainty, the robust nonlinear H$_{\infty}$ FIR filter is proposed for the discrete-time nonlinear uncertain systems.

• Journal of Ocean Engineering and Technology
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• v.10 no.3
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• pp.153-161
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• 1996

This paper presents a design method of dynamic positioning control system for floating platform with rotatable and retractable thruster using $H_{\infty}$ control technique. The norm band of uncertainty is captured by multiplicative perturbation between nominal model and reduced order model. A controller robust to the uncertainty is designed applying $H_{\infty}$ synthesis. The control law satisfying robust stabillity and nominal performance condition is determined through the mixed sensitivity approach. The evaluation for the resultant controller obtained by $H_{\infty}$ synthesis is done through simulations of the closed loop system. The results of $H_{\infty}$ synthesis are compared to those of the traditional LQ synthesis method.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.437-442
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• 1996

The paper presents a design method of dynamic positioning control system for floating platform with rotatable and retractable thruster using $H_{\infty}$control technique. The norm band of uncertaintyis captured by multiplicative perturbation between nominalmodel and reduced order model. A controller robust to theuncertainty is designed applying $H_{\infty}$synthesis. The control law satisfying robust stability and nominal performance condition is determined through the mixed sensitivity approach. The evaluation for the resultant controller obtained by $H_{\infty}$synthesis is done through simulations of the closed loop system. The results of $H_{\infty}$synthesis are compared to those of the traditional LQ synthesis method. method.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.10
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• pp.3079-3094
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• 1996

Recently, the high-precision vibration attenuation technology becomes the essence fo the seccessful development of high-integrated and ultra-precision industries, and is expected to continue playing a key role in the enhancement of manufacturing technology. Vibration isolation system using an air-spring is widely employed owing to its excellent isolation characteristics in a wide frequency range. It has, however, some drawbacks such as low-stiffness and low-damping features and can be easily excited by exogenous disturbances, and then vibration of table is remained for a long time. Consequently, the need for active vibration control for an air-spring vibration isolation system becomes inevitable. Furthermore, for an air-spring isolation table to be successfully employed in a variety of manufacturing sites, it should have a guaranteed robust performance not only to exogenous disturbances but also to uncertainties due to various equipments which might be put on the table. In this study, an active vibration suppression control system using H.inf. theory is designed and experiments are performed to verify its robust performance. An air-spring vibration isolation table with voice-coil-motors as its actuators is designed and built. The table is modeled as 3 degree-of-freedom system. An active control system is designed based on $H_\infty$control theory using frequency-shaped weighting functions. Analysis on its performance and frequency responce properties are done through numerical simulations. Robust characteristics of$H_\infty$ control on disturbances and model uncertainties are experimentally verified through (i) the transient response to the impact excitation of the table, (ii) the steady-state response to the harmonic excitation, and (iii) the response to the mass change of the table itself. An LQG controller is also designed and its performance is compared with the $H_\infty$ controller.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.17 no.9
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• pp.805-812
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• 2007

This paper present a robust controller design method based on the estimation of velocity disturbance to construct a robust fine seek control system. A loop gain adjustment algorithm is introduced to accurately estimate the velocity disturbance in spite of the uncertainties of fine actuator. A weighting function is optimally selected from a minimum fine seek open-loop gain, calculated by estimating the velocity disturbance. A robust fine seek controller is designed by considering a robust $H_{\infty}$ control problem using the weighting function. The proposed controller design method is applied to the fine seek control system of a DVD rewritable drive and is evaluated through the experimental results.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.37 no.6
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• pp.15-24
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• 2000

This paper presents an output feedback robust H$\infty$ control problem for a class of uncertain nonlinear systems, which can be represented by an fuzzy dynamic model. The nonlinear system is represented by Takagi-Sugeno fuzzy model, and the control design is carried out on the basis of the fuzzy model. Using a single quadratic Lyapunov function, the globally exponential stability and disturance attenuation of the closed-loop fuzzy control system are discussed. Sufficient conditions for the existence of robust H$\infty$ controllers are given in terms of linear matrix inequalities(LMIs). Constructive algorithm for design of robust H$\infty$ controller is also developed. The resulting controller is nonlinear and automatically tuned based on fuzzy operation.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.426-429
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• 1997

This paper proposes a robust H$_{\infty}$ tracking filter to improve the unacceptable target tracking performance for systems with parameter uncertainties. Also, we use here the input estimation approach to account for the possibility of maneuver. Simulation results show that the robust H$_{\infty}$ tracking filter which is proposed here to solve the systems with all system parameter uncertainties, has a good tracking performance for a maneuvering target tracking problem.m.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.391-395
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• 1996

This paper presents a robust force tracking control of a small-sized SMA gripper with two fingers using shape memory alloy(SMA) actuators. The mathematical governing equation of the proposed system is derived by Hamilton's principle and Lagrangian equation and then, the control system model is integrated with the first-order actuator dynamics. Uncertain system parameters such as time constant of the actuators are also included in the control model. A robust two degree of freedom(TDF) controller using H$_{\infty}$ control theory, which has inherent robustness to model uncertainties and external disturbances, is adopted to achieve end-point force tracking control of the two-finger gripper. Force tracking control performances for desired trajectories represented by sinusoidal and step functions are evaluated by undertaking both simulation and experimental works.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.355-359
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• 1993

This paper deals with the problem of robust TDF(Two Degree of Freedom) H$_{\infty}$ control design for a linear system with parameter uncertainty in the state space model. The uncertain system considered here is with the time-invariant norm-bounded parameter uncertainty in the state matrix. A TDF H$_{\infty}$ control design is presented which robustly stabilizes the plant, guarantees the robust H$_{\infty}$ performance and improves the tracking performance for the closed-loop system in the face of parameter uncertainty. It is shwon that a suitable stabilizing control law can be constructed in terms of a positive definite solution to a certain parameter-dependent algebraic Riccati equation and a good tracking performance can be constructed in terms of suitable feedforward control law.aw.