• Journal of information and communication convergence engineering
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• 제2권1호
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• pp.46-51
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• 2004

The problem of reducing the effect of an unknown disturbance on a dynamical system is one of the most fundamental issues in control design. We propose a robust PID (Proportional Integral Derivative) control method with neural network for improving the performance due to the rejection of an unknown disturbance. The proposed system consists of a model of the plant, a conventional PID controller and a multi-layer neural network, and is composed of two loop; the first loop enables the system to achieve stability of system, the second loop rejects an unknown disturbance. Simulation and experiment results show that the proposed method improves considerably on the performance of the conventional PID control method and the typical IMC method using neural network.

• Journal of the Korea Society of Computer and Information
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• 제12권3호
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• pp.287-293
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• 2007

This paper proposed modelling and design method in suspension system design to analyze active suspension equipment by adopting intelligent robust control theory. Recent in the field of suspension system design it is general to adopt active control scheme for stiffness and damping, and connection with other vehicle stability control equipment is also intricate, it is required for control system scheme to design more robust, higher response and precision control equipment. It is known that active suspension system is better than passive spring-damper system in designing suspension equipment. We analyze suspension system with considering location of front-rear wheel and driving velocity, then design robust control system. Numerical example is shown for validity of intelligent control system design in active suspension system.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 한국공작기계학회 2002년도 춘계학술대회 논문집
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• pp.521-527
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• 2002

This paper presents a dynamic modeling and a robust PID controller design process for the wire bonder head assembly. For the modeling elements, the system is divided into electrical system, magnetic system, and mechanical system. Each system is modeled by using the bond graph method. The PID controller is used for high speed/high accuracy position control of the wire bonder assembly. The Taguchi method is used to evaluate the more robust PID gain combinations than conventional one. This study makes use of an L18 array with three parameters varied on three levels. Computer simulations and experimental results show that the designed PID controller provides more improved signal to noise ratio and reduced sensitivity than the conventional PID controller.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.37.6-37
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• 2001

In this paper, a robust levitation controller for an attractive MAGLVE system is designed. The design of an H$\infty$ controller based on LMI method is proposed for the control of a simple magnetic levitation system. Attractive MAGLEV system is highly nonlinear and open-loop unstable, and has a very restricted equilibrium region, Also, this system has to tolerate various disturbances caused by propulsion. Thus a robust feedback controller is needed to control the system efficiently. We first formulate a mathematical model for the single magnet levitation system. Then we set up an H$\infty$ control problem as a mixed sensitivity problem where the augmented plant is constructed with frequency weighting function ...

• Progress in Superconductivity and Cryogenics
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• 제15권1호
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• pp.19-24
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• 2013

In this paper, the Superconductor flywheel energy storage system (SFESS) was used for the load frequency control (LFC) of an interconnected 2 area power system. The robust SFESS controller using quantitative feedback theory (QFT) was designed to improve control performance in spite of parameter uncertainty and unexpected disturbances. An overlapping decomposition method was applied to simplify SFESS controller design for the interconnected 2 area power system. The model for simulation of the interconnected 2 area power system included the reheat steam turbine, governor, boiler dynamics and nonlinearity such as governor deadband and generation rate constraint (GRC). To verify robust performance of proposed SFESS controller, dynamic simulation was performed under various disturbances and parameters variation of power system. The results showed that the proposed SFESS controller was more robust than the conventional method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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• pp.471-476
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• 1994

In this paper a new controller is proposed which gives the resultant system the appointed input-output properties, low sensitivity and robust stability. The proposed controller consists of a reference model and a robust compensator. The reference model determines the input-output properties of the total system and is constructed by using the nominal model of the plant. We can design the reference model by applying design techniques which pay attention to steady robustness and no attention to sensitivity and robust stability, and need all state variables of the plant. The robust compensator is obtained as a solution of the mixed sensitivity problem in H infinity control theory. Therefore, low sensitivity and robust stability are guaranteed in the resultant system. The simulation experiments show that the proposed controller is effective and useful.

• Journal of Institute of Control, Robotics and Systems
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• 제12권6호
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• pp.517-523
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• 2006

This paper is focused on a robust saturation controller for the stable linear time-invariant (LTI) system involving both actuator's saturation and structured real parameter uncertainties. Based on affine quadratic stability and multi-convexity concept, a robust saturation controller is newly proposed and the linear matrix inequality (LMI)-based sufficient existence conditions for this controller are presented. The controller suggested in this paper can analytically prescribe the lower and upper bounds of parameter uncertainties, and guarantee the closed-loop robust stability of the system in the presence of actuator's saturation. Through numerical simulations, it is confirmed that the proposed robust saturation controller is robustly stable with respect to parameter uncertainties over the prescribed range defined by the lower and upper bounds.

• Proceedings of the KSME Conference
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.927-932
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• 2007

This paper proposes a robust back-stepping control with polynomial-type PD input for flexible joint robot manipulators to overcome parameter uncertainty. In the first step, a fictitious control is designed with polynomial-type PD input for the rigid link dynamic by the H-infinity control method. In second and third steps, the other fictitious control and real control are designed using saturation control and polynomial-type PD input based on the Lyapunov's second method. In each step, the designed robust inputs satisfy the L2-gain, which is equal to or less than gamma in the closed loop system. In contrast with the previous researches, the proposed method proves performance relations with PD gain from the robust gain. The performance robustness of the proposed control is verified through a 2-DOF robot manipulator with joint flexibility.

• Advances in aircraft and spacecraft science
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• 제6권5호
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• pp.371-389
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• 2019

The implementation of a robust $H_{\infty}$ Control, which is numerically efficient for uncertain nonlinear dynamics, on longitudinal and lateral autopilots is realised for a quarter scale Piper J3-Cub model accepted as an unmanned aerial vehicle (UAV) under the condition of sensor noise and disturbance effects. The stability and control coefficients of the UAV are evaluated through XFLR5 software, which utilises a vortex lattice method at a predefined flight condition. After that, the longitudinal trim point is computed, and the linearization process is performed at this trim point. The "${\mu}$-Synthesis"-based robust $H_{\infty}$ control algorithm for roll, pitch and yaw displacement autopilots are developed for both longitudinal and lateral linearised nonlinear dynamics. Controller performances, closed-loop frequency responses, nominal and perturbed system responses are obtained under the conditions of disturbance and sensor noise. The simulation results indicate that the proposed control scheme achieves robust performance and guarantees stability under exogenous disturbance and measurement noise effects and model uncertainty.

• The Transactions of The Korean Institute of Electrical Engineers
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• 제64권7호
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• pp.1096-1103
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• 2015

Electromagnetic levitation system(EMLS) is one of the well known nonlinear systems due to its high degree of nonlinearities. Moreover, when there are uncertain parameters in EMLS, it is not easy to have an accurate control of EMLS. In this paper, we first apply a standard input-output feedback linearzing controller to EMLS and investigate the possible control error caused by uncertain coil resistor. Then, as a remedy, we design and apply a robust controller using Lyapunov redesign technique to deal with this uncertain coil resistor in the system. The validity of our robust controller is verified via system analysis and experimental results.