• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.577-580
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• 1996

LQ-servo is a stability-robustness guaranteed multivariable controller design method based on the LQR structure to improve command following performance with output feedback. In this paper, a new type of PI controller based on LQ-servo is introduced. Then, Command following performance is improved using the limiting behavior of the control gain and weighting factors on the low frequency part of design parameter Q that is the state weighting matrix in the cost function.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 합동 추계학술대회 논문집 정보 및 제어부문
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• pp.3-6
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• 2001

This paper presents optimal robust PID controller design method for second order systems to satisfy the design specifications in time domain. The parameters of PID controller are determinated by the weighting factors Q and R of cost function. It is suggested that the selection of Q and R matrix can be determinated by its relationship with the natural frequency of ITAE criterion.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.91-94
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• 1995

A newly developed discrete-time control design method for impact machines is proposed. It is composed of identification and control using neural networks, where the optimal controller with saturationn and no use of velocity measurements is obtained. By computer simulation, the proposed method is demonstrated to be effective: as the training progresses, the cost function becomes smaller, the proposed control is superior to PID control tuned with Ziegler-Nichols (Z-N) parameters; robust performance with respect to uncertainty, disturbances and working time is so good.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 합동 추계학술대회 논문집 정보 및 제어부문
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• pp.67-70
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• 2002

This paper presents an optimal robust LQ-PID controller design method for a second order system with time-delay to meet design specifications. By LQR formulation of the second order system with time-delay, tuning parameters of PID controller are related by the weighting factors Q and R of cost function. The selection of the weighting factors Q and R are chosen to satisfy such the design specifications as overshoot and settling time.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.332-332
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• 2000

In this paper, a novel sliding mode control with uncertainty adaptation is produced by introducing a virtual state. Because upper bounds of the uncertainty is difficult to know, we estimate these upper bound by using the simple adaptation law and design the novel sliding mode controller. The nominal controller is used the optimal controller to minimize cost function.

• 자원ㆍ환경경제연구
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• 제13권1호
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• pp.33-47
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• 2004

원(原)자원의 거래가격과 일치하는 무연탄에 대한 암묵가격은 우리나라의 경우 정부의 가격통제로 인하여 희소성지표로 사용하기에는 부적합하다. 김동수 이명헌 (2002)은 비용함수의 추정이 수반되는 Halvorsen and Smith(1984)의 실증적 모형을 적용하여 무연탄의 연도별 암묵가격을 도출한 결과 1970~1996년 기간동안 평균 8.93%의 상승률을 기록하였다. 이들 암묵가격이 희소성지표로서 신뢰성을 얻기 위해서는 투입 생산요소 특히 자본에 대한 정확한 가격산정이 먼저 전제되어야 하지만 우리나라의 열악한 자료환경하에서 자본가격의 산출이 임기웅변적으로 이루어지고 있는 현실을 고려하면 이들 암묵가격으로 판단한 고갈속도는 실제 상황을 왜곡시킬 수 있다. 본 연구에서는 산출량과 요소 투입량에 대한 자료만으로 추정이 가능한 Shephard(1970)의 투입물거리함수를 활용하여 무연탄 암묵가격을 산출한 바, 동일기간을 대상으로 했음에도 불구하고 평균 2.89%의 상승률을 보였다. 이러한 결과는 김동수 이명헌(2002)의 연구처럼 비용함수 추정방식으로 도출된 암묵가격에 의거하여 고갈속도를 판단할 경우 실제보다 약 3배 이상 빠르게 고갈되고 있는 것으로 잘못 인식될 수 있음을 의미한다.

• Journal of Communications and Networks
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• 제18권5호
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• pp.762-772
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• 2016

This paper studies the problem of precoding and post-coding design for multicell multiuser downlink transmissions in the absence of perfect channel state information (CSI). Using statistical information of imperfect CSI, an iterative multiuser multicell transceiver design is formulated by minimizing the mean squared error (MSE) cost function of signal and leakage interference under per-base station power constraint (PBPC). The convergence of the iterative precoding and postcoding algorithm is verified by analytical and empirical results. The proposed precoding and postcoding algorithm offers a low computational complexity and robustness against CSI imperfection.

• 대한기계학회논문집
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• 제19권1호
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• pp.99-110
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• 1995

An industrial robot needs a simple and robust control algorithm obtaining high precision control performance in spite of disturbance and parameter's change. In this paper, for solving this problem, a new sliding mode control algorithm is proposed and applied to the trajectory control of a SCARA type robot. The proposed algorithm has diminished the chattering occurring in sliding mode by setting a dead band along the switching line on the phase plane. It shows that we can easily obtain a simple switching control input satisfying sliding mode in spite of regarding nonlinear terms of a manipulator and servo system as disturbance. A guideline for selection of dead-band width is determined by optimal value of cost function presenting magnitudes of chattering and error. By this algorithm, we can expect the high performance of the trajectory tracking of an industrial robot which needs a robust and simple algorithm.

• 대한음성학회:학술대회논문집
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• 대한음성학회 2006년도 춘계 학술대회 발표논문집
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• pp.127-130
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• 2006

This paper suggests an algorithm that can estimate the direction of the sound source with three microphones arranged on a circle. The algorithm is robust to microphones' gains because it uses only the time differences between microphones. To make this possible, a cost function which normalizes the microphone's gains is utilized and a procedure to detect the rough position of the sound source is also proposed. Through our experiments, we obtained significant performance improvement compared with the energy-based localizer.

• Structural Engineering and Mechanics
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• 제88권6호
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• pp.535-549
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• 2023

Deep extreme learning machine (DELM) and multi-verse optimization algorithms (MVO) are hybridized for designing an optimal and adaptive control framework for uncertain buildings. In this approach, first, a robust model predictive control (RMPC) scheme is developed to handle the problem uncertainty. The optimality and adaptivity of the proposed controller are provided by the optimal determination of the tunning weights of the linear programming (LP) cost function for clustered external loads using the MVO. The final control policy is achieved by collecting the clustered data and training them by DELM. The efficiency of the introduced control scheme is demonstrated by the numerical simulation of a ten-story benchmark building subjected to earthquake excitations. The results represent the capability of the proposed framework compared to robust MPC (RMPC), conventional MPC (CMPC), and conventional DELM algorithms in structural motion control.