• 제어로봇시스템학회논문지
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• 제3권1호
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• pp.9-16
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• 1997

The method of designing robust two degree of freedom(2 DOF) controllers for linear systems with parameter uncertainties and unmodeled dynamics is presented in this paper. Robust performance condition that accounts for robust model matching of closed loop system and disturbance rejection is derived. Using the robust performance condition, the feedback controller is designed to meet robust stability and disturbance rejection specifications, while prefilter is used to improve the robust model matching properties. The $H^{\infty}$ and $\mu$ controller for six degree of freedom vehicle with parameter variations are designed and compared. Simulations for hydrodynamic parameter variations and disturbance are presented to demonstrate the achievement of good robust performance.

• 대한전기학회논문지:전력기술부문A
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• 제48권5호
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• pp.553-559
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• 1999

The robust control problem of the linear systems with uncertainty is classified as the robust stability problem guaranteeing the stability and the robust performance problem guaranteeing the disired performance. In this paper, we considered the robust performance analysis problem, which find the upper buund of the quadratic performance of the uncertain linear system, and the robust guaranteed performance controller design problem which design a controller guaranteeing the desired quadratic performance. At first, we treated the analysis problem and presented the two results; one is dependent on the performance of the nominal system and another is independent on this. And we treated the design method guaranteeing the desired performance for the uncertain linear systems, Finally, we show the usefulness of our results by numerical examples.

• 대한기계학회논문집A
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• 제20권9호
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• pp.2731-2743
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• 1996

When modeling error is large of plant is time-varying, it is hard to obtain good robust performance and robust stability by conventional contorl methods. Here, we need to design a robust controller bearing modeling error. In this paper, based on recently developed Time Delay Control(TDC) and Disturbance Observer the output feedback Robust Disturbance Observer(RDO), which is easily combined with general linear control, is proposed. Proposed RDO is derived from extending the main idea of Disturbance Observer to multi-input multi-output linear system. RDO solves robust stability problem of Disturbance Observer and has the robust performance same as nominal performance. RDO controlled dual stage positioning system shows excellent robust performance.

• 제어로봇시스템학회논문지
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• 제5권6호
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• pp.656-666
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• 1999

In this paper, we design the optimal PD control system which has the robust performance. This PD control system is designed by applying genetic algorithm (GA) to the determination of proportional gain KP and derivative gain KD that are given by PD servo controller, to make the output of plant follow the output of reference model optimally. These proportional and derivatibe gains are simultaneously optimized in the search domain guaranteeing the robust performance of system. And, this PD control system is compared with $\mu$ -synthesis control system for the robust performance. The PD control system designed by the proposed method has not only the robust performance but also the better command tracking performance than that of the $\mu$ -synthesis control system. The effectiveness of this control system is verified by computer simulation.

• Journal of Mechanical Science and Technology
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• 제17권12호
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• pp.1855-1866
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• 2003

This paper discusses an entire procedure for a robust controller design and its implementation of an AMB (active magnetic bearing) spindle, which is part II of the papers presenting details of system modeling and robust control of an AMB spindle. Since there are various uncertainties in an AMB system and reliability is the most important factor for applications, robust control naturally gains attentions in this field. However, tight evaluations of various uncertainties based on experimental data and appropriate performance weightings for an AMB spindle are still ongoing research topics. In addition, there are few publications on experimental justification of a designed robust controller. In this paper, uncertainties for the AMB spindle are classified and described based on the measurement and identification results of part I, and an appropriate performance weighting scheme for the AMB spindle is developed. Then, a robust control is designed through the mixed ${\mu}$ synthesis based on the validated accurate nominal model of part I, and the robust controller is reduced considering its closed loop performance. The reduced robust controller is implemented and confirmed with measurements of closed-loop responses. The AMB spindle is operated up to 57,600 rpm and performance of the designed controller is compared with a benchmark PID controller through experiments. Experiments show that the robust controller offers higher stiffness and more efficient control of rigid modes than the benchmark PID controller.

• 전자공학회논문지S
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• 제34S권1호
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• pp.43-53
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• 1997

A robust stability condition for linear systems with time delay in all variables and parameter uncertainties in all system matrices is derived. Robust performance condition that accounts for robust model-matching of closed loop system and disturbance rejection is also derived. Using the robust performance condition, robust $H^{\infty}$ controller and .mu.(sgructured singular value) controller with two-degree-of-freedom(2DOF) are designed. The controller structure is considered for $H^{\infty}$ controller, while uncertainity structure is considered for .mu. controller. Using the proposed method, $H^{\infty}$ and .mu. controllers for underwater vehicle with time delay and parameter variations are designed. Simulations of a design example with hydrodynamic parameter variations and disturbance are presented to demonstrate the achievement of good robust performance.ce.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 하계학술대회 논문집 B
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• pp.1018-1020
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• 1996

In this paper, when a robust active noise controller for a small cavity to control the noise induced in the cavity is designed, the Graphical method based on the robust stability and performance requirements is studied. The problem of designing controller that achieve these robust performance conditions is related to minimizing the $H_{\infty}$ norm of the mixed sensitivity function by using $H_{\infty}$ control theory. Also, For design the controller, the loopshaping method which control the weight functions to satisfy the design specification without loss of a robust performance can be used. Therefore, we determined the acceptable design specification with the system characteristics of the small cavity and obtained its robust controller with the robust performance specifications by stability margin.

• International Journal of Control, Automation, and Systems
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• 제6권6호
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• pp.960-967
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• 2008

This paper shows that design of a robustly stable repetitive control system is equivalent to that of a feedback control system for an uncertain linear time-invariant system satisfying the well-known robust performance condition. Once a feedback controller is designed to satisfy the robust performance condition, the feedback controller and the repetitive controller using the performance weighting function robustly stabilizes the repetitive control system. It is also shown that we can obtain a steady-state tracking error described in a simple form without time-delay element if the robust stability condition is satisfied for the repetitive control system. Moreover, using this result, a sufficient condition is provided, which ensures that the least upper bound of the steady-state tracking error generated by the repetitive control system is less than or equal to the least upper bound of the steady-state tracking error only by the feedback system.

• 제어로봇시스템학회논문지
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• 제15권11호
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• pp.1071-1075
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• 2009

This article describes a robust control method by using peak control of a sensitivity function in the state-feedback control systems. This method apparently reduces the peak, and as a result makes closed loop systems more stable. The designed closed loop systems also make the response to an external step disturbance more fast with a lower undershoot. At the conclusion, it is verified that the proposed method enhances robust stability and robust performance to parametric uncertainties through $\mu$-plot.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.482-485
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• 1993

This paper deals with structured singular value and mixed sensitivity problem for robust performance. We derive the sufficient condition that mixed sensitivity problem satisfies structured singular value in robust performance problem. And we show the bound of perturbation between structured singular value and norm of mixed sensitivity functions.