• Journal of Industrial Technology
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• v.11
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• pp.107-114
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• 1991

This paper deals with the robustness of closed-loop poles of a linear time-invariant system with uncertain parameters. A new method is presented to calculate the perturbation of a pole-located region due to parameter uncertainties. A method to calculate allowable bounds on parameter uncertainties is also presented to retain closed-loop poles in a specified region. Based on Lyapunov equations and norm operations, they provide useful measures on the robustness of closed-loop poles. An example is given to illustrate proposed methods.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.10
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• pp.2060-2066
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• 2002

The closed-loop state and input observer is a pole-placement type observer and estimates unknown state and input variables simultaneously. Pole-placement type observers may have poor transient performance with respect to ill-conditioning factors such as unknown initial estimates, round-off error, etc. For the robust transient performance, the effects of these ill-conditioning factors must be minimized in designing observers. In this paper, the transient performance of the closed-loop state and input observer is investigated quantitatively by considering the error bounds due to ill-conditioning factors. The performance indices are selected from these error bounds and are related to the observer robustness with respect to the ill -conditioning factors. The closed-loop state and input observer with small performance indices is considered as a well-conditioned observer from the transient perspective.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.10
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• pp.2067-2072
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• 2002

The closed-loop state and input observer is a pole-placement type observer and estimates unknown state and input variables simultaneously. Pole-placement type observers may have poor performances with respect to modeling error and sensing bias error. The effects of these ill-conditioning factors must be minimized for the robust performance in designing observers. In this paper, the steady-state performance of the closed-loop state and input observer is investigated quantitatively and is represented as the estimation error bounds. The performance indices are selected from these error bounds and are related to the robustness with respect to modeling errors and sensing bias. By considering both transient and steady-state performance, the main performance index is determined as the condition number of the eigenvector matrix based on $L_2$-norm.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1492-1495
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• 1996

In this paper, an approach to autopilot design based on the robust nonlinear dynamic inversion method is proposed. Both unknown parameters and uncertainty bounds are estimated and parameter estimates are used in the fast inversion. Furthermore, to get more robustness slow inversion is incorporated with MRAC(Model Reference Adaptive Control) and sliding mode control where the estimates of uncertainty bounds are used. The proposed method is applied to the pitch autopilot design of a missile system and excellent performance is shown via computer simulation.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.30 no.4
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• pp.329-340
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• 1994

This paper presents a dynamic compensation methodology for robust trajectory tracking control of uncertain robot manipulators. To improve tracking performance of the system, a full model-based feedforward compensation with continuous VS-type robust control is developed in this paper(i.e,. robust decentralized adaptive control scheme). Since possible bounds of uncertainties are unknown, the adaptive bounds of the robust control is used to directly estimate the uncertainty bounds(instead of estimating manipulator parameters as in centralized adaptive control0. The global stability and robustness issues of the proposed control algorithm have been investigated extensively and rigorously via a Lyapunov method. The presented control algorithm guarantees that all system responses are uniformly ultimately bounded. Thus, it is shown that the control system is evaluated to be highly robust with respect to significant uncertainties.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.2
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• pp.147-153
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• 2007

The stability robustness problem of linear discrete-time systems with delayed time-varying perturbations is considered. Compared with continuous time system, little effort has been made for the discrete time system in this area. In the previous results, the bounds were derived for the case of non-delayed perturbations. There are few results for delayed perturbation. Although the results are for the delayed perturbation, they considered only the time-invariant perturbations. In this paper, the sufficient conditions for stability can be expressed as linear matrix inequalities(LMIs). The corresponding stability bounds are determined by LMI(Linear Matrix Inequality)-based algorithms. Numerical examples are given to compare with the previous results and show the effectiveness of the proposed results.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.10
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• pp.895-901
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• 2012

The stability robustness problem of linear discrete systems with time-varying unstructured uncertainty of delayed states with time-varying delay time is considered. The proposed conditions for stability can be used for finding allowable bounds of timevarying uncertainty and delay time, which are solved by using LMI (Linear Matrix Inequality) and GEVP (Generalized Eigenvalue Problem) known as powerful computational methods. Furthermore, the conditions can imply the several previous results on the uncertainty bounds of time-invariant delayed states. Numerical examples are given to show the effectiveness of the proposed algorithms.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.2 s.314
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• pp.1-9
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• 2007

In this paper, new results for perturbation bounds for unified decentralized systems by a unified approach using $\delta$ (defined as a shift operator at unified approach) are presented. Robust stability analysis of unified decentralized system is investigated by new robust stability bound under system uncertainties. New unified stability bounds are developed based on the unified Lyapunov matrix equation. It is shown that the system maintains its stability when new unified bounds are applied. Numerical example is presented to illustrate the proposed analysis.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.990-993
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• 2005

This paper presents new results on designing a robust adaptive direct controller for a class of non-linear first order systems. The designing method based on the use of dead zone in the parameters' update law. It is shown that the size of the dead zone does not depend on the upper bounds of the disturbances. That means that even if the bounds are large, the tracking error will always converge to a set of the dead zone size. However, in the ideal case, when the exogenous signal functions and the function represents un-modeled dynamics of the systems equal to zero, the proposed controller does nt mean the convergence to zero of the tracking error. Computer simulation results show the effectiveness of the controller in dealing with the stated problems.

• Korean Journal of Computational Design and Engineering
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• v.12 no.5
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• pp.344-353
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• 2007

In this paper, we address the problem of robust geometric modeling with emphasis on surface to surface intersections. We consider the topology and the numerical accuracy of an intersection curve to find the best approximation to the exact one. First, we perform the topological configuration of intersection curves, from which we determine the starting and ending points of each monotonic intersection curve segment along with its topological structure. Next, we trace each monotonic intersection curve segment using a validated ODE solver, which provides the error bounds containing the topological structure of the intersection curve and enclosing the exact root without a numerical instance. Then, we choose one approximation curve and adjust it within the bounds by minimizing an objective function measuring the errors from the exact one. Using this process, we can obtain an approximate intersection curve which considers the topology and the numerical accuracy for robust geometric modeling.