• Proceedings of the KIEE Conference
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• 1993.07a
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• pp.338-340
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• 1993

In this paper, the method for designing a robust linear multivariable model following servo system is proposed. This model following servo system for the (n)th order reference input and the (n)th order disturbance is treated, and is designed so that the (n)th order response of the plant should be kept close to the (n)th order response of the given model by LQ(Linear Quadratic) optimal regulator approach. It is proved that the characteristics of the model following servo system is robust in the presence of the disturbances and the parameter perturbations of the plant dynamics.

• Proceedings of the KIEE Conference
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• 1993.07b
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• pp.873-876
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• 1993

A scheme of IEVSC(Integral Error Variable Structure Controller) is proposed for the DC servo systems with the disturbances which does not satisfy the matching condition. The structure of IEVSC is composed of state observer, VSC, and servo compensator which is designed for the output variable enhances the robustness against all type of disturbances. The performances of proposed IEVSC are verified through simulations for the DC servo motor.

• Journal of Mechanical Science and Technology
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• v.20 no.11
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• pp.1834-1847
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• 2006

A robust minimum-time control (RMTC) strategy is addressed and it is extended to the dual-stage servo design. Rather than conventional switching type sub-optimal controls, it is a reference following control approach where the predetermined minimum-time trajectory (MTT) is tracked by the perturbation compensator based feedback controller. First, the minimum-time trajectory for a mass-damper system is derived. Then, the perturbation compensator to achieve robust tracking performance in spite of model uncertainty and external disturbance is suggested. The RMTC is also applied to the dual-stage positioner which consists of coarse actuator and fine one. To best utilize the actuation redundancy of the dual-stage mechanism, a null-motion controller to actively regulate the relative motion between the two stages is formulated. The performance of RMTC is validated through simulation and experiment.

• Proceedings of the KIEE Conference
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• 1998.11b
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• pp.426-428
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• 1998

In this paper, a ramp tracking controller design method is proposed for the systems with nonlinear frictions. The objective is to design a controller which is capable of tracking a ramp reference input without steady state error. The controller is composed of a linear controller, integrators for error compensation, and a friction compensator. The compensator estimates the parameters of friction model. The friction parameters are estimated using two different method. Simulation and experimental results show that the proposed method is effective.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.8
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• pp.987-995
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• 1999

A new robust controller design methodology for single-input single-output systems is proposed, where the proposed controller consists of a conventional or optimal servo controller at the outer loop as well as the robust internal-loop compensator(RIC) to eliminate the model uncertainty and external disturbance. It is shown that RIC with finite gain can make actual systems be nominal models within a prespecified error bound. And, it is also shown that RIC-based system is robustly stable regardless of input saturation. Several numerical examples are illustrated to show validities of the proposed robust controller.

• Proceedings of the Korea Institute of Convergence Signal Processing
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• 2003.06a
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• pp.141-144
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• 2003

This paper proposes a design method of a CDBC(Continuous-time Deadbeat Controller)system that takes into account the response between the sampling instant and using second-order smoothing elements. The continuous deadbeat controller is composed of a serial integral compensator and a local feedback compensator introduced into the state feedback loop. A DC servo motor is chosen for implementing CDBC algorithm. Especially according to the variable input and disturbance, corresponding CDBC design method is suggested. A Matlab Simulink is used for simulation with the Motor parameter. By computer simulations, control inputs and system outputs are shown to have desirable property such as smoothness.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.10
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• pp.871-880
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• 2000

A twin-servo mechanism is used to increase the payload capacity and assembling speed of high precision motion control systems such as semiconductor chip mounters. In this paper, we focus on the modeling of the twin-servo system and propose its network representation. And also, we propose a robust synchronizing motion control algorithm to cancel out the skew motion of the twin-servo system caused by different dynamic characteristics of two driving systems and the vibration generated by high accelerating and decelerating motions. The proposed control algorithm consists of separate feedback motion control algorithms for each driving system and a skew motion compensation algorithm. A robust tracking controller based on internal-loop compensation is proposed as a separate motion controller and its disturbance attenuation property is shown. The skew motion compensation algorithm is also designed to maintain the synchronizing motion during high speed operation, and the stability of the whole closed loop system is proved based on passivity theory. Finally, experimental results are shown to illustrate control performance.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.52 no.2
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• pp.74-80
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• 2003

In this paper, a robust two-degree-of-freedom(TDF) the speed control system using $H_{\infty}$ optimization method and real genetic algorithm is proposed for the robust stability and the robust performance in dc servo motor system. This control system composed of feedback and feedforward controller. The feedback(FB) controller with $H_{\infty}$ optimization method is designed for real genetic algorithm that is model matching problem using mixed sensitivity function. The feedforward(FF) controller with $H_{\infty}$optimization method is minimized the error between transfer function of the optimal model and the overall transfer function. The proposed robust two-degree-of-freedom speed control system is simulated to the dc servo motor. By the simulation, feedback controller can obtain the robust stability property and feedforward controller can obtain the robust performance property under modelling error. The performance of the dc servo motor is analyzed by the experiment setting. The validity of the proposed method is verified through being compared with pid(proportional integrated differential)control system design method for the dc servo motor.

• Journal of Institute of Control, Robotics and Systems
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• v.2 no.2
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• pp.115-120
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• 1996

In this paper, a sliding mode controller which is characterized by high accuracy, fast response and robustness is applied to speed control of AC-SERVO motor. The control input is changed to the continuous one in the boundary layer to reduce the chattering phenomenon, and the boundary layer converges to zero when the state variables of system reach to steady state values. The integral compensator is added to reduce steady state error and to provide the continuous torque reference. The acceleration which is necessary for the sliding plane is estimated by an obsever. Sliding surface is included in control input to enhance the robustness and transient response without increasing sliding mode controller gain. The proposed controller is implemented by DSP(digital signal processor). The effectiveness of the proposed scheme is demonstrated through experimental works.

• Journal of the Korean Society for Precision Engineering
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• v.25 no.2
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• pp.140-147
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• 2008

This paper describes a Neural Network based PD control scheme for motion control of pneumatic servo cylinder. Pneumatic systems have inherent nonlinearities such as compressibility of air and nonlinear frictions present in cylinder. The conventional linear controller is limited in some applications where the affection of nonlinear factor is dominant. A self-excited oscillation method is applied to derive the dynamic design parameters of linear model. Based on the parameters thus identified, a PD feedback compensator is designed first and then a neural network is incorporated. The experiments of a trajectory tracking control using the proposed control scheme are performed and a significant reduction in tracking error is achieved by comparing with those of a PD control.