• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2004.04a
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• pp.559-562
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• 2004

In this paper, a new dual-rate digital control technique for the Takagi-Sugeno (T-S) fuzzy system is suggested. The proposed method takes account of the stabilizablity of the discrete-time T-S fuzzy system at the fast-rate sampling points. Our main idea is to utilize the lifted control input. The proposed approach is to obtain the dual-rate discrete-time T-S fuzzy system by discretizing the overall dynamics of the T-S fuzzy system with the lifted control, and then to derive the sufficient conditions for the stabilization in the sense of the Lyapunov asymptotic stability for this system.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.4 no.2
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• pp.199-204
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• 2004

In this paper, a new dual-rate digital control technique for the Takagi-Sugeno (T-S) fuzzy system is suggested. The proposed method takes account of the stabilizablity of the discrete-time T-S fuzzy system at the fast-rate sampling points. Our main idea is to utilize the lifted control input. The proposed approach is to obtain the dual-rate discrete-time T-S fuzzy system by discretizing the overall dynamics of the T-S fuzzy system with the lifted control, and then to derive the sufficient conditions for the stabilization in the sense of the Lyapunov asymptotic stability for this system. An example is provided for showing the feasibility of the proposed discretization method.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.672-677
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• 2004

In this paper, a new dual-rate digital control technique for the Takagi-Sugeno (T-S) fuzzy system is suggested. The proposed method takes account of the stabilizablity of the discrete-time T-S fuzzy system at the fast-rate sampling points. Our main idea is to utilize the lifted control input. The proposed approach is to obtain the dual-rate discrete-time T-S fuzzy system by discretizing the overall dynamics of the T-S fuzzy system with the lifted control, and then to derive the sufficient conditions for the stabilization in the sense of the Lyapunov asymptotic stability for this system. An example is provided for showing the feasibility of the proposed discretization method.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.2
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• pp.649-654
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• 2019

Stable haptic interaction with virtual environments is essential not only for the safety of the user but also for improving the immersion of the user. If the coefficient of a virtual spring is increased, the system becomes unstable. Therefore, the coefficient of the virtual spring is limited. The haptic system with the high-frequency zero-order-hold (HF-ZOH) is proposed to enhance the stability margin of a virtual spring. In this paper, the relationship among the sampling period of HF-ZOH, the coefficient of the physical damper, and the maximum stable margin of the virtual spring is analyzed. The lager the coefficient of the physical damper is, the shorter the sampling period of the HF-ZOH is, the larger the stable region of the virtual spring becomes. If the ratio N is larger than 40, the stable region of the proposed method is about three times to eight times that of the previous method, according to the coefficient of the physical damper. Hence the method enables to improve the user's realism in virtual environments.