• Journal of applied mathematics & informatics
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• v.11 no.1_2
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• pp.81-108
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• 2003

We consider the Korteweg-de Vries-Burgers (KdVB) equation on the domain [0,11]. We derive a control law which guarantees $L^2$-global exponential stability, $H^3$-global asymptotic stability, and $H^3$-semiglobal exponential stability.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.20-23
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• 1996

This paper deals with the flexible manipulator with rotational and translational degrees of freedom, which has an arm of time-varying length with the prismatic joint. The tracking control problem of the flexible manipulator is considered. First we design the controller of the 2-type robust servo system based on the finite horizon optimal control theory for the trajectory planned as a discontinuous velocity. Next, to reduce the tracking error, we use the method of the dynamic programming and of modifying the reference trajectory in time coordinate. The simulation results show that the dynamic modeling is adequate and that the asymptotic stabilization of the flexible manipulator is preserved in spite of nonlinear terms. The PTP control error has been reduced to zero completely, and the trajectory tracking errors are reduced sufficiently by the proposed control method.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.6 s.183
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• pp.88-95
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• 2006

In this paper, the gain-scheduled control design proposed in the previous paper has been applied to a target tracking system. In such system, it is needed to attenuate disturbance effectively as long as control input satisfies the given constraint on its magnitude. The scheduled gains are derived in the framework of linear matrix inequality(LMI) optimization by means of the MatLab toolbox. Its effectiveness is verified along with the simulation results compared with the conventional optimum constant gain and the scheduled gain control with constant Q matrix cases.

• International Journal of Aeronautical and Space Sciences
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• v.3 no.2
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• pp.1-12
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• 2002

This paper considers the robust and optimal three-axis attitude stabilization of rigid spacecraft with inertia uncertainties. The attitude motion of rigid spacecraft described in terms of either the Cayley-Rodrigues parameters or the Modified Rodrigues parameters is considered. A class of robust nonlinear control laws with relaxed feedback gain structures is proposed for attitude stabilization of rigid spacecraft with inertia uncertainties. Global asymptotic stability of the proposed control laws is shown by using the LaSalle Invariance Principle. The optimality properties of the proposed control laws are also investigated by using the Hamilton-Jacobi theory. A numerical example is given to illustrate the theoretical results presented in this paper.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.11
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• pp.741-746
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• 2004

When investigating a control problem for network based control systems, the main issue is network-induced delay. This delay can degrade the performance of control systems designed without considering the delay and even destabilize the system. In this paper, we consider the stabilization of network based control systems, where there is bounded time-varying delay. This delay is treated like parameter variation of a discrete time system. The state feedback controller design is formulated as linear matrix inequality. Finally, we show that the stability of control systems designed with considering the delay is superior to that is not so.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.11
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• pp.963-967
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• 2000

This paper deals with a sliding mode control with uncertainty adaptation for the robust stabilization of input-delay systems with unknown uncertainties. A sliding surface including a state predictor is employed to compensate for the effect of the input delay. The proposed method does not need a priori knowledge of upper bounds on the norm of uncertainties, but estimates those upper bounds by adaptation laws based on the sliding surface. Then, a robust control law with the uncertainty adaptation is derived to ensure the existence of the sliding mode. A numerical example is given to illustrate the design procedure.

• PNF and Movement
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• v.19 no.1
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• pp.105-113
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• 2021

Purpose: The purpose of this study was to investigate the effect of trunk-stabilization training using stabilizing reversal and rhythmic stabilization techniques of PNF on trunk muscle strength and respiratory function in elderly stroke patients. Methods: There were 26 stroke patients included in the study. Patients were divided into two groups, and all patients performed exercise 30 min five times per week for six weeks. The experimental group performed trunk stability exercise using stabilizing reversal and rhythmic stabilization techniques of PNF, and the control group performed flexibility and strength training. Trunk muscle strength, forced vital capacity, maximum inspiratory pressure, and maximum expiration pressure were measured to determine the changes after the intervention. For statistical processing, a paired t-test was performed within the group, and the value after intervention was performed as an independent t-test to find out the difference between the two groups. Results: In the experimental group, all of the trunk muscle strength, forced vital capacity, maximum inspiratory pressure, and maximum expiration pressure showed significant differences according to the intervention. In the control group, there were statistically significant differences in trunk muscle strength and forced vital capacity, but the maximum inspiratory pressure and the maximum expiration pressure did not show any statistical change. Conclusion: From these results, it can be seen that the trunk stability exercises that use the proprioceptive neuromuscular promotion method of stable reversal and rhythm stabilization can be a good intervention for the respiratory function of stroke patients.

• Journal of the Korean Society for Precision Engineering
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• v.33 no.3
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• pp.183-190
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• 2016

In this study, we conduct linear and nonlinear modeling of the DC motor driving system of a wheeled mobile robot, which is a nonlinear system involving dead zone, friction, and saturation. The DC motor driving system consists of a DC motor, a wheel, and gears. A linear DC motor driving system is modeled using a steady-state response and parameter measurements. A nonlinear DC motor driving model is identified with the use of the Hammerstein-Wiener method. By using these models, PID controllers for the DC motor system are then established. Each PID controller is applied as a low-level controller in order to achieve posture stabilization control for the real mobile robot. We also compare the performance of the proposed PID controllers in posture stabilization experiments by using several different final robot postures.

• Journal of Advanced Marine Engineering and Technology
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• v.21 no.4
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• pp.393-403
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• 1997

In this paper, we proposed an optimal identification method of identifying the membership func¬tions and the fuzzy rules for the stabilization controller of the nonlinear system by RVEGA( Real Variable Elitist Genetic Algo rithm l. Although fuzzy logic controllers have been successfully applied to industrial plants, most of them have been relied heavily on expert's empirical knowl¬edge. So it is very difficult to determine the linguistic state space partitions and parameters of the membership functions and to extract the control rules. Most of conventional approaches have the drastic defects of trapping to a local minima. However, the proposed RVEGA which is similiar to the processes of natural evolution can optimize simulta¬neously the fuzzy rules and the parameters of membership functions. The validity of the RVEGA - based fuzzy controller was proved through applications to the stabi¬lization problems of an inverted pendulum system with highly nonlinear dynamics. The proposed RVEGA - based fuzzy controller has a swing -. up control mode(swing - up controller) and a stabi¬lization one(stabilization controller), moves a pendulum in an initial stable equilibrium point and a cart in an arbitrary position, to an unstable equilibrium point and a center of the rail. The stabi¬lization controller is composed of a hierarchical fuzzy inference structure; that is, the lower level inference for the virtual equilibrium point and the higher level one for position control of the cart according to the firstly inferred virtual equilibrium point. The experimental apparatus was imple¬mented by a DT -- 2801 board with AID, D/A converters and a PC - 586 microprocessor.

• The Transactions of the Korean Institute of Power Electronics
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• v.19 no.1
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• pp.41-50
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• 2014

The rising penetration of renewable energy resulted in the development of grid-connected large-scale power plants. Therefore, grid stabilization, which depends on the system-type or grid of each country, plays an important role and has been strengthened by different grid codes. With this background, VDE-AR-N 4105 for photovoltaic (PV) systems connected to the low-voltage grid and the German Association of Energy and Water Industries (BDEW) introduced the medium-voltage grid code for connecting power plants to the grid and they are the most stringent certifications. In this paper, an optimal control strategy scheme for three-phase grid-connected PV system is enhanced with VDE-AR-N 4105 and BDEW grid code, where both active/reactive powers are controlled. Simulation and experimental results of 100kW PV inverter are shown to verify the effectiveness of the proposed implemental control strategy.