• International Journal of Control, Automation, and Systems
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• 제1권2호
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• pp.243-251
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• 2003

In this paper, a new model for mobile soccer robot, a type of linear system, is presented. A controller, consisting of two loops the one of which is the inner state feedback loop designed for stability and plant be well conditioned and the outer loop is a well-known PI controller designed for tracking the reference input, is suggested. Because the plant, the soccer robot, is parameter dependent, it requires the controller to be insensitive to the parameter variation. To achieve this objective, the pole-sensitivity as a pole-variation with respect to the parameter variation is defined and design algorithms for state-feedback controllers are suggested, consisting of two matrices one of which is for general pole-placement and other for parameter insensitive. This paper shows that the PI controller is equivalent to the state feedback and the cost function for reference tracking is equivalent to the LQ cost. By using these properties, we suggest a tuning procedure for the PI controller. We that the control algorithm in this paper, based on the linear system theory, is well work by simulation, and the LPD system modeling and control are more easy treatment for soccer robot.

• Journal of Advanced Marine Engineering and Technology
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• 제16권3호
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• pp.30-41
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• 1992

For the state feedback controller which measures only partial state variables, a state observer can be used to give the estimates of unmeasurable states. In this paper, the delayed state feedback method instead of the state observer for desingning a tracking controller of electro-hydraulic control system is presented. The controller design is based on augmenting the original system by one additional integral and proportional element which compensates for the effect of the integral control and on feeding back the measurable state variables and their delayed values. The performance of the proposed position control system is compared with both that of the full state feedback control system and that of the digital PID control system tuned by the Ziegler-Nichols method and by the parameter readjustment through the computer simulation. And then robustness against unmeasurable constant disturbace and parameter variations during operations is also checked.

• 대한전기학회논문지
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• 제39권8호
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• pp.828-835
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• 1990

A new state feedback control scheme is proposed to improve the stability and dynamic performances of the series resonant converter (SRC). The proposed scheme can be easily implemented without speed limitation. Design parameter of the proposed control is the ratio of the state feedback gains. A closed loop dynamic modeling for the SRC with the proposed control law is derived. Parametric curves which can be used to select the design parameter in the control system are presented. The experimental results show that the excellent dynamic performance of the converter can be obtained by properly selecting the design parameter. The results are further compared with both the theoretical analysis and the frequency control.

• 한국자동차공학회논문집
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• 제4권4호
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• pp.27-37
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• 1996

In this paper the effects of suspension design parameters on the steady-state cornering performance of vehicles are studied. To investigate the understeer characteristics of vehicles, steady-state cornering equatons are derived from a two-track model which is expanded from a simple one track model. The effects of the suspension design parameters as well as those of lateral load transfer are taken into consideration. To verify the equation, a skid pad test was carried out with a domestic passenger car. The design parameters of the vehicle are measured using a Suspension Parameter Measuring Device(SPMD). Based on these results, parameter studies are carried out to determine the effect of design parameters on the cornering performance of a vehicle, both in low and high acceleration region.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1997년도 하계학술대회 논문집 B
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• pp.620-623
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• 1997

This paper is concerned with the design of a suboptimal Kalman filter with robust state estimation performance for system models represented in the state space, which are subjected to parameter uncertainties in both the state and measurement matrices. Under the assumption that the uncertain system is quadratically stable, if the augmented system composed of the uncertain system and the filter is controllable, the proposed filter can provide the upper bound of the estimation error variance for all admissible uncertain parameters. This upper bound can be represented as the convex function of a parameter introduced in the design procedure, and the optimized upper bound of the estimation error variance can also be found via the optimization of this convex function.

• Journal of Power Electronics
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• 제19권2호
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• pp.497-508
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• 2019

The predictive speed control (PSC) strategy can realize the simultaneous control of speed and current by using one cost function. As a model-based control method, the performance of the PSC is vulnerable to model mismatches such as load torque disturbances and parameter uncertainties. To solve this problem, this paper presents a robust predictive speed control (RPSC) strategy for surface-mounted permanent magnet synchronous motor (SPMSM) drives. The proposed RPSC uses extended state observers (ESOs) to estimate the lumped disturbances caused by load torque changes and parameter mismatches. The observer-based prediction model is then compensated by using the estimated disturbances. The introduction of ESOs can achieve robustness against predictive model uncertainties. In addition, a modified cost function is designed to further suppress load torque disturbances. The performance of the proposed RPSC scheme has been corroborated by experimental results under the condition of load torque changes and parameter mismatches.

• Journal of Multimedia Information System
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• 제8권1호
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• pp.31-34
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• 2021

The classical HMM is defined by a parameter triple �� = (��, A, B), where each parameter represents a collection of probability distributions: initial state, state transition and output distributions in order. This paper proposes a new stationary parameter e = (e1, e2, …, eN) where N is the number of states and et = P(|xt = i, y) for describing how an input pattern y ends in state xt = i at time t followed by nothing. It is often said that all is well that ends well. We argue here that all should end well. The paper sets the framework for the theory and presents an efficient inference and training algorithms based on dynamic programming and expectation-maximization. The proposed model is applicable to analyzing any sequential data with two or more finite segmental patterns are concatenated, each forming a context to its neighbors. Experiments on online Hangul handwriting characters have proven the effect of the proposed augmentation in terms of highly intuitive segmentation as well as recognition performance and 13.2% error rate reduction.

• 한국시뮬레이션학회논문지
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• 제16권2호
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• pp.37-44
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• 2007

EWMA(지수가중평균)을 사용한 제어 방법은 반도체 제조 공정의 런투런 제어 환경에서 사용되는 대표적인 제어 방법이다. EWMA 제어에서는 제어 모수 값의 선택이 제어 결과에 주된 영향을 미치기 때문에, 공정 상황에 적합한 제어 모수 값을 사용하는 것이 중요하다. 불안정적인 공정 상황에서는 변화하는 공정 상황에 적합한 값으로 EWMA 제어 모수를 동적으로 변경하면서 제어해 주는 것이 고정된 모수 값을 사용하는 EWMA 제어에 비해 효율적이다. 본 연구에서는 동적인 EWMA 제어 모수를 사용한 기존 연구들을 살펴보고 이들의 단점을 보완한 새로운 알고리즘을 제시하며, 시뮬레이션을 통해 우수한 수행 결과를 확인하였다.

• 한국지반환경공학회 논문집
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• 제11권8호
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• pp.5-14
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• 2010

최근의 자갈질 지반에 대한 연구는 주로 상대밀도 혹은 자갈함유량에 바탕을 둔 연구로써 자갈질 지반의 액상화거동에 대하여 일부 연구자들은 상대밀도, 다른 연구자들은 자갈함유량에 상관성을 가지고 있음을 발표하였다. 그러나 자갈질 지반의 상대밀도는 자갈함유량에 따라 달라지게 되며 상대밀도만으로 자갈질 흙의 거동을 충분히 표현하기에는 어려운 점이 있다. 따라서 본 연구에서는 밀도와 구속압을 동시에 고려할 수 있는 상태정수를 도입하고 비배수 삼축압축시험을 통하여 자갈혼합율에 따른 정상상태선(Steady State Line, SSL)을 결정하고 상태정수에 따른 비배수 응력 거동을 고찰하였다. 연구 결과 정상상태선의 위치는 간극비에 의존하여 자갈 함유율이 증가할수록 상대적으로 아래쪽에 위치한다는 것을 알 수 있었다. 또한 같은 상대밀도라 할지라도 구속압에 따라 조밀하거나 혹은 느슨한 거동을 보였다. 특히 상대밀도가 80% 이상인 조밀한 시료일지라도 큰 구속압 아래에선 느슨한 거동을 하였다. 그러나 유사한 상태정수를 갖는 자갈질 흙은 비슷한 응력거동을 나타내었다. 이로서 흙의 거동은 상대밀도보다는 상태정수에 근거해야 함을 알 수 있었다. 또한 상태정수와 비배수전단강도는 좋은 상관 관계를 나타내었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1765-1770
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• 2005

Recently, particle filters have attracted attentions for nonlinear state estimation. In this approaches, a posterior probability distribution of the state variable is evaluated based on observations in simulation using so-called importance sampling. We proposed a new filter, Evolution Strategies based particle (ESP) filter to circumvent degeneracy phenomena in the importance weights, which deteriorates the filter performance, and apply it to simultaneous state and parameter estimation of nonlinear state space models. Results of numerical simulation studies illustrate the applicability of this approach.