• Transactions on Control, Automation and Systems Engineering
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• v.4 no.2
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• pp.169-175
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• 2002

A sliding mode control of spacecraft attitude tracking with actuator, especially reaction wheel, is presented. The sliding mode controller is derived based on quaternion parameterization for the kinematic equations of motion. The reaction wheel dynamic equations represented by wheel input voltage are presented. The input voltage to wheel is calculated from the sliding mode controller and reaction wheel dynamics. The global asymptotic stability is shown using a Lyapunov analysis. In addition the robustness analysis is performed for nonlinear system with parameter variations and disturbances. It is shown that the controller ensures control objectives for the spacecraft with reaction wheels.

• Bulletin of the Korean Chemical Society
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• v.23 no.9
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• pp.1247-1252
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• 2002

Mass-analyzed threshold ionization (MATI) technique is optimized to generate substantial amount of state-selected molecular ions sufficient for dynamics study. The main strategy is to stabilize intermediate (n = 100- 200) Rydberg states by l,m-mix ing induced by AC field. Electrical jitter inherent in high voltage switching is utilized for this purpose. A related technique to locate the MATI onset is also described.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.947-952
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• 1993

A simplified pole-placement design method is developed by analysing dynamic characteristics of the switching dynamics. Unlike the design procedure of conventional pole-placement, in the proposed method, overall state-space is directly decomposed into two invariant subspaces by the projection operator which is defined in the equivalent system, and then the closed-loop poles are assigned to each subspace independently. Hence, computations for state-feedback gain matrix are easy and simple.

• Proceedings of the KIEE Conference
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• 1997.07b
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• pp.693-695
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• 1997

This paper deals with the tracking control problem of robotic manipulators with unknown or changing dynamics. The torque input applied to the joint actuators is determined at every instance by the identification model that best approximates the robot dynamics. The best of the identified model is chosen by the proposed switching mechanism with fuzzy inference of the manipulator in an indirect adaptive controller architecture. Simulation results are also included to demonstrate the improvement in the tracking performance when the proposed method is used.

• Proceedings of the Korean Magnestics Society Conference
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• 2007.05a
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• pp.98.2-98.2
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• 2007

• Korean System Dynamics Review
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• v.5 no.2
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• pp.33-66
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• 2004

This study is an exploratory investigation on how national R&D investments decisions are made in Korea. For developing system dynamic model, we are interested in locating three structural dilemma, occurring with the Korean NIS. In so doing, we intend to devise the ways of ameliorating problems within the NIS investment decision-making process by providing policy implications. We identify delays and side effects during transition periods between different stages of technology innovation by perceiving the switching pattern dynamically, in which form of technologies shifts from one to another stage like paradigm shift, when the R&D investment reaches a certain stock. It is also suggested that the development of strategies is necessary in order to enhance efficiency of technological development process.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.8
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• pp.1534-1544
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• 2002

The TDCSA(Time Delay Control with Switching Action) method, which consists of Time Delay Control(TDC) and a switching action of sliding mode control(SMC), has been proposed as a promising technique in the robust control area, where the plant has unknown dynamics with parameter variations and substantial disturbances are preset. When TDCSA is applied to the plant with saturation nonlinearity, however, the so-called windup phenomena are observed to arise, causing excessive overshoot and instability. The integral element of TDCSA and the saturation element of a plant cause the windup phenomena. There are two integral effects in TDCSA. One is the integral effect occurred by time delay estimation of TDC. Other is the integral term of an integral sliding surface. In order to solve this problem, we have proposed an anti-windup scheme method for TDCSA. The stability of the overall system has been proved for a class of nonlinear system. Experiment results show that the proposed method overcomes the windup problem of the TDCSA.

• Journal of Magnetics
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• v.11 no.2
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• pp.61-65
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• 2006

The physical origin of complex dynamic domain configuration in nonequilibrium magnetic systems with mesoscopic length scales has been studied. An increasing complexity in the spatial feature of the evolution is found to accompany the increasing reversal speed, when a ferromagnetic element is driven by progressively faster switching fields applied antiparallel to the initial magnetization direction. As reversal rates approach the characteristic precession frequencies of spin fluctuations, the thermal energy can boost the magnetization into local configurations which are completely different from those experienced during quasistatic reversal. The sensitive dependence of the spatial pattern on switching speed can be understood in terms of a dynamic exchange interaction of thermally excited spins; the coherent modulation of the spins is strongly dependent on the rise time of switching pulses.

• International Journal of Control, Automation, and Systems
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• v.4 no.6
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• pp.669-681
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• 2006

In this work, a new method of design adaptive controllers for SISO systems based on multiple models and switching is presented. The controller selects the model from a given set, according to a switching rule based on output prediction errors. The goal is to design, at each sample instant, a predictive control law that ensures the robust stability of the closed-loop system and achieves the best performance for the current operating point. At each sample the proposed control scheme identifies a set of linear models that best characterizes the dynamics of the current operating region. Then, it carries out an automatic reconfiguration of the controller to achieve the best possible performance whilst providing a guarantee of robust closed-loop stability. The results are illustrated by simulations a nonlinear continuous and stirred tank reactor.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.11
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• pp.861-867
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• 2003

We propose a sliding surface design method for linear systems with mismatched uncertainties in the state space model. In terms of LMIs, we derive a necessary and sufficient condition for the existence of a linear sliding surface such that the reduced-order equivalent sliding mode dynamics restricted to the linear sliding surface is not only stable but completely invariant to mismatched uncertainties. We give an explicit formula of all such linear switching surfaces in terms of solution matrices to the LMI existence condition. We also give a switching feedback control law, together with a design algorithm. Additionally, we give some hints for designing linear switching surfaces guaranteeing pole clustering constraints or linear quadratic performance bound constraints. Finally, we give a design example in order to show the effectiveness of the proposed methodology.