• Journal of Advanced Marine Engineering and Technology
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• 제27권1호
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• pp.24-32
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• 2003

The PID controller has been widely used in industrial applications due to its simple structure and robustness. Even if it is initially well tuned, the PID controller must be retuned to maintain acceptable performance when there are system parameter changes due to the change of operation conditions. In this paper, a self-tuning control scheme which comprises a parameter estimator, a NN-based rule emulator and a PID controller is proposed, which can cope with changing environments. This method involves combining neural networks and real-coded genetic algorithms(RCGAs) with conventional approaches to provide a stable and satisfactory response. A RCGA-based parameter estimation method is first described to obtain the first-order with time delay model from over-damped high-order systems. Then, a set of optimum PID parameters are calculated based on the estimated model such that they cover the entire spectrum of system operations and an optimum tuning rule is trained with a BP-based neural network. A set of simulation works on systems with time delay are carried out to demonstrate the effectiveness of the proposed method.

• International Journal of Control, Automation, and Systems
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• 제3권4호
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• pp.524-532
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• 2005

This paper concerns delay-dependent guaranteed cost control (GCC) problem for a class of linear state-delayed systems with norm-bounded time-varying parametric uncertainties. By incorporating the free weighing matrix approach developed recently, new delay-dependent conditions for the existence of the guaranteed cost controller are presented in terms of matrix inequalities for both nominal state-delayed systems and uncertain state-delayed systems. An algorithm involving convex optimization is proposed to design a controller achieving a suboptimal guaranteed cost such that the system can be stabilized for all admissible uncertainties. Through numerical examples, it is shown that the proposed method can yield less guaranteed cost than the existing delay-dependent methods.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.59.5-59
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• 2002

In this paper, we present a robust controller design method that can not only deal with the constant time delay plant but also an uncertain time delay one. For a constant time delay plant. The proposed DTC can independently adjust the set response and the disturbance response without any stability constraint. And in the uncertain time delay case, one can process the control design step with uncertainty norm bound. To verify real effectiveness, theoretical analysis and simulation results are given.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 하계종합학술대회 논문집 V
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• pp.2593-2596
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• 2003

The deadbeat properties have been well known in designing digital control systems. But recently several researchers proposed a CDBC(Continuout-time DeadBeat Controller) in continuous time. They used delay or smoothing elements from the finite Laplace Transform. A delay element is made by the exponential terms. A smoothing element is used to smooth the digital control input. And eventually the process is argumentd with smoothing elements and then well-known digital deadbeat controller is designed Sometimes samplings are done in continuous time systems and some hold devices are used to relate to digital systems. So multirate sampling may enhance the efficiency of the CDBC. A DC servo motor is chosen for implementing CDBC algorithm. Especially Outputs according to the variable input and disturbance are simulated. by use of Matlab Simulink.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1930-1933
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• 1991

In this paper, the robustness of self turning controller on the continuous time-delay system is investigated. The polynomial identification method using continuous time exponentially weighted least square algorithm is used for estimating the time.-delay system parameters. The pole-zero and pole placement method are adopted for the control algorithm. On considering the control weighting factor and reliability filter the effect of unmodeled dynamics of the plant are examined by the simulation.

• 한국지능시스템학회논문지
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• 제18권6호
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• pp.762-767
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• 2008

본 논문에서는 TS 퍼지 모델로 표현되는 시간 지연 비선형 시스템에 대한 $L_{\infty}$ 이득 상태 제한 퍼지 제어기를 제안한다. 이 위해 먼저 TS 퍼지 모델을 이용하여 시간 지연 비선형 시스템을 모델링한다. 다음 이 퍼지 모델을 기본으로 $L_{\infty}$ 이득을 얻기위해 퍼지 상태 궤환 제어기를 설계한다. 마지막으로 $L_{\infty}$ 이득을 얻기 위한 충분조건을 유도한다. 충분조건은 선형 행렬 부등식의 형태로 공식화 한다. 마지막으로 몇 가지 예제를 통하여 제안된 제어기의 효율성을 증명한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.13-13
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• 2000

This paper considers delay-dependent guaranteed cost control for uncertain time-delay systems with norm-bounded parametric uncertainties. A new delay-dependent condition for the existence of the guaranteed cost control law is presented in terms of linear matrix inequalities (LMI). An algorithm involving convex optimization is proposed to design a controller which guarantees the suboptimal minimum of the guaranteed cost of the closed-loop system for all admissible uncertainties.

• 한국정보통신학회논문지
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• 제9권8호
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• pp.1730-1734
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• 2005

본 논문에서는 입력측에 외란이 인가된 시간지연 시스템에 대한 새로운 스미스 예측제어기를 제안하였다. 외란을 검출할 수 있는 외란 관측기를 구성하였으며 이를 이용하여 외란의 영향을 소거할 수 있는 제어기를 구성하였다. 그 결과 계단입력 형태의 외란에 대한 정상상태 오차를 빠르게 0으로 할 수 있는 새로운 스미스 예측제어기를 구성할 수 있었다. 이렇게 구성된 제어기에 대하여 컴퓨터 시뮬레이션을 행하여 제안된 시스템의 효용성 및 우수성을 입증하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.59.2-59
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• 2002

1. Introduction 2. System description and preliminaries 3. Controller Design 4. Conclusion 5. References

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1455-1458
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• 1996

In this paper trajectory tracking control problems are described for a robot manipulator by using pneumatic actuator. Under the assumption that the so-called independent joint control is applied to the control system, the dynamic model for each link is identified as a linear second-order system with input time-delay by the step response. Then, an optimal servo controller is designed by taking account of such a time-delay. The effectiveness of the proposed control method is illustrated through some simulations and experiments for the robot manipulator.