• Title, Summary, Keyword: measure of controllability

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Measures of modal and gross controllability/observability for linear time-varying systems (선형 시변 시스템에 대한 모드 및 총가제어성/가관측성 척도)

  • Choe, Jae-Won;Lee, Ho-Chul;Lee, Dal-Ho
    • Journal of Institute of Control, Robotics and Systems
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    • v.5 no.6
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    • pp.647-655
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    • 1999
  • For linear time-varying systems described by the triple (A(t),B(t),C(t)) where A(t),B(t),C(t) are the system, the input, and the output matrices, respectively, we propose concepts for measures of modal and gross controllability /observability. We introduce a differential algebraic eigenbvalue theory for linear time-varying systems to calculate the PD-eigenvalues and left and right PD-eigenvectors of the system matrix A(t) which will be used to derive the concepts for the measures. The time-dependent angle between the left PD-eigenvectors of the system matrix A(t) and the columns of the input matrix B(t), and the magnitude of the each element of the input matrix B(t) are used to propose the modal controllability measure. Similarly, the time-dependent angle between the right PD-eigenvectors of the system matrix A(t) and the rows of the output matrix C(t) are used to propose the madal observability measure. Gross measure of controllability of a mode from all inputs and its gross measure of observability in all outputs for the linear time-varying systems are also proposed. Numerical examples are presented to illustrate the proposed concepts.

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Output feedback left eigenstructure assignment considering controllability and disturbance suppressibility measures (가제어성 및 외란 가억제성 척도를 고려하는 출력되먹임 고유구조 지정)

  • Choi, Jae-Weon;Lee, Jang-Gyu;Kim, You-Dan;Gang, Tae-Sam
    • Journal of Institute of Control, Robotics and Systems
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    • v.1 no.2
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    • pp.71-77
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    • 1995
  • The control effectiveness and disturbance suppressibility are mainly governed by a left eigenstructure of a system. In this paper, a control algorithm which uses an output feedback eigenstructure assignment scheme is proposed in order that a desired closed-loop system has the specified degree of controllability and/or degree of disturbance suppressibility. To do this, a modal and a gross disturbance suppressibility measures are proposed. A modified version of Hamdan and Nayfeh's modal controllability measure is also presented. The validity and usefulness of the proposed measures and the controller design algorithm are illustrated by designing a controller for a third-order system as an example.

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CONTROLLABILITY RESULTS FOR IMPULSIVE NEUTRAL EVOLUTION DIFFERENTIAL SYSTEMS

  • Selbi, S.;Arjunan, M. Mallika
    • Journal of the Korean Society for Industrial and Applied Mathematics
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    • v.16 no.2
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    • pp.93-105
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    • 2012
  • In this paper, we consider the controllability of a certain class of impulsive neutral evolution differential equations in Banach spaces. Sufficient conditions for controllability are obtained by using the Hausdorff measure of noncompactness and Monch fixed point theorem under the assumption of noncompactness of the evolution system.

Placement of actuator for efficient modal control (효율적 모우드 제어를 위한 구동기 위치 결정법)

  • 노현석;박영진
    • 제어로봇시스템학회:학술대회논문집
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    • pp.47-51
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    • 1993
  • A method of finding the optimal actuator location for efficient control of the modes of interest is presented. The proposed approach relies on certain quantitive measure of degree of controllability based on the controllability grammian. This measure proves to be useful for regulating problem of the undamped system and can be extended to cover the tracking problem of the viscous damped system. The example of the uniform cantilever beam is given to verify the effectiveness of the method.

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Design of an effective controlle via disturbance accommodating left eigenstructure assignment

  • Choi, Jae-Weon;Lee, Jang-Gyu;Kim, Youdan;Kang, Taesam
    • 제어로봇시스템학회:학술대회논문집
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    • pp.412-419
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    • 1993
  • The transient responses of a linear system having undesired disturbances are dominantly governed by the system's left eigenstructure(eigenvalues/left eigenvectors). In control system design problem of altering the transient response of the system, both the controllability and the disturbance suppressibility, should be considered simultaneously to obtain a robust, effective controller. The controllability of the system may be degraded if the left eigenstructure is chosen to suppress the disturbance, or vice versa. In this paper, first, proposed are a modal disturbance suppressibility measure and an improved version of the modal controllability measure suggested by Hamdan and Nayfeh. Second, a simple and general left eigenstructure assignment scheme, considering both the proposed modal disturbance suppressibility measure and the improved version of modal controllability measure, is suggested. When the previous works are applied to assign the left eigenvectors may differ from the desired ones. But the proposed left eigenstructure assignment scheme makes it possible to achieve the desired colsed-loop eigenvalues exactly, provided the desired left eigenvectors reside in the achievable subspace. In case the desired left eigenvectors do not reside in the achievable subspace, the closed-loop eigenvalues are achieved exactly and the left eigenvectors are assigned to the best possible set of eigenvectors in the least square sense. Finally, a numerical example is included to confirm and demonstrate the usefulness of our propositions and to illustrate the proposed design scheme.

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A Study on the Structural Analysis of Controllability in Chemical Processes (화학 공정의 제어성의 구조적 분석에 관한 연구)

  • Lee Byung Woo;Kim Yoon Sik;Yoon En Sup
    • Journal of the Korean Institute of Gas
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    • v.3 no.1
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    • pp.27-32
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    • 1999
  • Chemical processes are highly nonlinear, multivariable systems and have complex structures. However, the controllability evaluation procedures are complicated, and the required information is very often unknown at the early design stage. Therefore, it is necessary to develop a procedure to evaluate and enhance controllability while designing processes and plants. To evaluate controllability in the design stage, it is most efficient to analyze process structure. Relative order can be used as a measure of 'physical closeness' between input and output variable. Structural controllability analysis using relative order is shown to be effective in a case study of heat exchanger network synthesis.

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Decoupled Control of Active and Permanent Magnetic Bearing System (자기 베어링과 영구자석 베어링으로 이루어진 시스템의 비 연성 제어)

  • Park, Sang-Hyun;Lee, Chong-Won
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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    • pp.63-70
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    • 2008
  • In this paper, we propose a bearing redundant coordinates and decoupled PD controller for 5-axes active magnetic bearing system, which consists of two bearing parts such as three-pole hybrid active magnetic bearing for stabilize the radial direction and ring-type permanent magnetic bearing stabilizing in axial and tilting motion. Based on derived system equation with decoupled control scheme, we conduct the modal analysis and measure of modal controllability and observability.

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Partial Scan Performance Evaluation of Iterative Method of Testability Measurement(ITEM) (시험성 분석 기법(ITEM)의 부분 스캔 성능 평가)

  • 김형국;이재훈;민형복
    • Journal of the Korean Institute of Telematics and Electronics C
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    • v.35C no.11
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    • pp.11-20
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    • 1998
  • Testability analysis computes controllabilities and observabilities of all lines of a circuit and then evaluates fault coverage. The values of controllability and observability as well as fault coverage produced by testability analysis are used for applications of testability analysis. ITEM was evaluated as a fault coverage tool. But the values of controllability and observability at all lines of circuits must be estimated as a performance measure of testability tools for another application such as partial scan. In this paper, partial scan method based on sensitivity analysis which estimates relative improvement of detectability of circuits after scanning a flip-flop is used for performance evaluation of ITEM. Performance of ITEM, with respect to testability values on each net, has been measured by comparing ITEM and STAFAN. Partial scan performance achieved by ITEM is very similar to that of STAFAN, but ITEM takes less CPU time. Therefore ITEM is very efficient for partial scan application because ITEM runs faster for very large circuits in which execution time is critical.

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A Novel Visual Servoing Method involving Disturbance Observer (외란관측기를 이용한 새로운 시각구동방법)

  • Lee, Joon-Soo;Suh, Il-Hong;You, Bum-Jae
    • Proceedings of the KIEE Conference
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    • pp.2312-2314
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    • 1998
  • To improve the visual servoing performance, several strategies were proposed in the past such as redundant feature points, using a point with different height and weighted selection of image features. The performance of these visual servoing methods depends on the configuration between the camera and object. And redundant feature points require much computation efforts. This paper proposes the visual servoing m based on the disturbance observer, which compe the upper off-diagonal component of image fe Jacobian to be null. The performance indices su sensitivity for a measure of richness, sensitiv the control to noise, and controllability are sho improved when the image feature Jacobian is giv a block diagonal matrix. Computer simulation carried out for a PUMA560 robot and show results to verify the effectiveness of the pro method.

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A Development Study on High Quality Drinking Water Production by the Biological Activated Carbon/immersed Membrane Filtration System

  • Inoue, Shiro;Iwai, Tosinori;Isse, Masaaki;Terui, Taturo
    • Proceedings of the Membrane Society of Korea Conference
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    • pp.155-162
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    • 2001
  • Advanced drinking water production systems, which not only good quality product water, but also provide easy management and mainenance of facilities, and operate on a smaller site area, have been expected to be developed for some time. We are going ahead with a program to deveop an advanced drinking water production system, using immersed membrane filtration combined with biological activated carbon, to meet the need described above. The demonstration plant tests been conducted with surface water from the Yodo-river since Dec. 1998 to measure treatment performance, reliability, and controllability of the system. The quality of product water has consistently remained at a very high level for about 2 years under controlled conditions. Results showed that the re-circulation granular biological activated carbon could suppress the increase of membrane pressure difference and promote a reduction of dissolved organic matter. (This work has been conducted along the ACT21 Programs.)

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