• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.340-340
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• 2000

This paper aims at deriving an equivalent finite dimensional discrete-time system for H$_{\infty}$ type problem for sampled-data control systems. A widely used ph is based on the lifting technique, but it needs somewhat complicate computation. Instead this paper derives an equivalent finite-dimensional discrete-time system directly from a description of the sampled-data system which is achieved via a closed-loop expression of the worst-case intersample disturbance.

• 한국컴퓨터산업학회논문지
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• 제2권7호
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• pp.967-974
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• 2001

리프팅 기법을 사용하지 않고 최악의 경우에 대한 등가 이산화 절차를 통하여 샘플치 $H{\infty}$ 문제를 다루었다. 이산 문제 특성화를 유도하기 위해서 표준 선형 2차 이론의 결과를 이용하였다. 제안한 방법은 한 번의 행렬 지수함수 풀이만을 필요로 하므로 리프팅 기법에 비해 매우 간단하지만, 리프팅 기법을 사용하여 구한 샘플치 $H{\infty}$ 최적 제어기와의 성능차이가 거의 없었다. 또한, 제안한 방법을 도립진자 모델에 적용하였다

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.56-59
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• 1996

Worst-case state estimation will be proposed in this paper. By using the worst-case disturbance and worst-case state estimation, we can obtain right/left constrained coprime factors. If constrained coprime factors are used in designing a controller, the infinity-norm of closed-loop transfer matrix can be smaller than any constant .gamma.(> .gamma.$_{opt}$) without matrix dilation optimization. The derivation of left/right constrained coprime factors is achieved by doubly coprime factorization for the plant constrained by the infinity norm. And the parameterization of stabilizing controllers gives us easily understanding for H$_{\infty}$ control theory.ry.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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• pp.92-94
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• 2007

This paper considers an optimal control problem for a remote control to an electrical drive system with a DC motor. Since it is a linear control system with time-delay subject to unknown but bounded disturbance, we construct a worst-case feedback control policy. This policy can guarantee that, for all admissible uncertain disturbances, the real system state should be in a prescribed neighborhood of a desired value, and the cost functional takes the best guarantee value. The worst-case feedback control policy is allowed to be corrected at one correction point between the initial to the final time, which is equivalent to solving a 1-level min-max problem. Since the min-max problem at the stage does not yield a simple analytical solution, we consider an approximate control policy, which is equivalent and can be solved explicitly m the numerical experiments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.888-891
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• 1996

The objective of a mixed H$_{2}$/H$_{\infty}$ controller of active suspension system is to achieve not only the general performance improvement(H$_{2}$) but also the worst case disturbance rejection(H$_{\infty}$). In this paper, a mixed H$_{2}$/H$_{\infty}$ controller for an active suspension system, comparing the performance with that of an H$_{2}$ controller and of an H$_{\infty}$ controller.ler.EX> controller.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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• pp.346-349
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• 1994

This paper is concerned with a motion control of a manipulator under parametric uncertainties and external disturbances. The parametric uncertainties are regarded as internally generated disturbances in the manipulator. Based on this idea, we formulate a model reference control problem with desired disturbance attenuation. The solution of this control problem not only reduces the worst-case effect on tracking error due to internal and external disturbances (combined disturbances) as much as possible, but also achieve optimal tracking when perturbations are absent. In order to solve the control problem which is formulated in this paper we reduce it to a constrained minmax cost control problem. A differential game theory is used to treat this constrained minmax cost control problem. The differential game theory leads to a sufficient condition for the global solvability of the model reference control problem with desired disturbance attenuation.

• International Journal of Control, Automation, and Systems
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• 제1권4호
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• pp.520-526
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• 2003

In the case of a strapdown inertial navigation system (SDINS) with sizeable attitude errors, the uncertainty caused by linearization of the system degrades the performance of the filter. In this paper, a robust filter and various error models for the uncertainty are presented. The analytical characteristics of the proposed filter are also investigated. The results show that the filter does not require the statistical property of the system disturbance and that the region of the estimation error depends on a freedom parameter in the worst case. Then, the uncertainty of the SDINS is derived. Depending on the choice of the reference frame and the attitude error state, several error models are presented. Finally, various in-flight alignment methods are proposed by combining the robust filter with the error models. Simulation results demonstrate that the proposed filter effectively improves the performance.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1993년도 하계학술대회 논문집 B
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• pp.784-786
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• 1993

Recently, in the industrial applications, the sensorless system is developed, but the sensorless system is required to have robustness for the measurement noise and disturbance. In this paper, for the sensorless system, the method of designing a robust sliding mode observer taking account of the ability of disturbance and noise attenuation is presented. Also, the strategy for the estimation of rotor flux using the sliding mode observer, which is robust to the measurement noise, is described. Robustness are achieved by assigning the pole of the the system during the sliding motion in such a way as to minimize the effects of the disturbances on the rotor flux estimation error. Finally, using worst case desist and LQC(least square error design), the sliding mode absolver is verified by computer simulations.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 하계학술대회 논문집 D
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• pp.1976-1978
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• 2001

In this paper, a new robust deadbeat minimax FIR filter (DMFF) is proposed for continuous-time state space signal models. Linearity, deadbeat property, FIR structure, and independence of the initial state information will be required in advance, in addition to a performance index of the worst case gain between the disturbance and the current estimation error. The proposed DMFF is obtained by directly minimizing a performance index with the deadbeat constraint. The proposed DMFF is represented first in a standard FIR form and then in an iterative form. The DMFF will be shown to be used also for the IIR structure. It is shown that the DMFF is similar in form to the existing receding horizon unbiased FIR filter (RHUFF) with some noise covariances. The former is a deterministic filter, while the latter is a stochastic filter.

• 한국물환경학회지
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• 제28권2호
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• pp.285-291
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• 2012

Generally, the rainfall and the influent of wastewater treatment plants (WWTPs) have strong relationship at the case of combined sewers. With the fact that the influent variations in terms of quantity and sewage quality is the most common and significant disturbance, the impact factor to the characteristics of sewage should be searched for. In this paper, the relationship between weather conditions such as humidity, temperature and rainfall and influent flowrate and contaminant concentration was analysed using factor analysis. Additionally, 3 influent types were deduced using cluster analysis and the distributions of operational variables were compared to the each groups by one-way ANOVA. The applied dataset were clustered to three groups that have the similar weather and influent conditions. These different conditions can cause the different operating conditions at WWTPs. That is, the Group 1 is for the condition with high humidity and rainfall, so DO concentration in the reactor was very high but MLSS concentration was very low because of too large flowrate. However, the Group 3 is classified to the case having low humidity, temperature, and rainfall, therefore, the SRT was the longest and the SVI was the highest due to the worst settleability in the winter for a year.