• Journal of Institute of Convergence Technology
• /
• v.5 no.2
• /
• pp.37-42
• /
• 2015

This paper presents the effects of the computational time-varying delay on the stability of the haptic system that includes a virtual wall and a first-order-hold method. The model of a haptic system includes a haptic device model with a mass and a damper, a virtual wall model, a first-order-hold model and a computational time-varying delay model. In this paper, the maximum of the computational time-varying delay is assumed to be as much as the sampling time. Using the simulation, it is analyzed how the sample-hold methods and the computational time-varying delay affect the maximum available stiffness. As the maximum of computational time-varying delay increases, the maximal available stiffness of a virtual wall model is reduced.

• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.10
• /
• pp.895-901
• /
• 2012

The stability robustness problem of linear discrete systems with time-varying unstructured uncertainty of delayed states with time-varying delay time is considered. The proposed conditions for stability can be used for finding allowable bounds of timevarying uncertainty and delay time, which are solved by using LMI (Linear Matrix Inequality) and GEVP (Generalized Eigenvalue Problem) known as powerful computational methods. Furthermore, the conditions can imply the several previous results on the uncertainty bounds of time-invariant delayed states. Numerical examples are given to show the effectiveness of the proposed algorithms.

• Journal of applied mathematics & informatics
• /
• v.8 no.1
• /
• pp.297-303
• /
• 2001

In this paper, the problem of the stability analysis for a class of linear neutral systems with time-varying delay is investigated. Using the Lyapunov method, a delay-dependent sufficient condition for asymptotic stability of the systems in terms of linear matrix inequalities (LMIs) is presented. The LMIs can be easily solved by various convex optimization algorithms.

• Proceedings of the KIEE Conference
• /
• 1988.07a
• /
• pp.913-916
• /
• 1988

Indirect adaptive pole assignment PID controllers for unknown systems with time varying delay, is proposed. Unknown system parameters are estimated by recursive least square method, and time varying delay is estimated using indirect predictors. Since the order of parameter vectors didn't increase, the computational burden is not largely increased in spite of using indirect adaptive control method with time varying delay estimation. Computer simulation is performed to illustrate the efficiency of the proposed method.

• Journal of the Korean Institute of Telematics and Electronics
• /
• v.24 no.1
• /
• pp.52-59
• /
• 1987

A new on-line estimation algorithm for a time varying time delay is proposed. This algorithm is based on the concept of minimization of prediction error. As only the parameters directly related to the poles and zeros of the process are estimated in the algorithm, persistently exciting condition for the convergence of parameters can be less restrictive. Under some assumptions which is necessary in adaptive control, it is shown that this algorithm estimates time varying time delay accurately. In view of computational burden, this algorithm needs far less amount of calculations than other methods. The larger the time delay is, the more effective this algorithm is . Computer simulation shows good properties of the algorithm. This algorithm can be used effectively in adaptive control of large dead time processes.

• The Transactions of the Korean Institute of Electrical Engineers
• /
• v.39 no.4
• /
• pp.364-370
• /
• 1990

In this paper, we propose a self-tuning PID controller for unknown systems with time-varying delay. Using pole placement equations, we derive the controller that can be extended to the multi-step time delay case. The time-varying delays are estimated by a prediction error delay method using multiple predictors. Since the order of the estimation vector is not increased, the persistant exciting condition of control input is alleviated. Since the least square method gives biased parameter estimates for colored noise cases, the recursive instrumental variable method is used to estimate system parameters. The computational burden of the proposed method is less than the conventional adaptive methods. Computer simulations are performed to illustrate the efficiency of the proposed method.

• Journal of applied mathematics & informatics
• /
• v.28 no.3_4
• /
• pp.583-596
• /
• 2010

In this paper, the problem of delay-dependent stability analysis for cellular neural networks systems with time-varying delays was considered. By using a new Lyapunov-Krasovskii function, delay-dependant stability conditions of the delayed cellular neural networks systems are proposed in terms of linear matrix inequalities (LMIs). Examples are provided to demonstrate the reduced conservatism of the proposed stability results.

• Journal of applied mathematics & informatics
• /
• v.26 no.5_6
• /
• pp.961-972
• /
• 2008

In this paper, we consider the global exponential stability of cellular neural networks with time-varying delays. Based on the Lyapunov function method and convex optimization approach, a novel delay-dependent criterion of the system is derived in terms of LMI (linear matrix inequality). In order to solve effectively the LMI convex optimization problem, the interior point algorithm is utilized in this work. Two numerical examples are given to show the effectiveness of our results.

• Journal of electromagnetic engineering and science
• /
• v.11 no.2
• /
• pp.71-75
• /
• 2011

The sum-rate maximization rule can find an optimal user set that maximizes the sum capacity in multiple input multiple output (MIMO) broadcast channels (BCs), but the search space for finding the optimal user set becomes prohibitively large as the number of users increases. The proposed algorithm selects a user set of the largest effective channel norms based on statistical channel state information (CSI) for reducing the computational complexity, and uses Tomlinson-Harashima precoding (THP) for minimizing the interference between selected users in time-varying MIMO BCs.

• Journal of applied mathematics & informatics
• /
• v.20 no.1_2
• /
• pp.513-522
• /
• 2006

This paper considers a robust output feedback $H\infty$ controller design method for singular systems with time-varying delay in state and parameter uncertainty in system matrix by an LMI approach and observer based technique, which can be solved efficiently by convex optimization. The sufficient condition for the existence of controller and the controller design method are presented by strict LMI(linear matrix inequality) approach. Since the obtained condition can be expressed as an LMI form, all variables including feedback gain and observer gain can be calculated simultaneously by Schur complement and changes of variables.