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The Mixed H∞ and μ-synthesis for a Reverse Osmosis Desalination Process |
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Bui Duc Hong Phuc, Hyeung-Sik Choi, Sam-Sang You, Ji-Youn Oh(Korea Maritime and Ocean University, Korea) |
| In this paper, robust control synthesis is applied on an existing model of the reverse osmosis desalination system to control the system and deal with parametric uncertainty, disturbances and noises. The analyzed system is a multi-input multi-output system with varying parameters. These parametric uncertainty are represented as input multiplicative uncertainty. The controller is successfully designed using μ-toolbox when it satisfies all the stability and performance criterion for nominal and perturbed plant. Simulation results show that the close-loop system meets all the control requirements |
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Robust stability of spacecraft traffic control system using Lyapunov functions |
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Vasyl Martsenyuk(University of Bielsko-Biala, Poland), Gulzhan Uskenbayeva, Mamyrbek Beisenbi, Dana Satybaldina(L.N. Gumilyov Eurasian National University, Astana, Kazakhstan), Aigul Shaikhanova(Shakarim State University of Semey, Kazakhstan) |
| A new approach to the construction of Lyapunov functions as vector functions is developed based on a geometrical interpretation of the second method of Lyapunov. The negative of the gradient is determined from the components of the time derivative of the state vector (i.e., the right-hand side of the state equation). The region of stability of a closed-loop linear, stationary system with uncertain parameters is governed by inequalities in the matrix elements of the closed-loop system |
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Comparison Study of Time Delay Control (TDC) and Uncertainty and Disturbance Estimation (UDE) Based Control |
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Yun-Joo Nam(Korea Institute of Industrial Technology (KITECH), Korea) |
| Comparison Study of Time Delay Control (TDC) and Uncertainty and Disturbance Estimation (UDE) Based Control
Yun-Joo Nam
Korea Institute of Industrial Technology (KITECH)
This paper presents the comparison study of Time Delay Control (TDC) and Uncertainty and Disturbance Estimation (UDE) based control which are robust control strategies for uncertain nonlinear systems. While TDC gives the same performance to a Proportional-Integral-Derivative (PID) control with time-varying gains, UDE based control gives an additional compensation for canceling system nonlinearities and introducing desired d |
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A Controller Reduction via Structurally Balanced Truncation using Coprime Factorization |
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Katsuyuki Noso, Jun Imai, Akiko Takahashi, Shigeyuki Funabiki(Okayama University, Japan) |
| In this paper, a controller reduction technique is presented for unstable systems by using structurally balanced truncation (SBT) with coprime factorization. Coprime factorization of the full order controller is utilized to preserve the closed loop characteristics including reduced order controller, in spite of the instability of the plant model. The SBT is introduced as an extension of the balanced truncation (BT). Numerical study illustrates the feasibility of the proposed method for a flexible beam example with poles at the origin. |
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Gravity Compensation Contorl and Force Control of Surgical Master Device |
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SeukWoo Ryu, Gi-Hun Yang(KITECH, Korea) |
| we selected a 3PUU type parallel mechanism as for our haptic master system in the surgical robotic system. In this paper, we solve the force control problem of 3DOF-parallel link mechanism. As a preliminary result, gravity compensation of the master’s end-effector and haptic force generation method were implemented. |
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Adaptive Control Using Time Delay Control for Synchronization of Chaotic Systems |
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Soonwan Cho(Pohang University of Science and Technology, Korea), Jaemin Baek, Soohee Han(POSTECH, Korea) |
| Adaptive Control Using Time Delay Control for Synchronization of Chaotic Systems
Soonwan Cho, Jaemin Baek, and Soohee Han
This research makes the Lorentz chaotic system to be synchronized with the chaotic system. For chaotic synchronization, an adaptive sliding-mode control (ASMC) based on time-delay control (TDC) is applied. TDC estimates uncertainties using time-delayed values, and inserts a reference model into the system. In addition, ASMC is utilized for increasing the adaptation speed and reducing the chattering phenomenon near the sliding surface. |
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