재량권의 통제와 한계 : 판례를 중심으로

정사언(Cheong, Sa-Eon) 한국토지공법학회 2021 土地公法硏究 Vol.96 No.-

복지국가의 기능이 확대됨에 따라, 입법과 행정도 국민의 권익보호에 보다 집중하고 있는 상황에서, 행정의 재량권행사는 국민의 행정상 생활관계에 매우 중요하게 작용한다. 이에 행정청에게 가장 합목적적인 행위형식을 선택, 결정할 수 있도록 재량권을 부여하고 있는데, 행정청이 재량권을 일탈ㆍ남용하여 국민의 권익을 침해한다면 그러한 재량권은 통제하는 것이 타당하다. 일반적으로 통제는 입법적, 행정적, 사법적 통제방법 등이 통제기준과 관련하여 판례를 중심으로 논의되고, 행정기본법이 제정되었다. 그러나 통제는 역효과가 발생할 수 있다. 이 역효과 발생의 문제가 통제의 한계다. 입법적 통제는 행정의 탄력성과 합리성을 훼손할 수 있고, 행정적 통제는 행정의 신속성과 적극성을 저락할 수 있으며, 사법적 통제는 권리구제의 공백을 초래할 수 있는 한계가 있다. 따라서 행정의 재량통제 문제는 발생가능한 역효과를 방지하고 보다 합리적이고 합목적적인 재량권행사가 될 수 있도록 하는데 논점이 모아져야 국민의 권익보호가 확대되고 보장될 것이다. As the function of the welfare state is expanded, legislation and administration are more focused on protecting the rights and interests of the people, and the discretion of the administration plays a very important role in the administrative life relationship of the people. Therefore, the administrative agency is given discretion to select and decide the most purposeful form of action. If the administrative agency deviates or abuses discretion and violates the rights and interests of the people, it is reasonable to control such discretion. Generally, control is discussed around precedents in relation to control standards, such as legislative, administrative, and judicial control methods, and administrative basic laws have been enacted. However, control can have adverse effects. The problem with this adverse effect is the limit of control. Legislative control can undermine the resilience and rationality of administration, administrative control can infringe on the speed and activism of administration, and judicial control has limitations that can lead to a vacuum in the right relief. Therefore, the issue of discretion control of administration should be collected to prevent possible adverse effects and to make it more rational and objective exercise of discretionary power.

Discrete-Time Fractional-Order PID Controller: Definition, Tuning, Digital Realization and Some Applications

Farshad Merrikh-Bayat,Nafiseh Mirebrahimi,Mohammad Reza Khalili 제어·로봇·시스템학회 2015 International Journal of Control, Automation, and Vol.13 No.1

In some of the complicated control problems we have to use the controllers that apply nonlocal operators to the error signal to generate the control. Currently, the most famous controller with nonlocal operators is the fractional-order PID (FOPID). Commonly, after tuning the parameters of FOPID controller, its transfer function is discretized (for realization purposes) using the so-called gen-erating function. This discretization is the origin of some errors and unexpected results in feedback systems. It may even happen that the controller obtained by discretizing a FOPID controller works worse than a directly-tuned discrete-time classical PID controller. Moreover, FOPID controllers cannot directly be applied to the processes modeled by, e.g., the ARMA or ARMAX model. The aim of this paper is to propose a discrete-time version of the FOPID controller and discuss on its properties and applications. Similar to the FOPID controller, the proposed structure applies nonlocal operators (with adjustable memory length) to the error signal. Two methods for tuning the parameters of the proposed controller are developed and it is shown that the proposed controller has the capacity of solving complicated control problems.

Velocity Control of Servo Systems Under Control Input Saturation and Disturbance Using Robust Discrete-Time Sliding Mode Control Method

Ji-Seok Han,Tae-Ho Oh,Young-Seok Kim,Hyun-Taek Lim,Dae-Young Yang,Sang-Hoon Lee,Dong-Il “Dan” Cho 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10

This paper designed a new robust velocity control method for industrial servo systems. Exogenous disturbances and control input saturation are considered by using the discrete-time Sliding mode control with Decoupled disturbance compensator and Auxiliary state (SDA) method. The discrete-time SDA method preserves the original stability of the sliding mode dynamics as well as the stability of the disturbance estimation error dynamics under both control input saturation and disturbance. Due to these attributes, the discrete-time SDA method has been utilized in various control applications. In this paper, the discrete-time SDA method is newly designed for velocity control applications. Based on the error dynamics of the discrete-time SDA method, the gain of the auxiliary state is set to “1”. This design provides the stability of velocity error, and there is nearly zero overshoot under control input saturation. Experiments are performed to demonstrate the performance of the designed control method.

Discrete-Time Sliding Mode Control for Robot Manipulators

Jae-Sam Park(박재삼) 한국산업정보학회 2011 한국산업정보학회논문지 Vol.16 No.4

In the real-field of control cases for robot manipulators, there always exists a modeling error, which results the model has the uncertainties in its parameters and/or structure. In many modem applications, digital computers are extensively used to implement control algorithms to control such systems. The discretization of the nonlinear dynamic equations of such systems results in a complicated discrete dynamic equations. Therefore, it will be difficult to design a discrete-time controller to give good tracking performances in the presence of certain uncertainties. In this paper, a discrete-time sliding mode control algorithm for nonlinear and time varying robot manipulators with uncertainties is presented. Sufficient conditions for guaranteeing the convergence of the discrete-time SMC system are derived. As example simulations, the proposed SMC algorithm is applied to a two-link robotic manipulator with unknown dynamics. The results of the simulation indicate that the developed control scheme is effective in manipulators and electro-mechanical system control.

Novel Wavelet-Fuzzy Based Indirect Field Oriented Control of Induction Motor Drives

Febin Daya J. L.,Subbiah V.,Atif Iqbal,Sanjeevikumar Padmanaban 전력전자학회 2013 JOURNAL OF POWER ELECTRONICS Vol.13 No.4

This paper presents a wavelet-fuzzy based controller for indirect field oriented control of three-phase induction motor drives. The discrete wavelet transform is used to decompose the error between the actual speed and the command speed of the induction motor drive into different frequency components. The transformed error coefficients along with the scaling gains are used for generating the control component of the motor. Self-tuning fuzzy logic is used for online tuning of the scaling gains of the controller. The proposed controller has the ability to meet the speed tracking requirements in the closed loop system. The complete indirect field oriented control scheme incorporating the proposed wavelet-fuzzy based controller is investigated theoretically and simulated under various dynamic operating conditions. The simulation results are compared with a conventional proportional integral controller and a fuzzy based controller. The speed control scheme incorporating the proposed controller is implemented in real time using a digital processor control board. Simulation and experimental results validate the effectiveness of the proposed controller.

이중 변환 UPS 병렬 운전의 제어 동특성 향상을 위한 동기 좌표계 전압 제어기 구조

모재성,윤영두,류효준,이민성,최승철,김성민,김석민,강호현,김희중 전력전자학회 2022 전력전자학회 논문지 Vol.27 No.4

This study proposes a voltage control scheme in a synchronous reference frame to improve the dynamic characteristics of double-conversion UPSs. UPSs need to control positive and negative sequence voltage, so that positive and negative sequence extractors are generally used to obtain each sequence of the voltage and current. Voltage and current controllers for each sequence are implemented. However, the extractor causes considerable delay, and the delay restricts the control performance, especially for the current controller. To improve the dynamics of the current controller, the proposed scheme adopts a unified current controller without separating positive and negative sequences. By using discrete-time current controller, the control bandwidth can be extended significantly so that negative sequence current can be controlled. To enhance the performance, an additional feed-forward technique for output voltage regulation is proposed. The validity of the proposed controller is verified by experiments.

Fast Terminal Discrete-time Sliding Mode Control with Fuzzy-based Impedance Modulation for Toe Foot Bipedal Robot Going Upstairs

Gaurav Bhardwaj,Balasubramanian Raman,Nagarajan Sukavanam 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.5

The fundamental aim of this paper is to riddle out the joint space trajectory tracking problem for a fully actuated 9-Link bipedal robot while climbing the staircase using a faster and accurate fast terminal discrete-time sliding mode control. Second objective is to provide a more realistic and practical approach for contact modeling ensuring a much stable staircase walk. For contact modeling, we have proposed a novel fuzzy based impedance modulation approach considering a virtual spring-damper model with variable stiffness and damping coefficients. To obtain a discrete-time model, Euler’s method for discretization is considered after obtaining Lagrange’s dynamics. A higher control accuracy of order Dt3 where Dt is constant time step, can be achieved with fast terminal discrete-time sliding mode control in comparison to conventional discrete-time sliding mode control with controller accuracy of order Dt2. Brief comparison has been shown between conventional discrete-time controller and our proposed controller with same initial conditions and in same disturbance environment to corroborate robustness of the controllers. Delayed Estimation method is used to estimate the unknown disturbances. All simulations have been performed in MATLAB and Simulink to manifest the efficacy of our proposed approach.

Recommendations of Optimal Sampling Rates for Discrete Mode POF Based Wind Integrated LFC System

Kumawat Hukam Chand,Bhadu Mahendra 대한전기학회 2024 Journal of Electrical Engineering & Technology Vol.19 No.2

The load frequency control (LFC) design of wind-integrated power systems heavily relies on contemporary control elements. The controllers are usually designed in continuous-mode and discretized in implementation with a constant sampling frequency, which may not ensure the upgraded dynamic performance or even may cause system instability. The performance evaluation of wind-integrated LFC system with the optimal discrete control mechanism is a challenging scenario in modern power system. This paper investigates the performance of the discrete-mode wind-integrated LFC mechanism with varying input–output sampling frequency, by employing the concept of periodic output feedback (POF) based control technique. The optimal sampling frequency and the corresponding optimal POF controller gain matrix, for a given LFC system are derived by adopting the particle swarm optimization (PSO) technique. The discrete-mode POF-based controller is employed in a wind-integrated two-area multi-source hydrothermal LFC system, with varying input and output sampling frequencies. The performance analysis takes into account a variety of scenarios, including those without any stabilizer, with continuous and discrete lead-lag-based PSS, and with a discrete-mode POF controller. Further, the order of the test LFC system is reduced using the model order reduction technique to design the appropriate reduced order POF controller. In addition to time domain analysis, the modal analysis of the complete wind-integrated LFC system is also performed to test the efcacy of the designed optimal discrete-mode POF controller, on the MATLAB/Simulink platform.

GAUSSIAN PROCESS REGRESSION FEEDFORWARD CONTROLLER FOR DIESEL ENGINE AIRPATH

Volkan Aran,Mustafa Unel 한국자동차공학회 2018 International journal of automotive technology Vol.19 No.4

Gaussian Process Regression (GPR) provides emerging modeling opportunities for diesel engine control. Recent serial production hardwares increase online calculation capabilities of the engine control units. This paper presents a GPR modeling for feedforward part of the diesel engine airpath controller. A variable geotmetry turbine (VGT) and an exhaust gas recirculation (EGR) valve outer loop controllers are developed. The GPR feedforward models are trained with a series of mapping data with physically related inputs instead of speed and torque utilized in conventional control schemes. A physical model-free and calibratable controller structure is proposed for hardware flexibility. Furthermore, a discrete time sliding mode controller (SMC) is utilized as a feedback controller. Feedforward modeling and the subsequent airpath controller (SMC+GPR) are implemented on the physical diesel engine model and the performance of the proposed controller is compared with a conventional PID controller with table based feedforward.

공무원의 재량과 규정변용(rule bending)의 관계에 대한 연구: 행정통제의 조절효과를 중심으로

권은주,김순은 서울행정학회 2018 한국사회와 행정연구 Vol.28 No.4

Although there have been many studies on the discretion and the exercise of discretion of public employees, Few empirical studies have tested the relationship between discretion and exercise of discretion or moderating effects on the relationship. This study aimed to examine the hypothesis that more discretion a public employee has, the more exercise of discretion(rule bending) occurs and investigated moderating effects of administrative control affecting the relationship. For this purpose, we performed hierarchical regression analysis on survey data from 2,885 local public employees nationwide. The result support the hypothesis that public employees with the high degree of discretion are likely to bend the rules. In addition, when public employees are highly alienated from decision-making, they are more likely to bend the rules. This implies that decentralization of decision-making rather be more effective control than centralization. Also, it is particularly interesting that the relationship between discretion and rule bending would be stronger for individuals under high formalization. Although it is known that high formalization means low discretionary behaviors, considering moderating effects, this relationship is only valid when one’s discretion is low. These findings lend greater support to the need of multidimensional research design for studies of discretion. 공무원의 재량과 재량행사에 대한 많은 연구가 축적되어 왔음에도 두 개념을 구분하여 그 관계를 살펴본 연구나 관계에 영향을 미치는 요인을 살펴보려는 실증 연구는 여전히 부족하다. 본 연구는 공무원의 재량이 클수록 더 많은 규정변용이 일어난다는 가설을 검증하고 해당 관계에 대한 통제의 조절효과를 살펴보고자 하였다. 이를 위해 전국의 2,885명의 지방공무원을 대상으로 한 ‘2014년 지방공무원 인식조사’ 자료를 대상으로 위계적 회귀분석을 실시하였다. 회귀분석 결과 공무원의 재량은 규정변용 행태에 정(+)의 영향을 미쳐 가설이 타당함을 밝혔다. 또한 공무원에 대한 통제방식 중 조직 의사결정과정에서 소외되는 정도가 크거나 규정과 절차에 대한 강제가 클 때, 공무원의 재량이 규정변용으로 이어지는 정(+)의 영향이 강화되는 조절효과를 확인하였다. 이를 통해 통념과는 달리 조직 의사결정의 집권화보다 분권화가 오히려 효과적인 통제방안이 될 수 있다는 정책적 시사점을 제공하였다. 또한 공식화를 강화하는 것은 규정변용 행위를 억제하는 효과적인 수단으로 알려져 왔으나, 이는 공무원의 재량이 낮은 경우에만 적용된다는 조건부(contingent) 관계를 발견하였다는 의의가 있다. 본 논문의 결과는 후속 연구에서 재량과 관련한 다차원적 모형을 설계해야 할 필요성을 시사한다.