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볼-빔 시스템에서 채터링 감소를 위한 슬라이딩 모드 제어 설계
박규만(Gyu-Man Park),김진수(Jin-Soo Kim),최호림(Ho-Lim Choi) 대한전기학회 2010 대한전기학회 학술대회 논문집 Vol.2010 No.7
The sliding mode controller is applied to ball and beam system. Sliding mode control is a popular robust control method which rejects the external disturbance. However, the sliding mode controller has a defect which is chattering problem. In this paper, we propose a sliding mode control design with chattering reduction for ball and beam system. We verify the validity of our proposed method through simulation results.
ϵ-조절 요소를 가진 부분 상태 궤환 제어기를 이용한 자기부상 시스템의 제어
박규만(Gyu-Man Park),최호림(Ho-Lim Choi) 대한전기학회 2011 전기학회논문지 Vol.60 No.8
The electromagnetic levitation(EMS) system is one of the well-known nonlinear system because of its nonlinearity and several control techniques have been proposed. We propose an ?-scaling partial feedback controller for the ball position control of the EMS system. The key feature of our proposed controller is the use of the scaling factor ? which provides a function of controller gain tuning along with robustness. In this paper, we show the stability analysis of our proposed controller and the convergence analysis of the state observer in terms of ?-scaling factor. In addition, the experimental results show the validity of the proposed controller and improved control performance over the conventional PID controller.