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공진 효과 및 쿨롱 마찰이 존재하는 서보 시스템의 H_∞위치 제어기 설계
홍국남,임동진 한양대학교 공학기술연구소 1995 공학기술논문집 Vol.4 No.1
The most important problems which should be considered in designing servo controllers are resonance effects and nonlinear frictions. These problems exist in almost all the servo systems, especially for the robotic manipulators and numerical control systems and cause difficulties in designing controllers. In this paper, controller design procedure which employs H∞ control theory is proposed for the servo systems with these problems. In order to design a controller which is capable of compensating frictions and ensures no steady state error, the original system is augmented with an integrator and H∞ controller design method is applied. Sometimes, for these systems, there is a possibility of limit cycles due to the interaction between the nonlinear friction and integrator. To check the possibility of limit cycles, describing function method is used.
Model Based Tracking of Uncertain Linear Systems
Hong, Kook-Nam,Kuc, Tae-Yong 成均館大學校 科學技術硏究所 1997 論文集 Vol.48 No.1
This paper presents an adaptive feedback and feedforward control scheme for uncertain linear systems, which drives the response of uncertain system to the desired one. By using the simple adaptive rules for feedback gain and feedforward input, it is shown that all the error signals are bounded and the tracking error converges to zero asymptotically. A persistent exciting signals in the domain of discrete time is defined and used in proving convergence of the adaptive feedback gain and feedforward learning input to their true values. The effectiveness of proposed control scheme is demonstrated via computer simulation.