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도립진자 시스템에 선형 분수 표현법을 이용한 $H_2/ H_\infty$ 제어
곽칠성,최규열 한국정보통신학회 1999 한국정보통신학회논문지 Vol.3 No.4
This paper presents an application of LMI-based techniques to the mixed $H_2/ H_\infty$ control of an inverted pendulum. The linear model of the inverted pendulum represented by an LFR(Linear Fractional Representation) model of uncertainties is derived. Considered uncertainties are three nonlinear components and a parameter uncertainty Augmenting the LFR model by adding weighting functions, we get a generalized plant, for which we design a mixed $H_2/ H_\infty$ controller using the LMI technique. To evaluate control performances and robust stability of the mixed $H_2/ H_\infty$ controller designed, we compare it with the $ H_\infty$controller through the simulation and experiment. The mixed $H_2/ H_\infty$ controller shows the better control performances and robust stability than the $H_\infty$controller in the sense of pendulum angle.
김규태,최규열,정덕진 대한전자공학회 1996 전자공학회논문지-B Vol.b33 No.9
In the stochastic structure for doing exact calculationk, an input number must be changed to a pulse stream. Because the performance of random number generator (RNG) is controlled by its initial condition, we suggested newly modified cellular automata (MCA) which is uses a counter for boundary condition. We compared newly suggested MCA RNG to previously reported RNGs using the AND gate passing outputs which have the same meaning of multiplication in the stochastic calculation. In order to use stochastic we studied about the method, one large RNG can generate many small random numbers. In this method, RNG must have large drive capabilities for many input comparator. So we studied about drive capabilities using BiCMOS circuit and CMOS circit by SPICE.