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최호림,유현종,임영택,이상선,전재균,Choi, Ho-Rim,Yoo, Hyun-Jong,Lim, Young-Taeg,Lee, Sang-Seon,Chon, Jae-Gyun 대한족부족관절학회 1999 대한족부족관절학회지 Vol.3 No.1
Traumatic dislocation of the peroneal tendon is a rare injury. It should be distinguished from other conditions that can cause pain and disability of lateral aspect of the ankle joint. We experienced a case of chronic recurrent dislocation of the peroneal tendon, which was treated by deepening of the peroneal groove of the lateral malleolus and reattachment of the superior peroneal retinaculum. The clinical result was satisfactory.
최호림(Ho-Lim Choi),신희섭(Hee-Sub Shin),구민성(Min-Sung Koo),임종태(Jong-Tae Lim),김용민(Yong-Min Kim) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.6
In this paper, we develop a functional test model for magnetic bearing wheels. The functional test model is an electromagnetic levitation system that has three degree of freedom, which consists of one axial suspension from gravity and two axes gimbaling capability to small angels. A nonlinear controller with high-gain observers is proposed and the real-time experiment results show that the rotor is accurately levitated at the desired position and well-balanced, which is a suitable result for the potential use an magnetic bearing wheels. Also, the proposed scheme exhibits better performance when it is compared with the conventional PID control method.
구민성,최호림,Koo, Min-Sung,Choi, Ho-Lim Institute of Control 2015 제어·로봇·시스템학회 논문지 Vol.21 No.8
We present an output feedback controller for a class of nonlinear systems with uncertain nonlinearity and sensor noise. The sensor noise has both a finite constant component and a time-varying component such that its integral function is finite. The new design and analysis method is based on the matrix inequality approach. With our proposed controller, the states and output can be ultimately bounded even though the structure of nonlinearity is more general than that in the existing results.
Measurement Feedback Control of a Class of Nonlinear Systems via Matrix Inequality Approach
구민성,최호림,Koo, Min-Sung,Choi, Ho-Lim Institute of Control 2014 제어·로봇·시스템학회 논문지 Vol.20 No.6
We propose a measurement state feedback controller for a class of nonlinear systems that have uncertain nonlinearity and sensor noise. The new design method based on the matrix inequality approach solves the measurement feedback control problem of a class of nonlinear systems. As a result, the proposed methods using a matrix inequality approach has the flexibility to apply the controller. In addition, the sensor noise can be attenuated for more generalized systems containing uncertain nonlinearities.
실험 데이터 기반의 PID제어기를 이용한 쿼드로터의 고도제어
이호성(Ho-Sung Lee),박지선(Ji-Sun Park),최호림(Ho-Lim Choi) 한국전기전자학회 2024 전기전자학회논문지 Vol.28 No.2
본 논문에서는 실험적 분석을 이용하여 쿼드로터 시스템의 고도제어를 위한 PID제어기를 제안한다. 제안된 제어기가 적용된 시스템의 안정성을 분석하기 위해 Routh-Hurwitz 판별법을 적용한다. 또한 쿼드로터 시스템을 수학적 모델링을 기반으로 MATLAB과 Simulink를 이용하여 κ<SUB>P</SUB>, κ<SUB>I</SUB> , κ<SUB>D</SUB>각각의 값을 변화시키며 실험의 결과를 정리한다. 정리된 실험의 결과를 바탕으로 PID제어기 각각의 이득값(κ<SUB>P</SUB>, κ<SUB>I</SUB> , κ<SUB>D</SUB>)의 변화가 쿼드로터의 자세제어에 미치는 영향에 대하여 분석하고, 분석한 내용을 바탕으로 제어기 이득값을 튜닝하기 위한 알고리즘을 제시한다. 제안된 알고리즘을 적용한 PID 제어기는 실제 시스템인 AR.Drone에 적용하여 효과를 실험적으로 검증한다. In this paper, we propose a PID controller for altitude control of quadrotor system with experimental analysis. The Routh-Hurwitz test is applied to analyze the system to which our proposed controller is applied. We also summarize experimental data in which the gain values of kP, kI, and kD are changed using MATLAB and Simulink based on mathematical modeling of the quadrotor system. Based on the summarized experimental data, we analyze the effect of changes in each gain values (κ<SUB>P</SUB>, κ<SUB>I</SUB>, κ<SUB>D</SUB>) of PID controller on altitude control of quadrotor, and present an algorithm for tuning the PID controller gain values. The PID controller with the proposed algorithm is applied to AR.Drone system, subsequently and result are verifised through experiments.
구민성,최호림,Koo, Min-Sung,Choi, Ho-Lim Institute of Control 2016 제어·로봇·시스템학회 논문지 Vol.22 No.7
We deal with the regulation problem of nonlinear systems with time-varying delays in both the states and input. A new state feedback controller with dynamic gains is developed based on matrix inequality and non-predictor methods. The proposed control scheme is analyzed using the Razumikhin theorem, and its effectiveness is demonstrated with simulation results.
A Global Regulation Method of Nonlinear Systems with Unbounded Parameters Under State Feedback Frame
구민성,최호림,Koo, Min-Sung,Choi, Ho-Lim Institute of Control 2016 제어·로봇·시스템학회 논문지 Vol.22 No.3
In this paper, we consider a regulation problem of nonlinear systems under two triangular conditions where there possibly exist unbounded parameters in the systems. We propose a state feedback controller with dynamic gains in order to deal with unbounded parameters based on the condition of the time-varying rate of the growing parameter. The analysis of our control scheme is carried out by Lyapunov stability method. Our control method is verified by simulation results.