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이갑래(Kap-Rai Lee),김삼수(Sam-Soo Kim),이재명(Jae-Myoung Lee),박성희(Song-Hui Park) 대한전자공학회 1992 대한전자공학회 학술대회 Vol.1992 No.10
The problem of robust control of a underwater vehicle subject to variation of a real parameter and velocity is considered. The controller set which stabilized perturbed plant is chosen using numerical gradient method, and the controller is used for nominal performance and robust performance. Simullation results are presented to show that the precise montion control of the controller is accomplished under perturbation in the system.