Journal of the Korean Society of Marine Engineering, 2010
In this paper, we propose a method for swing-up and stabilization of a SESIP(Self-Erecting Single... more In this paper, we propose a method for swing-up and stabilization of a SESIP(Self-Erecting Single Inverted Pendulum) system which is one of the typical nonlinear systems. We use PV(Proportional velocity) controller for swinging up the pendulum and employ a PI-type state-feedback controller for stabilizing the pendulum. Control is switched to a stabilizing controller, which is designed to balance the inverted position of pendulum and the cart position to the near vertical position. Computer simulations are performed to illustrate the control performance of the proposed scheme.
The aim of this paper is to design an adaptive speed control system of a marine diesel engine by ... more The aim of this paper is to design an adaptive speed control system of a marine diesel engine by fusion of hard computing based proportional integralderivative (PID) control and soft computing based fuzzy control methods. The model of a marine diesel engine is considered as a typical non oscillatory, second order system. When its model and the actual marine diesel engine are not matched, it is hard to control the speed of the marine diesel engine. Therefore, this paper proposes two methods in order to obtain the speed control characteristics of a marine diesel engine. One is an efficient method to determine the PID control parameters of the nominal model of a marine diesel engine. Second is a reference adaptive speed control method that uses a fuzzy controller and derivative operator for tracking the nominal model of the marine diesel engine. It was found that the proposed PID parameters adjustment method is better than the Ziegler＆ Nichols’ method, and that a model reference adaptive control is superior to using only PID controller. The improved control method proposed here, could be applied to other systems when a model of a system does not match the actual system.
Journal of the Korean Society of Marine Engineering, 2010
In this paper, we propose a method for swing-up and stabilization of a SESIP(Self-Erecting Single... more In this paper, we propose a method for swing-up and stabilization of a SESIP(Self-Erecting Single Inverted Pendulum) system which is one of the typical nonlinear systems. We use PV(Proportional velocity) controller for swinging up the pendulum and employ a PI-type state-feedback controller for stabilizing the pendulum. Control is switched to a stabilizing controller, which is designed to balance the inverted position of pendulum and the cart position to the near vertical position. Computer simulations are performed to illustrate the control performance of the proposed scheme.
The aim of this paper is to design an adaptive speed control system of a marine diesel engine by ... more The aim of this paper is to design an adaptive speed control system of a marine diesel engine by fusion of hard computing based proportional integralderivative (PID) control and soft computing based fuzzy control methods. The model of a marine diesel engine is considered as a typical non oscillatory, second order system. When its model and the actual marine diesel engine are not matched, it is hard to control the speed of the marine diesel engine. Therefore, this paper proposes two methods in order to obtain the speed control characteristics of a marine diesel engine. One is an efficient method to determine the PID control parameters of the nominal model of a marine diesel engine. Second is a reference adaptive speed control method that uses a fuzzy controller and derivative operator for tracking the nominal model of the marine diesel engine. It was found that the proposed PID parameters adjustment method is better than the Ziegler＆ Nichols’ method, and that a model reference adaptive control is superior to using only PID controller. The improved control method proposed here, could be applied to other systems when a model of a system does not match the actual system.
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Papers by heuihan yoo