| Project/Area Number |
06452250
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| Research Category |
Grant-in-Aid for General Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
計測・制御工学
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| Research Institution | TOKYO INSTITUTE OF TECHNOLOGY |
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Principal Investigator |
FURUTA Katsuhisa Tokyo Institute of Technology, Graduate School of Informatics Science and Engineerin, Professor, 大学院・情報理工学研究科, 教授 (10016454)
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| Co-Investigator(Kenkyū-buntansha) |
HOSHINO Yasuko TOKYO Institute of Technology, Faculity of Engineering, Technician, 工学部, 教務職員 (30251648)
HOSHINO Tasuku TOKYO Institute of Technology Graduate School of Informatics Science and Enginee, 大学院・情報理工学研究科, 助手 (10242281)
YAMAKITA Masaki Tokyo Institute of Technology, Faculity of Engineering, Associate Professor, 工学部, 助教授 (30220247)
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| Project Period (FY) |
1994 – 1995
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| Project Status |
Completed (Fiscal Year 1995)
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| Budget Amount *help |
¥5,000,000 (Direct Cost: ¥5,000,000)
Fiscal Year 1995: ¥800,000 (Direct Cost: ¥800,000)
Fiscal Year 1994: ¥4,200,000 (Direct Cost: ¥4,200,000)
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| Keywords | VSS / Non-linear systems / Robust Control / Discrete-time systems / Real-time Controller / Sliding sector / Sliding mode |
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| Research Abstract |
In this report, the research on the discrete-time VSS control is presented. Firstly, two discrete-time VSS controllers are designed based on the concept of the sliding sector proposed in (Furuta, 1990) by using state space equation and transfer function, respectively. Secondly, a new sliding sector, inside which a norm of the system state decreases, is defined for discrete-time systems. A discrete-time VSS controller is designed to transfer the state from the outside to the inside of the sliding sector. The optimal control theory is used to design the sliding sector. Finally, the proposed VSS control methods are applied to the control of some practical systems like as the rotational inverted pendulum system and the flexible transmission system. As an experimental divice, an inverted pendulum system is design. The simulation results and experiment results are given.
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