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Toward Control System Design Based on System Structure

Research Project

Project/Area Number 07305014
Research Category

Grant-in-Aid for Scientific Research (A)

Allocation TypeSingle-year Grants
Section総合
Research Field 計測・制御工学
Research InstitutionOsaka University

Principal Investigator

IKEDA Masao  Osaka University, Faculty of Engineering, Professor, 工学部, 教授 (00031146)

Co-Investigator(Kenkyū-buntansha) SUGIE Toshiharu  Kyoto University, Faculty of Engineering, Associate Professor, 工学部, 助教授 (80171148)
HAYAKAWA Yoshikazu  Nagoya University, Faculty of Engineering, Professor, 工学部, 教授 (60126894)
HARA Shinji  Tokyo Institute of Technology, Graduate School of Science and Technology, Profes, 総合理工学研究科, 教授 (80134972)
YAMAMOTO Yutaka  Kyoto University, Faculty of Engineering, Associate Professor, 工学部, 助教授 (70115963)
OHTA Yoshito  Osaka University, Faculty of Engineering, Associate Professor, 工学部, 助教授 (30160518)
Project Period (FY) 1995 – 1996
Project Status Completed (Fiscal Year 1996)
Budget Amount *help
¥1,200,000 (Direct Cost: ¥1,200,000)
Fiscal Year 1996: ¥1,200,000 (Direct Cost: ¥1,200,000)
Keywordscontrol theory / control system design / modeling / robust control / system structure
Research Abstract

This research project aimed at establishing a new framework of control system design, which integrates modeling of a controlled system and design of a controller from the viewpoint of comatibility between the physical structure of a real system and the mathematical structure of its model. Individual investigators considered their own problems from this point of view. All members got together at four workshops to evaluate their obtained results and to discuss the desired framework. Main contributions of the project are as follows :
1.New robust control theory has been proposed which treats uncertainty of a physical system as it is in the mathematical description and avoids overestimation of uncertainty.
2.Robust control theory has been extended to preview control, and a method of introducing a tuning parameter in a robust control system has been proposed.
3.Sampled-data control theory has been applied to deadbeat control, symmetric systems, and signal processing.
4.New methods of modeling, gain-scheduling control, and adaptive control of nonlinear systems and varying systems have been proposed.
5.New design methods of decentralized control in which structural constraints are imposed have been proposed under less restrictive conditions.
6.A new control strategy based directly on input and output data has been proposed, which is from a completely new philosophy.
Due to shortage of research period, some of the results have not satisfactorily achieved the aim of the project. But, it can be said that even such results have initiated new ideas of control theory toward the final objective.

Report

(3 results)
  • 1996 Annual Research Report   Final Research Report Summary
  • 1995 Annual Research Report
  • Research Products

    (32 results)

All Other

All Publications (32 results)

  • [Publications] 和田 光代: "多入出力ル-リエ系のパラメトリック絶対安定性" 計測自動制御学会論文集. 31・9. 1329-1335 (1995)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] 杉江 俊治: "厳密な物理パラメータ変動表現に基づくμ解析" 計測自動制御学会論文集. 31・12. 1936-1944 (1995)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] 松村 鋭一: "動作環境が変化する多入出力システムの安定化-基準モデルの数が3以上の場合" システム制御情報学会論文誌. 9・4. 188-196 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] 山本 茂: "二次安定化を用いた三慣性系ベンチマーク問題の解法" 計測自動制御学会論文集. 32・7. 1027-1034 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] 池田 健司: "Backstepping法を用いた分散型適応制御系の設計法" 計測自動制御学会論文集. 32・10. 1399-1406 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] M. Ikeda: "Decentralized H_∞ Controller Design for Large-Scale Systems : A Matrix Inequality Approach Using a Homotopy Method" Proc. 35th IEEE Conference on Decision and Control. 1-6 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] Y.-B.Kim, M.Ikeda and Y.Fujisaki: "Robust Stability of a Two-Degrees-of-Freedom Servosystem and High-Gain Integral Compensation" Trans.SICE. 32-2. 180-187 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] Y.Yamamoto and P.P.Khargonekar: "Frequency response of sampled-data systems" IEEE Trans.Automatic Control. 41-2. 166-176 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] J.Yang, Y.Hayakawa, and S.Fujii: "A Tracking Controller for Manipulators with Flexible Joints Using Sliding Observer" JSME International Journal. Series C,39-3. 484-492 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] S.Hara, H.Fujioka, T.Kosugiyama, and T.Asai: "A Synthesis for Robust Tracking Systems Based on ETA_* Control" Trans.SICE. 32-4. 502-509 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] J.Imura, T.Sugie, and T.Yoshikawa: "A Hamilton-Jacobi Inequality Approach to Strict ETA_* Control Problem of Nonlinear Systems" Automatica. 32-4. 645-650 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] E.Uezato and M.Ikeda: "Quadratic Stabilization of Linear Descriptor Systems" Trans.ISCIE. 9-7. 313-321 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] I.-C.Hwang and Y.Ohta: "Hankel Singular Values of Non-commensurate Input Delay Systems" Trans.ISCIE. 9-8. 375-382 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] K.Ikeda and S.Shin: "A Design of Decentralized High Gain Adaptive Control System Using Backstepping" Trans.SICE. 32-10. 1399-1406 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] E.Muramatu and M.Ikeda: "Modeling of a Plant with Variable Operating Condition : An Interpolated Model via a Coprime Factorization Approach" Trans.SICE. 32-11. 1501-1509 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] R.-Y.Song, S.Ishijiman and A.Kojima: "Observer-Based Linearization of I/O Linearizable MIMO Nonlinear Systems" Trans.SICE. 32-11. 1510-1517 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] K.Takaba and T.Katayama: "Discrete-time ETA_* Algebraic Riccati Equation and Parametrization of All ETA_* Filters" International Journal of Control. 64-6. 1129-1149 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] M.Ikeda, G.Zhai, and Y.Fujisaki: "Decentralized ETA_* Controller Design for Large Scale Systems : A Matrix Inequality Approach Using a Homotopy Method" Proc.35th IEEE Conference on Decision and Control. 1-6 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] T.Wada and K.Osuka: "Modeling of Nonlinear Systems for Linear Robust Control Theory : Identification via Linear Model Sets under Shifts of Operating Points" Proc.35th IEEE Conference on Decision and Control. 424-427 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] S.Yamamoto, S.Ushida, and H.Kimura: "Quadratic Stabilization by ETA^* State Feedback Control with Adjustable Parameter" Trans.ISCIE. 10-1. 11-17 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] 池田 雅夫 他: "動作環境が変化する多入出力システムの安定化-基準モデルの数が3以上の場合" システム制御情報学会論文誌. 9・4. 188-196 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] 杉江 俊治 他: "LMIによる2慣性共振系の制御" システム制御情報学会論文誌. 9・5. 219-226 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] 原 辰次 他: "パラメータ推定誤差を考慮したゲインスケジューリングコントローラの設計" 計測自動制御学会論文集. 32・6. 826-834 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] 山本 茂 他: "二次安定化法を用いた三慣性系ベンチマーク問題の解法" 計測自動制御学会論文集. 32・7. 1027-1034 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] 山本 裕 他: "無限次元2ブロックH^∞問題に対する解法-安定プラントの場合" 計測自動制御学会論文集. 32・10. 1416-1424 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] 早川 義一 他: "セルフセンシング・アクチュエータを用いたはりのロバストな制振制御" 日本機械学会論文集(C編). 62・604. 4499-4506 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] 児島 晃: "Gap-Metricによるむだ時間系のロバスト安定化" 計測自動制御学会論文集. 31. 736-742 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] M.Ikeda: "Symmetric controllers for symmetric plants" Proc.3rd European Control Conference. 988-993 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] 和田 光代: "多入出力カル-リエ系のパラメトリック絶対安定性" 計測自動制御学会論文集. 31. 1329-1335 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] 村松 鋭一: "動作状態が変化する制御対象の安定化" 計測自動制御学会論文集. 31. 1336-1342 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] 杉江 俊治: "厳密な物理パラメータ変動表現に基づくμ解析" 計測自動制御学会論文集. 31. 1936-1944 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] S.Hara: "Computational aspects of gain-frequency response for sampled-data systems" Proc.34th IEEE Conference on Decision and Control. 1784-1789 (1995)

    • Related Report
      1995 Annual Research Report

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Published: 1996-04-01   Modified: 2016-04-21  

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