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Systematization of Analysis and Design of Robust Control Systems via IMC Parametrization

Research Project

Project/Area Number 14550437
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Control engineering
Research InstitutionYamagata University

Principal Investigator

WATANABE Keiji  Yamagata University, Faculty of Engineering, Professor, 工学部, 教授 (50007027)

Project Period (FY) 2002 – 2004
Project Status Completed (Fiscal Year 2004)
Budget Amount *help
¥3,000,000 (Direct Cost: ¥3,000,000)
Fiscal Year 2004: ¥700,000 (Direct Cost: ¥700,000)
Fiscal Year 2003: ¥1,000,000 (Direct Cost: ¥1,000,000)
Fiscal Year 2002: ¥1,300,000 (Direct Cost: ¥1,300,000)
Keywordsinternal mode control / internal model parametrization / robust stability / robust control / inverse system / decoupling / time delay system / IMCP / 内部安定性 / IMCパラメタライゼーション / むだ時間 / 一般化安定化器 / 混合感度問 / 2自由度系
Research Abstract

This research project presents the systematic analysis and design of robust control systems via IMC parametrization as follows.
(1)The state space -IMC parametrization for multivariable systems is proposed by dividing it into 3 parts.
(2)The relation between IMC parametrization and Yula parametrization is derived in the framework of state space. It is shown that the feedback matrix is related to the responses to the reference inputs and the observer matrix is concerned with the responses to the disturbances.
(3)The IMC parametrization for servo systems is established.
(4)The solution to the 2 disk mixed sensitivity problem, which yields lower sensitivity than the conventional robust control based on the 1 disk specification, is presented.
(5)It is clarified that the H infinity control suffers from sluggish responses to input disturbances if the plant contains stable poles near the imaginary axis. The breakthrough method is presented on the basis of IMCP.
(6)The adaptive IMC is presented.
(7) The 2 disk mixed sensitivity problem of lame delay systems is solved by using IMC parametrization. Furthermore, The robust stable range is considerably enlarged by introducing Pade approximation.
(8)The inverse system and decoupling for multivariable systems are proposed for design of IMC parametrization.
(9)The systamtic design of robust control which includes from PID control to H infinity control for delay-free and delayed systems.

Report

(4 results)
  • 2004 Annual Research Report   Final Research Report Summary
  • 2003 Annual Research Report
  • 2002 Annual Research Report
  • Research Products

    (40 results)

All 2005 2004 2003 2002 Other

All Journal Article (29 results) Publications (11 results)

  • [Journal Article] Enlargement of Stability Range of Time-Delay Controll Systems2005

    • Author(s)
      Wu, Watanabe, Muramatsu, Ariga, Endo
    • Journal Title

      Proc.SICE Annual Conference (to appear)

    • NAID

      130003971424

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Phase Compensated Robust Control via IMP2005

    • Author(s)
      Rui, Watanabe, Muramatsu, Ariga, Endo
    • Journal Title

      Proc.SICE Annual Conference (to appear)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] 状態フィードバックと逆システムによる非最小位相系に対する非干渉化の体系的設計法2005

    • Author(s)
      浅黄義昭, 渡部慶二, 村松鋭一, 有我祐一
    • Journal Title

      計測自動制御学会論文集 41

      Pages: 234-241

    • NAID

      10015595657

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Systematic design method of decoupling of non-minimum phase systems by state feedback and inverse system2005

    • Author(s)
      Asagi, Watanabe, Muramatsu, Ariga
    • Journal Title

      Trans.SCIE vol.41

      Pages: 234-241

    • NAID

      10015595657

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] 状態フィードバックと逆システムによる非最小位相系に対する非干渉化の体系的設計法2005

    • Author(s)
      浅黄義昭, 渡部慶二 他
    • Journal Title

      計測自動制御学会論文集 41・3

      Pages: 234-241

    • NAID

      10015595657

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 固有値・固有ベクトルによる区分的2次線形システムの安定条件2005

    • Author(s)
      村松鋭一, 渡部慶二
    • Journal Title

      システム制御情報学会論文誌 18・2

      Pages: 70-79

    • NAID

      10014340764

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Feedback Error Learning Control without Recourse to Positive Realness2004

    • Author(s)
      Muramatsu, Watanabe
    • Journal Title

      IEEE Trans Automatic Control 49

      Pages: 1762-1767

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] 状態方程式に基づく多入力多出力系の適応内部モデル制御2004

    • Author(s)
      村松鋭一, 渡部慶二
    • Journal Title

      システム制御情報学会論文誌 17

      Pages: 321-329

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Robust Stability of Approximate Smith Predictor Control System2004

    • Author(s)
      Wu, Watanabe, Muramatsu, Ariga, Endo
    • Journal Title

      Proc.SICE Annual Conference

      Pages: 1522-1527

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Error-Free Robust Stabilization of Control System2004

    • Author(s)
      Watanabe, Muramatsu, Ariga, Endo
    • Journal Title

      Proc.SICE Annual Conference

      Pages: 361-366

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Two-degree freedom control with adaptive inverse model2004

    • Author(s)
      Muramatsu, Watanabe
    • Journal Title

      Proc.SICE Annual Conference

      Pages: 1-6

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Two-Degree-Freedom IMC Parametrization of Multivariable Systems2004

    • Author(s)
      Asagi, Watanabe, Muramatsu, Izuta, Ariga
    • Journal Title

      Proc.IFAC LSS

      Pages: 771-776

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Feedback Error Learning Control without Recourse to Positive Realness2004

    • Author(s)
      Muramatsu, Watanabe
    • Journal Title

      IEEE Trans Automatic Control vol.49

      Pages: 1762-1767

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Adaptive internal model control of MIMO systems via state equations2004

    • Author(s)
      Muramatsu, Watanabe
    • Journal Title

      Trans.SIC vol.17

      Pages: 321-329

    • NAID

      10013552535

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Feedback Error Learning Control without Recourse to Positive Realness2004

    • Author(s)
      Muramatsu, Watanabe
    • Journal Title

      IEEE Trans Automatic Control 49/10

      Pages: 1762-1767

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 状態方程式に基づく多入力多出力形の適応内部モデル制御2004

    • Author(s)
      村松, 渡部
    • Journal Title

      システム制御情報学会論文誌 17.8

      Pages: 321-329

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Control Design for a certain class of output time delay systems under the two disk mixed sensitivity specification2003

    • Author(s)
      Izuta, Watanabe
    • Journal Title

      Proc.IFAC Workshop on Time Delay Systems

      Pages: 1-6

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Error Learning Conrol of Time Delay Systems2003

    • Author(s)
      Muramatsu, Watanabe
    • Journal Title

      Proc.SICE Annual Conference

      Pages: 229-233

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Adaptive internal model control of MIMO systems2003

    • Author(s)
      Muramatsu, Watanabe
    • Journal Title

      Proc.SICE Annual Conference

      Pages: 224-238

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Adaptive internal model control of SISO systems2003

    • Author(s)
      Watanabe, Muramatsu
    • Journal Title

      Proc.SICE Annual Conference

      Pages: 651-656

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Error independent stabilization of internal model control2003

    • Author(s)
      Watanabe, Muramatsu
    • Journal Title

      Proc.SICE Annual Conference

      Pages: 312-317

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Output Time delayed Control System Design subject to the Mixed Sensitivity Problem2003

    • Author(s)
      Izuta, Watanabe, Yamaguchi
    • Journal Title

      JAME International Journal 46

      Pages: 232-238

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Control Design for a certain class of output delay systems under the two disk mixed sensitivity specification2003

    • Author(s)
      Izuta, Watanabe
    • Journal Title

      Proc.IFAC Workshop on Time delay Systems

      Pages: 1-6

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Output Time delayed Control System Design subject to the Mixed Sensitivity Problem2003

    • Author(s)
      Izuta, Watanabe, Yamaguchi
    • Journal Title

      JAME International Journal vol.46

      Pages: 232-238

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Relation between IMC Parametrization and Generalized Stabilizer2002

    • Author(s)
      Watanabe, Izuta, Luo, Asagi
    • Journal Title

      Proc.4^<th> ACC

      Pages: 495-500

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] A Note on the Two Disk Mixed Sensitivity Design for Control System with Multiple Output Delays2002

    • Author(s)
      Izuta, Watanabe
    • Journal Title

      Systems and Control Letters 47

      Pages: 375-382

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] A Note on the Two Disk Mixed Sensitivity Design for Control System with Multiple Output Delays2002

    • Author(s)
      Izuta, Watanabe
    • Journal Title

      Systems and Control Letters vol.47

      Pages: 375-382

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Enlargement of Stability Range of Time-Delay Con troll Systems

    • Author(s)
      Wu, Watanabe, Muramatsu, Ariga, Endo
    • Journal Title

      Proc.SICE Annual Conference (to appear)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Phase Compensated Robust Control via IMP

    • Author(s)
      Rui, Watanabe, Muramatsu, Ariga, Endo
    • Journal Title

      Proc.SICE Annual Conference (to appear)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Publications] G.Izuta: "Output time delayed control system design subject to the mixed sensitivity problem"JSME International Journal series C. Vol.46. 232-238 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] G.Izuta: "Control Design for a certain class of output time delayed systems under the two disk mixed sensitivity specification"Proceeding of 4^<th> IFAC Workshop on Time Delay Systems. 1-6 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] E.Muramatsu: "Feedback error learning control of time-delay systems"Proceeding of SICE Annual Conference. 229-233 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] K.Watanabe: "Erro-independent stabilization of internal model control"Proceeding of SICE Annual Conference. 312-317 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] K.Watanabe: "Adaptive internal model control of SISO systems"Proceeding of SICE Annual Conference. 651-656 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] E.Muramatsu: "Adaptive internal model control of MIMO systems"Proceeding of SICE Annual Conference. 224-228 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] G.Izuta: "A Note on the two disk mixed sensitivity design for control system with multiple output time delays"Systems and Control Letters. Vol147. 375-382 (2003)

    • Related Report
      2002 Annual Research Report
  • [Publications] K.Watanabe: "Relation between IMC Parametrization and Generalized Stabilizer"Proceeding of 4^<th> ASCC. 495-500 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 渡部慶二: "多変数内部モデル制御系の設計"第31回制御理論シンポジウム資料. 207-210 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 渡部慶二: "IMCパラメトリゼーションによる制御構造解析-むだ時間系"第45回自動制御連合講演会講演論文集. 363-364 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 渡部慶二: "2自由度制御系の混合感度問題"第45回自動制御連合講演会講演論文集. 361-362 (2002)

    • Related Report
      2002 Annual Research Report

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Published: 2002-04-01   Modified: 2016-04-21  

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