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Quantitative Characterization of Easily Controllable Systems Considering Physical Constraints

Research Project

Project/Area Number 14550439
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Control engineering
Research InstitutionThe University of Tokyo

Principal Investigator

HARA Shinji  The University of Tokyo, Graduate School of Information Science and Technology, Professor, 大学院・情報理工学系研究科, 教授 (80134972)

Co-Investigator(Kenkyū-buntansha) ISHIKAWA Masato  Kyoto University, Department of Systems Science, Assistant Professor, 大学院・情報学研究科, 講師 (20323826)
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)
KeywordsFeedback control system / Integrated design / Control performance limitation / Unstable poles / zeros / Finite frequency property / Linear matrix inequality / Sampled-data control / Nonlinear control system
Research Abstract

The purpose of the research project is to characterize easily controllable dynamical systems under physical constraints and to propose a new integrated design method for plant and controller in feedback control systems. The following three issues have been investigated.
1)Control performance limitation :
We have examined the best achievable H_2 control performance under physical constraints for LTI systems including continuous-time systems, discrete-time systems, and sampled-data systems. A unified approach to derive analytical closed form expressions for the limitations has been proposed. The results clearly demonstrate the deteriorations caused by the plant gain characteristics as well as unstable poles/zeros of the plant, and some engineering applications have been provided.
2)Finite frequency KYP lemma :
We have first developed a necessary and sufficient condition for an S-procedure to be lossless, and used the result to generalize the Kalman-Yakubovic-Popov (KYP) lemma in two aspects ---the finite frequency range and the class of systems ---and to unify various existing versions by a single theorem. It has been shown that our result allows us to solve a certain class of system design problems with multiple specifications on the gain/phase properties in several frequency ranges. A soft wear tool for the analysis and synthesis has been also developed on MATLAB.
3)Nonlinear control system :
We have investigated the easiness and difficulties of controlling a class of non-holonomic systems. Especially, we have shown that the there exists no continuous control input which achieves complete tracking with set point of non-equilibrium point for both linear and nonlinear dynamical systems.

Report

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

    (9 results)

All 2005 2003

All Journal Article (9 results)

  • [Journal Article] Generalized KYP Lemma : Unified Frequency Domain Inequalities With Design Applications2005

    • Author(s)
      T.Iwasaki, S.Earn
    • Journal Title

      IEEE Transactions on Automatic Control 50[1]

      Pages: 41-59

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Time domain interpretations of frequency domain inequalities on (semi)finite ranges2005

    • Author(s)
      T.Iwasaki, S.Hara, A.L.Fradkov
    • Journal Title

      Systems & Control Letters 54

      Pages: 681-691

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Generalized KYP Lemma : Unified Frequency Domain Inequalities With Design Applications2005

    • Author(s)
      T.Iwasaki, S.Hara
    • Journal Title

      IEEE Transactions on Automatic Control 50[1]

      Pages: 41-59

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Time domain interpretations of frequency domain inequalities on (semi) finite ranges2005

    • Author(s)
      T.Iwasaki, S.Hara, A.L.Fradkov
    • Journal Title

      Systems & Control Letters 54

      Pages: 681-691

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Generalized KYP Lemma : Unified Frequency Domain Inequalities With Design Applications2005

    • Author(s)
      T.Iwatani, S.Hara
    • Journal Title

      IEEE Transactions on Automatic Control 50[1]

      Pages: 41-59

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Best Tracking and Regulation Performance under Control Energy Constraint2003

    • Author(s)
      J.Chen, S.Hara, G.Chen
    • Journal Title

      IEEE Transactions on Automatic Control AC-48[8]

      Pages: 1320-1336

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Dynamical System Design from a Control Perspective : Finite Frequency Positive-Realness Approach2003

    • Author(s)
      T.Iwasaki, S.Hara, K.Yamauchi
    • Journal Title

      IEEE Transactions on Automatic Control AC-48[8]

      Pages: 1327-1354

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2004 Final Research Report Summary
  • [Journal Article] Best Tracking and Regulation Performance under Control Energy Constraint2003

    • Author(s)
      J.Chen, S.Hara, G.Chen
    • Journal Title

      IEEE Trans.Auto.Contr. AC-48[8]

      Pages: 1320-1336

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Dynamical System Design from a Control Perspective : Finite Frequency Positive-Realness Approach2003

    • Author(s)
      T.Iwasaki, S.Hara, K.Yamauchi
    • Journal Title

      IEEE Trans.Auto.Contr. AC-48[8]

      Pages: 1327-1354

    • Related Report
      2004 Annual Research Report

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

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