• Search Research Projects
  • Search Researchers
  • How to Use
  1. Back to previous page

Predictive control for linear constrained systems : linear control performance and constrained control strategy

Research Project

Project/Area Number 15560384
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Control engineering
Research InstitutionTokyo Metropolitan University (2005)
Tokyo Metropolitan Institute of Technology (2003-2004)

Principal Investigator

KOJIMA Akira  Tokyo Metropolitan University, Fasulty of System Design, Professor, システムデザイン学部, 教授 (80234756)

Project Period (FY) 2003 – 2005
Project Status Completed (Fiscal Year 2005)
Budget Amount *help
¥2,800,000 (Direct Cost: ¥2,800,000)
Fiscal Year 2005: ¥700,000 (Direct Cost: ¥700,000)
Fiscal Year 2004: ¥1,000,000 (Direct Cost: ¥1,000,000)
Fiscal Year 2003: ¥1,100,000 (Direct Cost: ¥1,100,000)
Keywordsconstrained system / preview control / model predictive control / H-infinity control / H2 control
Research Abstract

Model predictive control (MPC) has become a standard control strategy for constrained multivariable systems. The essential part of the MPC strategy is that the optimal control problem is solved on line over a finite-horizon and the first value of the resulting control signals is applied. In the general MPC systems, it is observed that a linear appropriate control works in the unconstrained region around the equilibrium point and the auxiliary compensation is additionally applied in case when some of the system constraints turn to be active. Motivated by this observation, this research project clarifies the following feature on the predictive control: 1) performance limitation of linear predictive control systems, and 2) derive a model predictive control, which enables to elaborate the performance in the linear control regions. For H2 or LQ control problems, a control strategy, which clarifies the linear control performance with account of the compensation in the constrained regions, is obtained. The results are summarized as follows.
1) For unconstrained linear systems, the H-infinity and H2 preview control problems are solved. Furthermore it is shown that analytic solution for H-infinity preview and delayed control problem is obtained based on the framework of finite-dimensional operations.
2) LQ control problem for continuous-time linear systems is solved. It is clarified that the control consists of linear LQ control and additional auxiliary signals, which make up the linear LQ control in case when the constraints work.
The control laws obtained by 1), 2) are applied to an inverted pendulum system and the strength and limitation are further discussed.

Report

(4 results)
  • 2005 Annual Research Report   Final Research Report Summary
  • 2004 Annual Research Report
  • 2003 Annual Research Report
  • Research Products

    (53 results)

All 2006 2005 2004 2003 Other

All Journal Article (47 results) Publications (6 results)

  • [Journal Article] On-line design method of compensation law for constrained systems based on generalized singular value decomposition of linear systems2006

    • Author(s)
      N.Hara, A.Kojima
    • Journal Title

      Proc. of 17th International Symposium on Methematical Theory of Network and Systems (CD-ROM)(掲載決定)

    • NAID

      10018866378

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] H∞ control for unilateral delay systems : a state-space approach2006

    • Author(s)
      A.Kojima
    • Journal Title

      Proc. of 17th International Symposium on Mathematical Theory of Network and Systems (CD-ROM)(掲載決定)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] 目標値の先見情報を利用した補償入力のオンライン設計法2006

    • Author(s)
      原 尚之
    • Journal Title

      東京都立科学技術大学紀要 19

      Pages: 35-40

    • Related Report
      2005 Annual Research Report
  • [Journal Article] ハイブリッドシステム表現を用いた群集挙動のモデリング-計算アルゴリズムの簡略化に関する考察-2006

    • Author(s)
      田中 豪
    • Journal Title

      東京都立科学技術大学紀要 19

      Pages: 41-46

    • Related Report
      2005 Annual Research Report
  • [Journal Article] 予見フィードフォワード補償とH2制御2005

    • Author(s)
      児島 晃
    • Journal Title

      計測自動制御学会論文集 41・4

      Pages: 300-306

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Annual Research Report 2005 Final Research Report Summary
  • [Journal Article] 制約を有する線形制御系に対する補償入力の設計2005

    • Author(s)
      原, 児島
    • Journal Title

      計測自動制御学会論文集 41・7

      Pages: 1-7

    • NAID

      10016610304

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Formulas on preview and delayed H∞ control2005

    • Author(s)
      A.Kojima, S.Ishijima
    • Journal Title

      IEEE Trans. Automatic Control (掲載決定)

    • NAID

      120006627266

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] A model predictive control based on input-output characterization of finite-horizon linear systems2005

    • Author(s)
      A.Kojima, Y.Kageyama
    • Journal Title

      Proc. of 16th IFAC World Congress (CD-ROM)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] A design method of compensation law for constrained linear systems2005

    • Author(s)
      N.Hara, A.Kojima
    • Journal Title

      Proc. of 16th IFAC World Congress (CD-ROM)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Experimental evaluation of H∞ preview control : application to inverted pendulum system2005

    • Author(s)
      Y.Aoki, A.Kojima
    • Journal Title

      Proc. of SICE Annual Conference 2005 (CD-ROM)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Generalized preview and delayed H∞ control : output feedback case2005

    • Author(s)
      A.Kojima
    • Journal Title

      Proc. of 44th IEEE Conference on Decision and Control and European Control Conference 2005

      Pages: 5770-5775

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] H2 performance on preview feedforward and feedback action (in Japanese)2005

    • Author(s)
      A.Kojima
    • Journal Title

      Transactions of the Society of Instrument and Control Engieers, Japan Vol.41,No.4

      Pages: 300-306

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] A design method of compensation law for linear constrained systems (in Japanese)2005

    • Author(s)
      N.Hara, A.Kojima
    • Journal Title

      Transactions of the Society of Instrument and Control Engieers, Japan Vol.41,No.7

      Pages: 1-7

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] A model predictive control based on input-output characterization of finite-horizon linear systems2005

    • Author(s)
      A.Kojima, Y.Kageyama
    • Journal Title

      Proc.of 16th IFAC World Congress, We-M16-TO/3, Prague, Czech Republic (CD-ROM)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] A design method of compensation law for constrained linear systems2005

    • Author(s)
      N.Hara, A.Kojima
    • Journal Title

      Proc.of 16th IFAC World Congress, Fr-M08-TO/1, Prague, Czech Republic (CD-ROM)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Experimental evaluation of H∞ preview control : application to inverted pendulum system2005

    • Author(s)
      Y.Aoki, A.Kojima
    • Journal Title

      Proc.of SICE Annual Conference 2005,MP1-10-1,Okayama, Japan (CD-ROM)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Generalized preview and delayed H∞ control : output feedback case2005

    • Author(s)
      A.Kojima
    • Journal Title

      Proc.of 44th IEEE Conference on Decision and Control and European Control Conference ECC 2005,Seville, Spain

      Pages: 5770-5775

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] 制約を有する線形制御系に対する補償入力の設計2005

    • Author(s)
      原 尚之
    • Journal Title

      計測自動制御学会論文集 41・7

      Pages: 1-7

    • Related Report
      2005 Annual Research Report
  • [Journal Article] A model predictive control based on input-output characterization of finite-horizon linear systems2005

    • Author(s)
      A.Kojima
    • Journal Title

      Proc.of 16th IFAC World Congress (CD-ROM)

    • Related Report
      2005 Annual Research Report
  • [Journal Article] A design method of compensation law for constrained linear systems2005

    • Author(s)
      N.Hara
    • Journal Title

      Proc.of 16th IFAC World Congress (CD-ROM)

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Experimental evaluation of H∞ preview control : application to inverted pendulum system2005

    • Author(s)
      Y.Aoki
    • Journal Title

      Proc.of SICE Annual Conference 2005 (CD-ROM)

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Formulas on generalized preview and delayed H∞ control : output feedback case2005

    • Author(s)
      A.Kojima
    • Journal Title

      Proc.of CDC-ECC05 (44th IEEE Conference on Decision and Control and European Control Conference ECC 2005)

      Pages: 5770-5775

    • Related Report
      2005 Annual Research Report
  • [Journal Article] 予見フィードフォワード補償とH2制御2005

    • Author(s)
      児島 晃
    • Journal Title

      計測自動制御学会論文集 41・4(掲載予定)

    • Related Report
      2004 Annual Research Report
  • [Journal Article] H∞ preview tracking in output feedback setting2004

    • Author(s)
      A.Kojima, S.Ishijim
    • Journal Title

      International Journal of Robust and Nonlinear Control 14・7

      Pages: 627-641

    • NAID

      10007136733

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] 予見とH∞外乱抑制2004

    • Author(s)
      泉, 児島, 石島
    • Journal Title

      電気学会論文誌C 117C・4

      Pages: 357-362

    • NAID

      10012886000

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] LQ control for constrained continuous-time systems2004

    • Author(s)
      A.Kojima, M.Morari
    • Journal Title

      Automatica 40・7

      Pages: 1143-1155

    • NAID

      10009581215

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary 2004 Annual Research Report
  • [Journal Article] H2 performance on preview feedforward action2004

    • Author(s)
      A.Kojima
    • Journal Title

      Proc. of 16th International Symposium on Mathematical Theory of Network and Systems (CD-ROM)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] H∞ preview tracking in output feedback setting2004

    • Author(s)
      A.Kojima, S.Ishijima
    • Journal Title

      International Journal of Robust and Nonlinear Control Vol.14,No.7

      Pages: 627-641

    • NAID

      10007136733

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Preview control and H∞ worst-case analysis (in Japanese)2004

    • Author(s)
      T.Izumi, A.Kojima, A.Kojima, S.Ishijima
    • Journal Title

      IEEJ Transactions EIS Vol.117-C, No.4

      Pages: 357-362

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] LQ control for constrained continuous-time systems2004

    • Author(s)
      A.Kojima, M.Morari
    • Journal Title

      Automatica Vol.40,No.7

      Pages: 1143-1155

    • NAID

      10009581215

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] H2 performance on preview feedforward action2004

    • Author(s)
      A.Kojima
    • Journal Title

      Proc.of 16th International Symposium on Mathematical Theory of Network and Systems (MTNS), Leuven, Belgium MP4-5 (CD-ROM)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] 予見とH∞外乱抑制2004

    • Author(s)
      泉, 児島, 石島
    • Journal Title

      電気学会論文誌C 117-C・4

      Pages: 357-362

    • NAID

      10012886000

    • Related Report
      2004 Annual Research Report
  • [Journal Article] H∞ preview tracking in output feedback setting2004

    • Author(s)
      A.Kojima, S.Ishijima
    • Journal Title

      International Journal of Robust and Nonlinear Control 14・7

      Pages: 627-641

    • NAID

      10007136733

    • Related Report
      2004 Annual Research Report
  • [Journal Article] H2 performance on preview feedforward action2004

    • Author(s)
      A.Kojima
    • Journal Title

      Proc.of 16th International Symposium on Mathematical Theory of Network and Systems (MTNS), Leuven, Belgium (CD-ROM)

    • Related Report
      2004 Annual Research Report
  • [Journal Article] H∞ performance of preview control systems2003

    • Author(s)
      A.Kojima, S.Ishijima
    • Journal Title

      Automatica 39・4

      Pages: 693-701

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Finite-dimensional characterizations of H∞ control for linear systems with delays in input and output2003

    • Author(s)
      K.Uchida, K.Ikeda, T.Azuma, A.Kojima
    • Journal Title

      International Journal of Robust and Nonlinear Control 13・9

      Pages: 833-843

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] H∞ control for time delay systems -state predictive approach-2003

    • Author(s)
      A.Kojima, K.Uchida
    • Journal Title

      Proc. of SICE Annual Conference (CD-ROM)

    • NAID

      130005440755

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] On H∞ preview performance and robust stability2003

    • Author(s)
      A.Kojima, S.Ishijima
    • Journal Title

      Proc. of IFAC workshop on Time-Delay Systems (CD-ROM)

      Pages: 26-26

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Formulas on preview and delayed H∞ control2003

    • Author(s)
      A.Kojima, S.Ishijima
    • Journal Title

      Proc. IEEE Conference on Decision and Control

      Pages: 6532-6538

    • NAID

      120006627266

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] H∞ performance of preyiew control systems2003

    • Author(s)
      A.Kojima, S.Ishijima
    • Journal Title

      Automatica Vol.39,No.4

      Pages: 693-701

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Finite-dimensional characterizations of H∞ control for linear system with delays in input and output2003

    • Author(s)
      K.Uchida, K.Ikeda, T.Azuma, A.Kojima
    • Journal Title

      International Journal of Robust and Nonlinear Control Vol.13,No.9

      Pages: 833-843

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] H∞ control for time delay systems -state predictive approach-2003

    • Author(s)
      A.Kojima, K.Uchida
    • Journal Title

      Proc.of SICE Annual Conferece TAI-5-4 (CD-ROM)

    • NAID

      130005440755

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] On H∞ preview performance and robust stability2003

    • Author(s)
      A.Kojima, S.Ishijima
    • Journal Title

      Proc.of IFAC workshop on Time-Delay Systems, INRIA, Rocquencourt, France Paper Number 026 (CD-ROM)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Formulas on preview and delayed H∞ control2003

    • Author(s)
      A.Kojima, S.Ishijima
    • Journal Title

      Proc.of 42nd IEEE Conference on Decision and Control, Maui, Hwaii, U.S.A.

      Pages: 6532-6538

    • NAID

      120006627266

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] Formulas on preview and delayed H∞ control

    • Author(s)
      A.Kojima, S.Ishijima
    • Journal Title

      IEEE Trans.Automatic Control (to appear in 2006)

    • NAID

      120006627266

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] H∞ control for unilateral delay systems : a state-space approach

    • Author(s)
      A.Kojima
    • Journal Title

      17th International Symposium on Mathematical Theory of Network and Systems (MTNS), Kyoto, Japan (to appear)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Journal Article] On-line design method of compensation law for constrained systems based on generalized singular value decomposition of linear systems

    • Author(s)
      N.Hara, A.Kojima
    • Journal Title

      17th International Symposium on Mathematical Theory of Network and Systems (MTNS), Kyoto, Japan (to appear)

    • NAID

      10018866378

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2005 Final Research Report Summary
  • [Publications] A.Kojima, S.Ishijima: "H∞ performance of preview control systems"Automatica. 39・4. 693-701 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] K.Uchida, K.Ikeda, T.Azuma, A.Kojima: "Finite-dimensional characterizations of H∞ control for linear systems with delays in input and output"International Journal of Robust and Nonlinear Control. 13・9. 833-843 (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] A.Kojima, S.Ishijima: "H∞ preview tracking in output feedback setting"International Journal of Robust and Nonlinear Control. (掲載決定). (2004)

    • Related Report
      2003 Annual Research Report
  • [Publications] A.Kojima, M.Morari: "LQ control for constrained continuous-time systems"Automatica. 40・7(掲載決定). (2004)

    • Related Report
      2003 Annual Research Report
  • [Publications] A.Kojima, S.Ishijima: "On H∞ preview performance and robust stability"Proc.of IFAC workshop on Time-Delay Systems. Number 026(CD-ROM). (2003)

    • Related Report
      2003 Annual Research Report
  • [Publications] A.Kojima, S.Ishijima: "Formulas on preview and delayed H∞ control"Proc.of 42nd IEEE Conference on Decision and Control. 6532-6538 (2003)

    • Related Report
      2003 Annual Research Report

URL: 

Published: 2003-04-01   Modified: 2016-04-21  

Information User Guide FAQ News Terms of Use Attribution of KAKENHI

Powered by NII kakenhi