Development of controller design methods using non-parametric system models represented by a finite number of frequency responses

• Project/Area Number: 16K14286
• Research Category: Grant-in-Aid for Challenging Exploratory Research
• Allocation Type: Multi-year Fund
• Research Field: Control engineering/System engineering
• Research Institution: Kyushu Institute of Technology
• Principal Investigator: NOBUYAMA Eitaku 九州工業大学, 大学院情報工学研究院, 教授 (50205291)
• Co-Investigator(Kenkyū-buntansha): 上 泰 明石工業高等専門学校, 電気情報工学科, 准教授 (20413809)
• Project Period (FY): 2016-04-01 – 2019-03-31
• Project Status: Completed (Fiscal Year 2018)
• Budget Amount: ¥3,510,000 (Direct Cost: ¥2,700,000、Indirect Cost: ¥810,000); Fiscal Year 2018: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000); Fiscal Year 2017: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000); Fiscal Year 2016: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
• Keywords: 制御系設計 / ＰＩＤ制御 / ロバスト制御 / 凸最適化 / ノンパラメトリックモデル / 制御理論 / 有限個周波数応答モデル / むだ時間システム / 繰り返し制御

Outline of Final Research Achievements

The objective of this research project is to develop controller design methods using non-parametric system models which are represented by a finite number of frequency responses. The research outcomes are as follows: Robust PID controller design methods for the nom-parametric system models are developed and their effectiveness is confirmed by some numerical examples. Moreover, to improve the performance of the closed-loop systems robust control design methods with fixed-order controllers are also developed. Because the fixed-order controllers include more design parameters than PID controllers, the fixed-order controllers can achieve the better performance than PID controllers. The effectiveness of robust control with fixed-order controllers are demonstrated by some numerical examples.

Academic Significance and Societal Importance of the Research Achievements

本研究の学術的意義は、ノンパラメトリックモデルである有限個周波数応答モデルを制御対象のモデルとして使うことにより、ロバストＰＩＤ制御器設計や固定次数制御器を用いたロバスト制御系設計が凸最適化問題として定式化することができるということを示した点にある。また、有限個周波数応答モデルは実験データから直接導出することができる等の特質により、本研究で開発した設計法は現実の制御対象に適用することが容易であり大変実用的である。この点において、本研究で得られた成果は社会的意義も高い。

Research Products

• [Journal Article] PI-D Controller Design with Finite Number of Frequency Responces Model via a Ratio of Fourier Transformations of Input and Output Signals (2019)
  • Author(s): 上 泰，田中 亮祐，三谷 祐一朗，延山 英沢
  • Journal Title: IEEJ Transactions on Electronics, Information and Systems Volume: 139 Issue: 4 Pages: 402-408
  • DOI: 10.1541/ieejeiss.139.402
  • NAID: 130007622107
  • ISSN: 0385-4221, 1348-8155
  • Year and Date: 2019-04-01
  • Peer Reviewed
• [Journal Article] Robust PID Controller Design for Both Delay-Free and Time-Delay Systems (2018)
  • Author(s): E. Nobuyama, Y. Kami
  • Journal Title: IFAC-PapersOnLine Volume: 51 Issue: 4 Pages: 930-935
  • DOI: 10.1016/j.ifacol.2018.06.103
  • Peer Reviewed
• [Presentation] 有限個周波数応答モデルを用いたロバストI-PD制御器の設計 (2017)
  • Author(s): 向山虹祐，延山英沢，上泰
  • Organizer: 第６０回自動制御連合講演会
• [Presentation] Robust Controller Design with Fixed-Order Controllers Using FNFR Models (2017)
  • Author(s): Yuki Sakamoto, Eitaku Nobuyama, Yasushi Kami
  • Organizer: The 2017 Asian Control Conference
  • Int'l Joint Research
• [Presentation] PID Controller Design for Repetitive Control Using a Finite Number of Frequency Responses Models (2016)
  • Author(s): Eitaku Nobuyama, Yuki Sakamoto, and Kosuke Sakiyama
  • Organizer: ICT-ROBOT 2016
  • Place of Presentation: BEXCO, Busan, Korea
  • Year and Date: 2016-09-08
  • Int'l Joint Research