| Budget Amount *help |
¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000)
Fiscal Year 2010: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2009: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2008: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
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| Research Abstract |
The research has investigated a methodology of control system design of nonlinear systems, in particular nonlinear polynomial systems via numeric and symbolic computation. The methods of state feedback controller design, observer design and input-to-state system analysis have proposed for nonlinear polynomial systems using sum of squares relaxation and solving semidefinite programming problems. An optimization of nonlinear gain functions has also proposed by a combined use of sum of squares and quantifier elimination. The research also has investigated a design method on gain scheduling controller for the Acrobot, in which effectiveness of several reduction approaches of computation are verified.
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