| Budget Amount *help |
¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000)
Fiscal Year 2015: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2014: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2013: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
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| Outline of Final Research Achievements |
In this research, data-driven controller update based on FRIT is theoretically extended to the MIMO case by addressing MIMO smith compensator. Fundamental of data-driven control for state space setting is established. Moreover, it is clarified that VRFT, which is also one of the data-driven controller tuning, is effective for shaping of the open-loop transfer function or Nyquist loci. This result can be regarded as an important fundamental result related to data-driven controller update with stabilization and robustness. Simultaneous update of model and controller are extended, for example, full-state and minimal state observers based state feedback, nonlinear or time variant typed internal model control, state predictor for time delay systems and so on. In addition, real-time data-driven update methods for a class of controllers, e.g., two-degree of freedom control systems, generalized internal model controllers, state space typed servo systems, and so on, are also proposed.
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