Development of control design method for non-minimum phase system using parallel model

• Project/Area Number: 25420433
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Control engineering/System engineering
• Research Institution: Shinshu University
• Principal Investigator: CHIDA Yuichi 信州大学, 学術研究院工学系, 教授 (00345753)
• Co-Investigator(Kenkyū-buntansha): IKEDA Yuichi 信州大学, 学術研究院工学系, 助教 (80435396)
• Project Period (FY): 2013-04-01 – 2016-03-31
• Project Status: Completed (Fiscal Year 2015)
• Budget Amount: ¥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: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000); Fiscal Year 2013: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
• Keywords: 制御システム / 未知外乱推定 / 非最小位相系 / 並列モデル / 最小位相系 / 未知外乱推定器 / 外乱オブザーバ / オブザーバ

Outline of Final Research Achievements

In the present research, development of a novel design procedure of the unknown disturbance estimator is discussed. A design method of the unknown disturbance observer is proposed in order to improve the estimation performance in the high frequency band-width which is affected by the non-minimum phase property of the plant. For the purpose, a parallel model of the plant is introduced and a virtual minimum phase plant is used for designing the unknown disturbance estimator. The effectiveness of the proposed method is verified by some experimental results using an experimental setup.

Research Products

• [Journal Article] An issue of SAC for application to a plant including anti-resonance and improvement by PFC design (2015)
  • Author(s): 種村昌也, 山城始之, 千田有一, 丸山直人
  • Journal Title: Transactions of the JSME (in Japanese) Volume: 81 Issue: 824 Pages: 14-00474-14-00474
  • DOI: 10.1299/transjsme.14-00474
  • NAID: 130005066625
  • ISSN: 2187-9761
  • Peer Reviewed / Open Access / Acknowledgement Compliant
• [Journal Article] PFC design method for SAC based on the stability theorem of the descriptor system and frequency response fitting (2015)
  • Author(s): Masaya Tanemura and Yuichi Chida
  • Journal Title: Mechanical Engineering Journal Volume: 2 Issue: 3 Pages: 14-00547-14-00547
  • DOI: 10.1299/mej.14-00547
  • NAID: 130005076449
  • ISSN: 2187-9745
  • Peer Reviewed / Open Access / Acknowledgement Compliant
• [Journal Article] PFC Design Based on Frequency Response Fitting in Simple Adaptive Control (2015)
  • Author(s): 種村昌也, 千田有一
  • Journal Title: Transactions of the Society of Instrument and Control Engineers Volume: 51 Issue: 8 Pages: 579-586
  • DOI: 10.9746/sicetr.51.579
  • NAID: 130005093976
  • ISSN: 0453-4654, 1883-8189
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] Parallel Feedforward Model for Improving Estimates of Unknown Disturbances to Non-Minimum-Phase Systems (2015)
  • Author(s): Masaya Tanemura, Yuichi Chida, Hiroyuki Kobayashi and Mitsuo Hirata
  • Journal Title: SICE Journal of Control, Measurement, and System Integration Volume: 8 Issue: 5 Pages: 354-361
  • DOI: 10.9746/jcmsi.8.354
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] Improvement of transient response of 2DOF servo system by controller switching (2014)
  • Author(s): 飯田智晴, 千田有一, 池田裕一
  • Journal Title: Transactions of the JSME (in Japanese) Volume: 80 Issue: 817 Pages: DR0268-DR0268
  • DOI: 10.1299/transjsme.2014dr0268
  • NAID: 130004692201
  • ISSN: 2187-9761
  • Peer Reviewed / Open Access
• [Journal Article] 加速度センサとウェーブレット変換を用いた球体の回転速度の推定と検証 (2013)
  • Author(s): 関口彰太，高橋英輔，鷹合仁司，千田有一，中島信行，吉松俊一，長瀬二郎
  • Journal Title: 日本機械学会論文集（C編） Volume: 79巻，800号 Pages: 183-193
  • NAID: 130003374986
  • Peer Reviewed
• [Journal Article] 非線形量子化器を伴う空圧式除振台の制御 (2013)
  • Author(s): 小池雅和，千田有一，池田裕一
  • Journal Title: 計測自動制御学会論文集 Volume: Vol.49，No.4 Pages: 488-496
  • NAID: 10031166611
  • Peer Reviewed
• [Journal Article] On-Off 弁を用いた3 自由度系空圧式除振台の振動抑制制御 (2013)
  • Author(s): 小池 雅和，飯田 智晴，丸山 直人，千田 有一，池田 裕一
  • Journal Title: 日本機械学会論文集（C編） Volume: 79巻，803号 Pages: 199-211
  • NAID: 130003375117
  • Peer Reviewed
• [Presentation] ある種のBMI 条件を伴う2 次評価関数最小化問題のLMI 化による解法 (2015)
  • Author(s): 種村昌也, 千田有一
  • Organizer: 第2回計測自動制御学会制御部門マルチシンポジウム
  • Place of Presentation: 東京電機大学（東京都足立区）
  • Year and Date: 2015-03-04 – 2015-03-07
• [Presentation] Feedback control design of a switched system using non-common solutions of a quadratic minimization problem (2014)
  • Author(s): Tomoharu Iida and Yuichi Chida
  • Organizer: Proceedings of the 2014 IEEE International Conference on Control Applications (CCA). Part of 2014 IEEE Multi-conference on Systems and Control
  • Place of Presentation: アンテーブ（フランス）
  • Year and Date: 2014-10-08 – 2014-10-10
• [Presentation] Controller Design for System with Different Time-Delays Depending on Polarity of Control Input and Application to a Pneumatic Isolation Table (2014)
  • Author(s): Kenta Narumi, Tomoharu Iida, Yuichi Chida
  • Organizer: Proceedings of the SICE Annual Conference 2014
  • Place of Presentation: 北海道大学（札幌市）
  • Year and Date: 2014-09-09 – 2014-09-12
• [Presentation] Parallel Feedforward Design Using LMI for Unknown Disturbance Estimation of Non-Minimum Phase System (2014)
  • Author(s): Masaya Tanemura, Yuichi Chida, Hiroyuki Kobayashi, Mitsuo Hirata
  • Organizer: Proceedings of the SICE Annual Conference 2014
  • Place of Presentation: 北海道大学（札幌市）
  • Year and Date: 2014-09-09 – 2014-09-12
• [Presentation] Transient Response Improvement of Pneumatic Isolation Table by Controller Switching Method (2014)
  • Author(s): Naoto Maruyama, Tomoharu Iida, Yuichi Chida
  • Organizer: Proceedings of the SICE Annual Conference 2014
  • Place of Presentation: 北海道大学（札幌市）
  • Year and Date: 2014-09-09 – 2014-09-12
• [Presentation] PFC design method based on frequency response fitting -Assurance of minimum phase property by stability theorem of descriptor system (2014)
  • Author(s): Masaya Tanemura, Yuichi Chida, Yuichi Ikeda
  • Organizer: Proceedings of the 12th International Conference on Motion and Vibration Control(MoViC2014)
  • Place of Presentation: 札幌コンベンションビューロー（札幌市）
  • Year and Date: 2014-08-04 – 2014-08-06
• [Presentation] Switching Control Method of Servo System Using Disturbance Observer (2013)
  • Author(s): Tomoharu Iida, Yuichi Chida, Masakazu Koike, Yuichi Ikeda
  • Organizer: SICE Annual Conference 2013
  • Place of Presentation: 名古屋大学工学部
• [Presentation] Model Predictive Control of Pneumatic Isolation Table with Quantized Input (2013)
  • Author(s): Naoto Maruyama, Masakazu Koike, Yuichi Chida, Yuichi Ikeda
  • Organizer: SICE Annual Conference 2013
  • Place of Presentation: 名古屋大学工学部
• [Presentation] Unknown Disturbance Estimator Design for Non-Minimum Phase Plants Using Parallel Feed-Forward Model (2013)
  • Author(s): Yuici Chida, Shota Sekiguchi, Hiroyuki Kobayashi, Yuichi Ikeda
  • Organizer: ASME 2013 Dynamic Systems and Control Conference( DSCC2013)
  • Place of Presentation: Stanford University, Palo Alto, California, USA
• [Presentation] LMIによる並列フィードフォワード補償器の設計方法 (2013)
  • Author(s): 種村昌也，千田有一，池田裕一
  • Organizer: 計測自動制御学会中部支部シンポジウム2013
  • Place of Presentation: 信州大学工学部
• [Presentation] 並列モデルを用いた非最小位相系の未知外乱推定における並列モデル設計に関する研究 (2013)
  • Author(s): 小林弘幸，千田有一
  • Organizer: 計測自動制御学会中部支部シンポジウム2013
  • Place of Presentation: 信州大学工学部
• [Presentation] LMIを用いたPFC設計方法の提案 (2013)
  • Author(s): 種村昌也，千田有一，池田裕一
  • Organizer: 第56回自動制御連合講演会
  • Place of Presentation: 新潟大学工学部