1998 Fiscal Year Final Research Report Summary
Robust control Synthesis using Hybrid Controller
| Project/Area Number |
09650459
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
計測・制御工学
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| Research Institution | TOKYO INSTITUTE OF TECHNOLOGY |
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Principal Investigator |
HARA Shinji Tokyo Institute of Technology, Interdisciplinary Graduate School of Science & Engineering, Professor, 大学院・総合理工学研究科, 教授 (80134972)
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| Co-Investigator(Kenkyū-buntansha) |
MATSUNO Fumitoshi Tokyo Institute of Technology, Interdisciplinary Graduate School of Science & En, 大学院・総合理工学研究科, 助教授 (00190489)
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| Project Period (FY) |
1997 – 1998
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| Keywords | robust control / control system design / hybrid system / digital control / distributed parameter system / CAD |
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| Research Abstract |
1) Basic Theory for Hybrid System Theory :
1-a) Sampled-data control (continuous/discrete-time)
The relationship between the H_2 norm and the H* norm for sampled-data feedback control systems has been clarified. We have introduced a new notion of balanced realization for continuous/discrete-time hybrid systems and proposed methods of order reduction of the continuous-time plant the discrete-time controller. Moreover, we made a comparison with modern and classical approaches for sampled-data control and the features of the modern approach have been clarified.
1-b) Switched feedback control (continuous/logic)
A general framework for switched control systems has been proposed, and a Lyapunov type sufficient has been obtained, We have also provided a synthesis procedure based on the L_2 induced norm criterion.
1-c) Hybrid systems with lumped and distributed parameters
We proposed PDS (proportional, derivative and strain) feedback control law for hybrid mechanical systems with lumped and distributed parameters The PDS controller is easy to implement and robust against physical parameter uncertainty. In order to demonstrate the effectiveness of the PDS control law, two types of experiments have been carried out.
2) CAD System :
We have developed a tool box named "Sampled-Data Control Toolbox" on MATLAB for uniform treatment of sampled-data control analysis and synthesis. We also investigated a GUI platform for a general class of hybrid systems.
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