2010 Fiscal Year Final Research Report
Control System Design of Nonlinear Systems via Numeric and Symbolic Computation
| Project/Area Number |
20760280
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Control engineering
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| Research Institution | Kyushu Institute of Technology |
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Principal Investigator |
ICHIHARA Hiroyuki Kyushu Institute of Technology, 理工学部, 講師 (70312072)
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| Project Period (FY) |
2008 – 2010
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| Keywords | 制御系設計 / 数値計算 / 数式処理 / 二乗和 / 限量記号消去法 |
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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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