2012 Fiscal Year Final Research Report
Construction of a data-driven design method of a nonlinear controller that has affine tuning parameters
| Project/Area Number |
22560447
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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 |
Control engineering
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| Research Institution | Hiroshima University |
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Principal Investigator |
SAEKI Masami 広島大学, 大学院・工学研究院, 教授 (60144325)
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| Project Period (FY) |
2010 – 2012
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| Keywords | 制御理論 |
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| Research Abstract |
Extension of our data-driven loop-shaping method, by which disturbance attenuation is attained subject to a stability margin constraint, to nonlinear plants has been examined and the following results have been obtained. It is shown numerically that PID controllers can be designed successfully by this method for the plants that have nonlinear elements such as a backlash. A design method of a gain scheduled PID controller is proposed for a nonlinear plant whose equilibrium point changes considerably as the reference input changes. An optimization method of affine parameters of a nonlinear controller is proposed. A visualization method of permissible parameter sets in the 3D space is developed.
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