| １． |
Outline |
|
Since the industrial revolution, control theory and engineering have been developed to operate mechanical, electrical, or communication systems accurately and automatically. The classical control theory, mainly for single-input single-output systems, was matured around 1960. After 1960, "modern control theory" using state-feedback has been developed for large-scale and/or complicated systems.
Control engineering is now widely applied to many fields of modern world. It is more and more important for engineers to understand the basics of control engineering.
This course mainly deals with modern control engineering.
This course consists of lectures in the classroom with exercises dealing with practical problems, and laboratory work in Computer Laboratory (CL). Important contents to be learned in this course are:
1. Reviews of classical control: Laplace transformation, transfer function, PID control
2. Introduction to Scilab/Scicos: basic commands, programming, simulation
3. State space, state equations, controllability and observability
4. Pole placement, state observer
5. Optimal regulator (LQ optimal control), cost function, weighing matrices
6. Optimal servo system, disturbance suppression
In this course, students are expected to achieve the knowledge and technical methods with respect to Diploma Policy 1.
<Comments>
Since the industrial revolution, control theory and engineering have been developed to operate mechanical, electrical, or communication systems accurately, and automatically. The classical control theory, mainly for single-input single-output systems, was matured around 1960. After 1960, "modern control theory" using state-feedback has been developed for large-scale and/or complicated systems.
Control engineering is now widely applied to many fields of modern world. It is more and more important for engineers to understand the basics of control engineering.
This course mainly deals with modern control engineering.
This course consists of lectures in the classroom with exercises dealing with practical problems, and laboratory work in Computer Laboratory (CL). Important contents to be learned in this course are:
1. Reviews of classical control: Laplace transformation, transfer function, PID control
2. Introduction to Scilab/Scicos: basic commands, programming, simulation
3. State space, state equations, controllability and observability
4. Pole placement, state observer
5. Optimal regulator (LQ optimal control), cost function, weighing matrices
6. Optimal servo system, disturbance suppression
In this course, students are expected to achieve the knowledge and technical methods with respect to Diploma Policy 1.
|
| ２． |
Objectives |
|
The first objective is to understand PID control technology, which is the leading method in classical control, and to design and adjust PID controllers.
The second objective is to understand the concept of state-feedback control technology and to design and adjust pole-placement control and optimal control. They are the leading methods in modern control.
The third objective is to master Scilab/Scicos in the design, adjustment and simulation of control systems.
|
| ３． |
Grading Policy |
|
Grading policy is based on the results of exercise answers (50%) and reports of laboratory work (50%).
|
| ４． |
Textbook and Reference |
|
Text books:
(1) H. Hashimoto, et al., "Basics of systems control learned with Scilab", Ohm publishing Co. (2007)
ISBN978-4-274-20388-6 C3054，\2800+tax (main text book, in Japanese)
[橋本 洋志，石井 千春，小林 裕之，大山 恭弘 共著「Scilabで学ぶシステム制御の基礎」,
オーム社 (2007)，ISBN978-4-274-20388-6 C3054，\2800＋税 （おもに用いるテキスト）\2,940]
(2) H. Hashimoto, et al., "Basics of simulations learned with Scilab/Scicos", Ohm publishing Co.
(2008) )，ISBN978-4-274-20487-6，\2,940 （sub-text book, in Japanese)
[橋本 洋志, 石井 千春 著 ｢Scilab/Scicosで学ぶシミュレーションの基礎｣,
オーム社，(2008)，，ISBN978-4-274-20487-6，\2,940 （Scicosの説明と応用例を記載）]
Reference books:
(1) H. Kimura, "Principles of control engineering", Koudansya Blue Backs (in Japanese)
[木村 英紀：「制御工学の考え方」 講談社ブルーバックス (2002), ISBN-13: 978-4062573962, \950]
(2) S. Utsui, "Mechanical control, illustrated", Ohm publishing Co. (2007) (in Japanese)
[ 佐藤 和也，平元 和彦，平田研二：「はじめての制御工学 改訂第2版」 講談社 (2018)，
ISBN-13: 978-4065137475，\2,808 ]
|
| ５． |
Requirements (Assignments) |
|
Students should have the basic understanding of mathematics at the undergraduate level such as differentials and integrals, differential equations, complex numbers and linear algebra. The understanding of classical control is also necessary. Students who are lacking in any of these fields are required to study beforehand.
Before each class, students should prepare for the class by studying with the textbook or with related materials，and write down the things hard to understand in a notebook.
Sometimes at the end of the class, exercise questions useful for review are given to students. After the class, students should review the things learned and write down exercise answers on an answer sheet. The answer sheet should be submitted at the beginning of the next class. After submission, the answers are explained in the class and students should understand and write down the procedure to reach correct answers.
Before and after the class together, students should spend at least two hours in average for the above-mentioned preparation, review and exercise work, and in this course, students should spend at least 30 hours in total.
|
| ６． |
Note |
|
This course is the extension of classical single-input, single-output control theory and engineering lectured in undergraduate course. Students are required to have the basic understanding on these fields.
|
| ７． |
Schedule |
|
１. Introduction to systems control: feedback control, classical and modern control
|
２. Review of basic control engineering: Laplace transformation, differential equations and transfer functions
<Comments>
Review of basic control engineering: Laplace transformation, differential equations, and transfer functions |
３. Introduction to Scilab/Scicos
|
４. System responses in the time domain
|
５. Stability of the system, PID control
|
６. Mastering Scicos, PID control simulation
|
７. Laboratory work: PID control
|
８. State equation 1: state space, derivation of state equation
|
| ９. State equation 2: characteristic equation and stability, controllability and observability |
| 10. Pole placement and state observer |
| 11. Optimal regulator (LQ optimal control), cost function, weighing matrices |
| 12. Optimal servo system 1: augmented system, disturbance suppression, robustness |
| 13. Optimal servo system 2, simulation of optimal regulator with the observer |
| 14. Laboratory work: Optimal servo system |
15. Review and exercises
|
|
| １． |
Outline |
|
Since the industrial revolution, control theory and engineering have been developed to operate mechanical, electrical, or communication systems accurately and automatically. The classical control theory, mainly for single-input single-output systems, was matured around 1960. After 1960, "modern control theory" using state-feedback has been developed for large-scale and/or complicated systems.
Control engineering is now widely applied to many fields of modern world. It is more and more important for engineers to understand the basics of control engineering.
This course mainly deals with modern control engineering.
This course consists of lectures in the classroom with exercises dealing with practical problems, and laboratory work in Computer Laboratory (CL). Important contents to be learned in this course are:
1. Reviews of classical control: Laplace transformation, transfer function, PID control
2. Introduction to Scilab/Scicos: basic commands, programming, simulation
3. State space, state equations, controllability and observability
4. Pole placement, state observer
5. Optimal regulator (LQ optimal control), cost function, weighing matrices
6. Optimal servo system, disturbance suppression
In this course, students are expected to achieve the knowledge and technical methods with respect to Diploma Policy 1.
<Comments>
Since the industrial revolution, control theory and engineering have been developed to operate mechanical, electrical, or communication systems accurately, and automatically. The classical control theory, mainly for single-input single-output systems, was matured around 1960. After 1960, "modern control theory" using state-feedback has been developed for large-scale and/or complicated systems.
Control engineering is now widely applied to many fields of modern world. It is more and more important for engineers to understand the basics of control engineering.
This course mainly deals with modern control engineering.
This course consists of lectures in the classroom with exercises dealing with practical problems, and laboratory work in Computer Laboratory (CL). Important contents to be learned in this course are:
1. Reviews of classical control: Laplace transformation, transfer function, PID control
2. Introduction to Scilab/Scicos: basic commands, programming, simulation
3. State space, state equations, controllability and observability
4. Pole placement, state observer
5. Optimal regulator (LQ optimal control), cost function, weighing matrices
6. Optimal servo system, disturbance suppression
In this course, students are expected to achieve the knowledge and technical methods with respect to Diploma Policy 1.
|
| ２． |
Objectives |
|
The first objective is to understand PID control technology, which is the leading method in classical control, and to design and adjust PID controllers.
The second objective is to understand the concept of state-feedback control technology and to design and adjust pole-placement control and optimal control. They are the leading methods in modern control.
The third objective is to master Scilab/Scicos in the design, adjustment and simulation of control systems.
|
| ３． |
Grading Policy |
|
Grading policy is based on the results of exercise answers (50%) and reports of laboratory work (50%).
|
| ４． |
Textbook and Reference |
|
Text books:
(1) H. Hashimoto, et al., "Basics of systems control learned with Scilab", Ohm publishing Co. (2007)
ISBN978-4-274-20388-6 C3054，\2800+tax (main text book, in Japanese)
[橋本 洋志，石井 千春，小林 裕之，大山 恭弘 共著「Scilabで学ぶシステム制御の基礎」,
オーム社 (2007)，ISBN978-4-274-20388-6 C3054，\2800＋税 （おもに用いるテキスト）\2,940]
(2) H. Hashimoto, et al., "Basics of simulations learned with Scilab/Scicos", Ohm publishing Co.
(2008) )，ISBN978-4-274-20487-6，\2,940 （sub-text book, in Japanese)
[橋本 洋志, 石井 千春 著 ｢Scilab/Scicosで学ぶシミュレーションの基礎｣,
オーム社，(2008)，，ISBN978-4-274-20487-6，\2,940 （Scicosの説明と応用例を記載）]
Reference books:
(1) H. Kimura, "Principles of control engineering", Koudansya Blue Backs (in Japanese)
[木村 英紀：「制御工学の考え方」 講談社ブルーバックス (2002), ISBN-13: 978-4062573962, \950]
(2) S. Utsui, "Mechanical control, illustrated", Ohm publishing Co. (2007) (in Japanese)
[ 佐藤 和也，平元 和彦，平田研二：「はじめての制御工学 改訂第2版」 講談社 (2018)，
ISBN-13: 978-4065137475，\2,808 ]
|
| ５． |
Requirements (Assignments) |
|
Students should have the basic understanding of mathematics at the undergraduate level such as differentials and integrals, differential equations, complex numbers and linear algebra. The understanding of classical control is also necessary. Students who are lacking in any of these fields are required to study beforehand.
Before each class, students should prepare for the class by studying with the textbook or with related materials，and write down the things hard to understand in a notebook.
Sometimes at the end of the class, exercise questions useful for review are given to students. After the class, students should review the things learned and write down exercise answers on an answer sheet. The answer sheet should be submitted at the beginning of the next class. After submission, the answers are explained in the class and students should understand and write down the procedure to reach correct answers.
Before and after the class together, students should spend at least two hours in average for the above-mentioned preparation, review and exercise work, and in this course, students should spend at least 30 hours in total.
|
| ６． |
Note |
|
This course is the extension of classical single-input, single-output control theory and engineering lectured in undergraduate course. Students are required to have the basic understanding on these fields.
|
| ７． |
Schedule |
|
１. Introduction to systems control: feedback control, classical and modern control
|
２. Review of basic control engineering: Laplace transformation, differential equations and transfer functions
<Comments>
Review of basic control engineering: Laplace transformation, differential equations, and transfer functions |
３. Introduction to Scilab/Scicos
|
４. System responses in the time domain
|
５. Stability of the system, PID control
|
６. Mastering Scicos, PID control simulation
|
７. Laboratory work: PID control
|
８. State equation 1: state space, derivation of state equation
|
| ９. State equation 2: characteristic equation and stability, controllability and observability |
| 10. Pole placement and state observer |
| 11. Optimal regulator (LQ optimal control), cost function, weighing matrices |
| 12. Optimal servo system 1: augmented system, disturbance suppression, robustness |
| 13. Optimal servo system 2, simulation of optimal regulator with the observer |
| 14. Laboratory work: Optimal servo system |
15. Review and exercises
|
|
|