| １． |
Outline |
|
Since the industrial revolution, control engineering has been developed to operate mechanical, electric, or communication systems accurately and automatically. The classical control engineering, mainly for single-input single-output systems, was matured around 1960. After 1960, "modern control theory" using state-feedback was developed for large-scale and/or complicated systems. "Modern control theory" has its drawback in that control performance is not guaranteed and would deteriorate when the system model is not accurate or time-varying. In order to overcome this drawback, "advanced (or post-modern) control theory" such as adaptive control and robust control has been developed.
This course consists of lectures in the classroom with exercises of practical problems, and laboratory work in the CL. Important contents to be learned in this course are:
1. Review of classical and modern control
2. Discrete-time equations and control
3. Principles and design procedures of robust control: H-infinity control
4. Principles and design procedures of adaptive control:
model reference adaptive system (MRACS), self-tuning control (STC), simple adaptive control (SAC)
5. Applications of robust control and adaptive control
In this course, students are expected to achieve the knowledge and technical methods with respect to Diploma Policy 2 and 3.
<Comments>
Since the industrial revolution, control engineering has been developed to operate mechanical, electric, or communication systems accurately, and automatically. The classical control engineering, mainly for single-input single-output systems, was matured around 1960. After 1960, "modern control theory" using state-feedback was developed for large-scale and/or complicated systems. "Modern control theory" has its drawback in that control performance is not guaranteed and would deteriorate when the system model is not accurate or time-varying. In order to overcome this drawback, "advanced (or post-modern) control theory" such as adaptive control and robust control has been developed.
This course consists of lectures in the classroom with exercises of practical problems, and laboratory works in the CL. Important contents to be learned in this course are:
1. Review of classical and modern control
2. Discrete-time equations and control
3. Principles and design procedures of robust control: H-infinity control
4. Principles and design procedures of adaptive control:
model reference adaptive system (MRACS), self-tuning control (STC), simple adaptive control (SAC)
5. Applications of robust control and adaptive control
In this course, students are expected to achieve the knowledge and technical methods with respect to Diploma Policy 2 and 3.
|
| ２． |
Objectives |
|
The first objective is to review and understand the basics of classical and modern (state-feedback) control engineering.
The second objective is to design and adjust the leading methods of modern control: pole-placement control, optimal control, control with state observer or Kalman Filter,
The third objective is to understand and design the leading methods of "post-modern" control: adaptive control and robust control.
The fourth objective is to understand the applications of adaptive control and robust control.
|
| ３． |
Grading Policy |
|
Grading policy is based on the results of exercise answers (50%) and reports of laboratory work (50%).
|
| ４． |
Textbook and Reference |
|
Textbook: M. Okada, et al., "Fundamentals and applications of systems control", Suurikougaku-sya (in Japanese)
Reference book: H. Kimura, "Principles of control engineering", Koudansya Blue Backs (in Japanese)
|
| ５． |
Requirements (Assignments) |
|
Students should have the basic understanding of mathematics at undergraduate level, classical control theory and state-feedback control theory. 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 and modern control theory and engineering lectured in master's course of graduate school. Students are required to have the basic understanding on these fields.
|
| ７． |
Schedule |
|
| １. Review of classical control technology |
| ２. State feedback control 1: Pole placement |
| ３. State feedback control 2: optimal regulator |
| ４. State feedback control 3: observer and Kalman filter |
| ５. Discrete-time control 1: differentials and differences |
| ６. Discrete-time control 2: discrete-time filters |
| ７. Discrete-time control 3: State equation in discrete form |
| ８. Laboratory work: state feedback control, discrete-time control |
| ９. Robust control 1: principles, small gain theorem |
| 10. Robust control 2: H-infinity control, mixed sensitivity problem |
| 11. Adaptive control 1: outline, parameter estimation techniques |
| 12. Adaptive control 2: model reference adaptive system (MRACS), simple adaptive control (SAC) |
| 13. Adaptive control 3: self-tuning control (STC) and applications |
| 14. Laboratory work: parameter estimation and adaptive control |
| 15. Reviews and exercises |
|
| １． |
Outline |
|
Since the industrial revolution, control engineering has been developed to operate mechanical, electric, or communication systems accurately and automatically. The classical control engineering, mainly for single-input single-output systems, was matured around 1960. After 1960, "modern control theory" using state-feedback was developed for large-scale and/or complicated systems. "Modern control theory" has its drawback in that control performance is not guaranteed and would deteriorate when the system model is not accurate or time-varying. In order to overcome this drawback, "advanced (or post-modern) control theory" such as adaptive control and robust control has been developed.
This course consists of lectures in the classroom with exercises of practical problems, and laboratory work in the CL. Important contents to be learned in this course are:
1. Review of classical and modern control
2. Discrete-time equations and control
3. Principles and design procedures of robust control: H-infinity control
4. Principles and design procedures of adaptive control:
model reference adaptive system (MRACS), self-tuning control (STC), simple adaptive control (SAC)
5. Applications of robust control and adaptive control
In this course, students are expected to achieve the knowledge and technical methods with respect to Diploma Policy 2 and 3.
<Comments>
Since the industrial revolution, control engineering has been developed to operate mechanical, electric, or communication systems accurately, and automatically. The classical control engineering, mainly for single-input single-output systems, was matured around 1960. After 1960, "modern control theory" using state-feedback was developed for large-scale and/or complicated systems. "Modern control theory" has its drawback in that control performance is not guaranteed and would deteriorate when the system model is not accurate or time-varying. In order to overcome this drawback, "advanced (or post-modern) control theory" such as adaptive control and robust control has been developed.
This course consists of lectures in the classroom with exercises of practical problems, and laboratory works in the CL. Important contents to be learned in this course are:
1. Review of classical and modern control
2. Discrete-time equations and control
3. Principles and design procedures of robust control: H-infinity control
4. Principles and design procedures of adaptive control:
model reference adaptive system (MRACS), self-tuning control (STC), simple adaptive control (SAC)
5. Applications of robust control and adaptive control
In this course, students are expected to achieve the knowledge and technical methods with respect to Diploma Policy 2 and 3.
|
| ２． |
Objectives |
|
The first objective is to review and understand the basics of classical and modern (state-feedback) control engineering.
The second objective is to design and adjust the leading methods of modern control: pole-placement control, optimal control, control with state observer or Kalman Filter,
The third objective is to understand and design the leading methods of "post-modern" control: adaptive control and robust control.
The fourth objective is to understand the applications of adaptive control and robust control.
|
| ３． |
Grading Policy |
|
Grading policy is based on the results of exercise answers (50%) and reports of laboratory work (50%).
|
| ４． |
Textbook and Reference |
|
Textbook: M. Okada, et al., "Fundamentals and applications of systems control", Suurikougaku-sya (in Japanese)
Reference book: H. Kimura, "Principles of control engineering", Koudansya Blue Backs (in Japanese)
|
| ５． |
Requirements (Assignments) |
|
Students should have the basic understanding of mathematics at undergraduate level, classical control theory and state-feedback control theory. 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 and modern control theory and engineering lectured in master's course of graduate school. Students are required to have the basic understanding on these fields.
|
| ７． |
Schedule |
|
| １. Review of classical control technology |
| ２. State feedback control 1: Pole placement |
| ３. State feedback control 2: optimal regulator |
| ４. State feedback control 3: observer and Kalman filter |
| ５. Discrete-time control 1: differentials and differences |
| ６. Discrete-time control 2: discrete-time filters |
| ７. Discrete-time control 3: State equation in discrete form |
| ８. Laboratory work: state feedback control, discrete-time control |
| ９. Robust control 1: principles, small gain theorem |
| 10. Robust control 2: H-infinity control, mixed sensitivity problem |
| 11. Adaptive control 1: outline, parameter estimation techniques |
| 12. Adaptive control 2: model reference adaptive system (MRACS), simple adaptive control (SAC) |
| 13. Adaptive control 3: self-tuning control (STC) and applications |
| 14. Laboratory work: parameter estimation and adaptive control |
| 15. Reviews and exercises |
|
|