| １． |
Outline |
|
Control technology is now widely applied to many fields of modern world. It is more and more important for scientists and engineers to understand control theory and technology.
On the other hand, with the progress of information technology, it has become easy to design and to simulate control systems by using computer software on a PC. Using information technology in control systems design and simulation would be helpful in understanding control theory and technology.
In this course, after reviewing the basics of control engineering, students study PID control through computer simulations. Then they study state feedback control, optimal control and state observer developed from 1960.
Students firstly install a computer software Scilab/Scicos, a free software for numerical analysis and simulation, in their PC. They acquire knowledge and understanding on the contents of this course by using Scilab/Scicos to do exercises and to solve assignment questions.
Important contents to be learned in this course are:
1. Review 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
Students are expected to acquire the knowledge and techniques related to DP1 of the graduate school.
<Comments>
Control technology is now widely applied to many fields of modern world. It is getting more and more important for scientists and engineers to understand control theory and technology.
On the other hand, with the progress of information technology, it has become easy to design and to simulate control systems by using computer software on a PC. Using information technology in control systems design and simulation would be helpful to understand control theory and technology.
In this course, after reviewing the basics of control engineering, students will study PID control through computer simulations. Then they will study state feedback control, optimal control, and state observer developed from 1960.
Students firstly install a computer software Scilab/Scicos, a free software for numerical analysis and simulation, in their PC. They acquire knowledge and understanding on the contents of this course by using Scilab/Scicos to do exercises and to solve assignment questions.
Important contents to be learned in this course are:
1. Review 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
Students are expected to acquire the knowledge and techniques related to DP1 of the graduate school.
|
| ２． |
Objectives |
|
The first objective is for students to learn and understand the principles and the applications of control engineering based on modern control theory, which makes it possible to overcome the difficulties which arise when classical control technologies such as PID control are applied to complicated and/or large-scaled systems. Advanced control engineering has become more important because social, industrial and mechanical systems of our age are so complicated and/or sophisticated that they need to be properly and accurately controlled without a great deal of human intervention.
The second objective is to master a free software 'Scilab/Scicos' for numerical calculations, controller designs and control simulations.
<Comments>
The first objective is for students to learn and understand the principles and the applications of control engineering based on modern control theory, which makes it possible to overcome the difficulties which arise when classical control technologies such as PID control are applied to complicated and/or large-scaled systems. Advanced control engineering has become more important because social, industrial, and mechanical systems of our age are so complicated and/or sophisticated that they need to be properly and accurately controlled without a great deal of human intervention.
The second objective is to master a free software 'Scilab/Scicos' for numerical calculations, controller designs and control simulations.
|
| ３． |
Grading Policy |
|
Grading policy is based on assignment reports (30%), and on final examination at the campus (70%). The report is sent back to the student with comments of the teacher.
<Comments>
Grading policy is based on assignment reports (30%), and on final examination at the campus (70%). The report is sent back to the student with comments from the teacher.
|
| ４． |
Textbook and Reference |
|
Text books: (1) H. Hashimoto, et al., "Basics of systems control learned with Scilab", Ohm publishing Co. (2007) (in Japanese) (2) H. Hashimoto, et al., "Basics of simulations learned with Scilab/Scicos", Ohm publishing Co. (2008) (in Japanese)Reference books: (1) H. Kimura, "Principles of control engineering", Koudansya Blue Backs (in Japanese)(2) S. Utsui, "Mechanical control, illustrated", Ohm publishing Co. (2007) (in Japanese)
|
| ５． |
Requirements (Assignments) |
|
In this course, it is necessary to have basic understanding in mathematics, especially in differentials and integrals, and in classical control theory and technology. When students are lacking in these, they should study these with the textbook and with other related books and write down the things studied in a notebook. This course has 15 sessions and at each session, students should spend at least two hours in average for the above preparation study before the session and review after the session.
Students should spend at least 30 hours in total for preparation, review, exercise and assignment work and writing reports.
|
| ６． |
Note |
|
In this course, students are required to install Scilab/Scicos (free software) in a Windows PC.
|
| 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
|
| ３. Introduction to Scilab/Scicos |
| ４. System responses in the time domain |
５. Stability of the system, PID control
<Comments>
訂正無し |
| ６. Mastering Scicos, PID control simulation |
| ７. Exercises on 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. Exercises on optimal servo system |
| 15. Review and exercises |
|
| １． |
Outline |
|
Control technology is now widely applied to many fields of modern world. It is more and more important for scientists and engineers to understand control theory and technology.
On the other hand, with the progress of information technology, it has become easy to design and to simulate control systems by using computer software on a PC. Using information technology in control systems design and simulation would be helpful in understanding control theory and technology.
In this course, after reviewing the basics of control engineering, students study PID control through computer simulations. Then they study state feedback control, optimal control and state observer developed from 1960.
Students firstly install a computer software Scilab/Scicos, a free software for numerical analysis and simulation, in their PC. They acquire knowledge and understanding on the contents of this course by using Scilab/Scicos to do exercises and to solve assignment questions.
Important contents to be learned in this course are:
1. Review 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
Students are expected to acquire the knowledge and techniques related to DP1 of the graduate school.
<Comments>
Control technology is now widely applied to many fields of modern world. It is getting more and more important for scientists and engineers to understand control theory and technology.
On the other hand, with the progress of information technology, it has become easy to design and to simulate control systems by using computer software on a PC. Using information technology in control systems design and simulation would be helpful to understand control theory and technology.
In this course, after reviewing the basics of control engineering, students will study PID control through computer simulations. Then they will study state feedback control, optimal control, and state observer developed from 1960.
Students firstly install a computer software Scilab/Scicos, a free software for numerical analysis and simulation, in their PC. They acquire knowledge and understanding on the contents of this course by using Scilab/Scicos to do exercises and to solve assignment questions.
Important contents to be learned in this course are:
1. Review 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
Students are expected to acquire the knowledge and techniques related to DP1 of the graduate school.
|
| ２． |
Objectives |
|
The first objective is for students to learn and understand the principles and the applications of control engineering based on modern control theory, which makes it possible to overcome the difficulties which arise when classical control technologies such as PID control are applied to complicated and/or large-scaled systems. Advanced control engineering has become more important because social, industrial and mechanical systems of our age are so complicated and/or sophisticated that they need to be properly and accurately controlled without a great deal of human intervention.
The second objective is to master a free software 'Scilab/Scicos' for numerical calculations, controller designs and control simulations.
<Comments>
The first objective is for students to learn and understand the principles and the applications of control engineering based on modern control theory, which makes it possible to overcome the difficulties which arise when classical control technologies such as PID control are applied to complicated and/or large-scaled systems. Advanced control engineering has become more important because social, industrial, and mechanical systems of our age are so complicated and/or sophisticated that they need to be properly and accurately controlled without a great deal of human intervention.
The second objective is to master a free software 'Scilab/Scicos' for numerical calculations, controller designs and control simulations.
|
| ３． |
Grading Policy |
|
Grading policy is based on assignment reports (30%), and on final examination at the campus (70%). The report is sent back to the student with comments of the teacher.
<Comments>
Grading policy is based on assignment reports (30%), and on final examination at the campus (70%). The report is sent back to the student with comments from the teacher.
|
| ４． |
Textbook and Reference |
|
Text books: (1) H. Hashimoto, et al., "Basics of systems control learned with Scilab", Ohm publishing Co. (2007) (in Japanese) (2) H. Hashimoto, et al., "Basics of simulations learned with Scilab/Scicos", Ohm publishing Co. (2008) (in Japanese)Reference books: (1) H. Kimura, "Principles of control engineering", Koudansya Blue Backs (in Japanese)(2) S. Utsui, "Mechanical control, illustrated", Ohm publishing Co. (2007) (in Japanese)
|
| ５． |
Requirements (Assignments) |
|
In this course, it is necessary to have basic understanding in mathematics, especially in differentials and integrals, and in classical control theory and technology. When students are lacking in these, they should study these with the textbook and with other related books and write down the things studied in a notebook. This course has 15 sessions and at each session, students should spend at least two hours in average for the above preparation study before the session and review after the session.
Students should spend at least 30 hours in total for preparation, review, exercise and assignment work and writing reports.
|
| ６． |
Note |
|
In this course, students are required to install Scilab/Scicos (free software) in a Windows PC.
|
| 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
|
| ３. Introduction to Scilab/Scicos |
| ４. System responses in the time domain |
５. Stability of the system, PID control
<Comments>
訂正無し |
| ６. Mastering Scicos, PID control simulation |
| ７. Exercises on 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. Exercises on optimal servo system |
| 15. Review and exercises |
|
|