■授業内容と方法 |
This lecture give a view to the largely unexplored landscape of linear and non-linear systems with uncertainties. The main subject is feedback design of such systems. The general design method of Luenburger obserber, Kalman filter and Optimal controller design are given. For non-linear systems, Liapunov's direct method is applied to controller design. This method is assure the stability of the closed-system. Furthermore, adaptive controller design method by using parameter estimation and state estimation simultaneously is introduced.
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■達成目標 |
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■評価基準と評価方法 |
Report 100%
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■履修条件 |
Knowledge of differential equation and optimization technique, and linear Algebra are needed.
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■授業計画 |
1. Introduction to modern control theory Part 1 Continuous time design 2. Linear state variable system 3. Optimal control of continuous-time system 4. Output feedback design 5. Linear quadratic regulator problem Part 2 Discrete time design 6. Introduction to digital system 7. State space description of multivariable system 8. State estimation observer 9. Design of Kaman filter Part 3. Non-linear and adaptive control system 10. Linear adaptive controller 11. Adaptive non-linear control 12. Liapunov based controller design 13. Self tuning regulator Part 4 14. Some topics of modern controller design 15. Conclusions and remarks of the lecture
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■事前・事後学習 |
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■教科書 |
ISBN |
Nonlinear and Adaptive Control Design
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■参考書 |
ISBN |
Applied Optimal Control and Estimation
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■備考(メッセージ) |
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■オフィスアワー |
Monday 15:00-17:00
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■メールアドレス |
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■URL |
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