科目番号
開講年度
期間
曜日時限
開講学部等
2017
前学期
火2
理工学研究科情報工学専攻
講義コード
科目名[英文名]
単位数
R00678001
Advanced Control Engineering
2
担当教員[ローマ字表記]
玉城 史朗
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.
達成目標
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.
評価基準と評価方法
Report 100%
履修条件
Knowledge of differential equation and optimization technique, and linear Algebra are needed.
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
事前学習
Doing thorough preparatory preparations.
事後学習
To do thorough review of the lecture.
教科書にかかわる情報
教科書全体備考
Nonlinear and Adaptive Control Design
参考書にかかわる情報
参考書全体備考
Applied Optimal Control and Estimation
使用言語
日本語
メッセージ
オフィスアワー
Monday 15:00-17:00
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