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システム/制御/情報 Vol. 20 (2007), No. 6

ISIJ International
belloff
オンライン版ISSN: 2185-811X
冊子版ISSN: 1342-5668
発行機関: THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)

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キーワードランキング

21 Nov. (Last 30 Days)

システム/制御/情報 Vol. 20 (2007), No. 6

ビヘイビアアプローチに基づく離散時間最小二乗規範型推定について

金子 修, 藤井 隆雄

pp. 227-237

DOI:

10.5687/iscie.20.227

抄録

This paper addresses discrete-time least-squares estimation in a behavioral framework. Firstly, we formulate the problem we attack here in a behavioral setting. Next, we provide some new results on polynomial matrices, spectral factorizations and dissipation theory. By using these new results, we then give a necessary and sufficient condition for a latent variable to yield the optimal estimation of the measured signal with observations on the theoretical differences between the discrete-and the continuous-time case. Then, we discuss issues on the implementation of the optimal estimator and we give a real-time algorithm so as to obtain the optimal estimation on-line. In order to show the validity of the results, we also give a simple numerical example.

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ビヘイビアアプローチに基づく離散時間最小二乗規範型推定について

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Ris

l2性能保証領域に基づく飽和を有する離散時間ロバスト制御系の切替制御と実験的検証

長谷川 貴紀, 木山 健, 竹川 正浩

pp. 238-247

DOI:

10.5687/iscie.20.238

抄録

This paper considers methods for regional robust l2 performance analysis and its state feedback control synthesis of linear time invariant discrete-time systems with saturation nonlinearities via a polytopic approach for the nonlinearities. For the analysis and synthesis, a domain of l2 performance is defined as a domain of initial states guaranteed with l2 performance and exponential stability one. The solvability conditions of the analysis and synthesis problem based on the domain can be recasted as linear matrix inequalities via level sets of quadratic Lyapunov functions, the polytopic approach and constant scaling matrices for the robustness. However, the single state feedback gain without switching cannot achieve non-conservative control performance due to evaluating an admissible set of the exogenous inputs to be large. Specifically, when the exogenous input, the state and the performance output are measurable such as a tracking control problem for servo control systems, this paper proposes a switching control of the state feedback gains designed by the derived synthesis conditions using off-line computation in order to reduce conservativeness of the results without the switching. Finally, this paper verifies effectiveness of our proposed switching control method through a simulation and an experiment.

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l2性能保証領域に基づく飽和を有する離散時間ロバスト制御系の切替制御と実験的検証

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グラフ電卓を利用した制御系解析・設計用ライブラリ

川谷 亮治, 高田 直人

pp. 248-254

DOI:

10.5687/iscie.20.248

抄録

The graphing calculator, Voyage200, is a calculator which has the Derive system as a computational engine and can do symbolic manipulation. It has a large liquid crystal display (128 × 240 pixels) as for a calculator and various responses can be drawn on it. Furthermore, it can be easy to make user-defined functions on it and extend to solve specified problems. Taking notice of the high potential and its portability, we develop the library for analysis and synthesis of linear control systems. In this paper, we introduce typical programs including our library which consists of programs more than 100 and examine the effectiveness at the stand point of control education. According to the results of several examples, our system may be available for the 4th order systems or less, as regards computational time. However, it must be enough as education of the beginners of control engineering and powerful handheld tool.

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グラフ電卓を利用した制御系解析・設計用ライブラリ

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プロジェクトのためのダミーとその必要量に関する一考察

諏訪 晴彦, 三道 弘明

pp. 255-261

DOI:

10.5687/iscie.20.255

抄録

The present study considers a new slack-based strategy for project scheduling, which introduces dummies. A dummy corresponds to an unforced slack time and is used for absorption of schedule delays caused by disturbances during the schedule execution. In this paper, we propose a mathematical model for determining an optimal dummy size K* to be inserted into a baseline schedule of a given project, considering the costs for dummies as well as those for schedule delays caused by disturbances. We first describe the concept of dummy and then formulate the total expected cost of a schedule with dummies. Clarified are the conditions on which a unique finite optimal dummy size K* exists, where the total expected cost is minimized. We also discuss the characteristics and the effectiveness of the proposed model through some numerical examples.

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プロジェクトのためのダミーとその必要量に関する一考察

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不確かな線形システムに対する厳密なロバストH2性能解析

福本 寛子, 藤崎 泰正

pp. 262-267

DOI:

10.5687/iscie.20.262

抄録

Exact robust H2 performance analysis is considered for linear time-invariant systems whose coefficient matrices are polynomials of a single parameter. A necessary and sufficient condition for the robust H2 performance is derived as a set of parameterized LMIs whose variable matrix is a polynomial of the parameter, where a bound of its degree is given explicitly. Then, the parameterized LMIs are transformed exactly to parameter-independent and finite-dimensional LMIs.

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不確かな線形システムに対する厳密なロバストH2性能解析

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ロボットマニピュレータのリンク摩擦補償を含む適応H∞制御

佐藤 和也, 向井 寛, 鶴田 和寛

pp. 271-273

DOI:

10.5687/iscie.20.271
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ロボットマニピュレータのリンク摩擦補償を含む適応H∞制御

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