Transactions of the Institute of Systems, Control and Information Engineers
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ONLINE ISSN: 2185-811X
PRINT ISSN: 1342-5668

Transactions of the Institute of Systems, Control and Information Engineers Vol. 13 (2000), No. 1

  • Asymptotically Optimal RLS Adaptive Identification Algorithms

    pp. 1-13

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    DOI:10.5687/iscie.13.1

    A major, and yet unresolved, problem has been the choice of the gain adjusting parameter in some parameter estimation algorithms. This paper presents an adaptive setting method of the forgetting factor for estimating time-varying parameters when the Recursive Least Squares (RLS) algorithm is used. The method is to choose the forgetting factor λ so as to minimize the performance index defined by E {ε2t (λ)} where εt (λ) is the prediction error based on some λ. This is concretely done by solving the minimization problem of a certain object function with respect to λ. It is shown that this object function is unimodal with respect to λ and thus the minimization can be attained by using the stochastic Newton method. As a result, the proposed method becomes asymptotically optimal. The resultant algorithm can be executed by linking the minimization routine with RLS.
    Numerical examples indicate acceptable performance.
  • Simultaneous Optimal Design of Structural and Control Systems in Flexible Structures

    pp. 14-19

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    DOI:10.5687/iscie.13.14

    A simultaneous optimal design problem of structural and control systems is discussed for a 3-dimensional truss structure as an object. We use descriptor forms for a controlled object and a generalized plant because the structural parameters appear naturally in these forms. As the design purpose, we consider minimum weight design problem for structural system and suppression problem of the influence of disturbances for control system.
  • CAD/CAM Software for Extremely Low Repetitive Machining Center Work of Block Like Components Using Automatic Setup Free Block Machining Technology

    pp. 20-29

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    DOI:10.5687/iscie.13.20

    Setup-Free Block-Machining Technology has been studied in the interest of manufacturing extremely low repetitive and high variability products, in shorter throughput time and for reduced cost than using conventional machining methods. By specially designed setup-free attachment mounted on the table of a horizontal machining center, block like components, falling into a small size range, can be automatically machined from all of the six orientations in only one process without using other fixtures. To establish procedures and technologies for automatic operation of the single process block machining equipment, the Personal Computer (PC) Based CAD/CAM software, of which CAM phase generates NC program automatically, is structured. Machining Feature-based CAD concept, that is a subset of the parametric feature-based design principle but limiting the user's choice to features machinable by machining centers, is the principal methodology that makes the CAD output possible to be automatically processed in the CAM phase for generating the NC program.
  • Partial Pole Placement with Specified Stability Margins

    pp. 30-37

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    DOI:10.5687/iscie.13.30

    This paper proposes a design method of a state feedback gain which simultaneously achieves specified gain and phase margins and partial pole placement. Gain and phase margins are guaranteed by imposing quadratic constraints on open-loop transfer functions. Also, partial pole placement is done by using the same gain parametrization as in the polynomial ILQ method. It is shown that our design problem is formulated as a feasibility problem with LMI constraints and a non-linear equality constraint.
  • On Decoupling Control for a Mechanical System with Parameter Perturbations

    pp. 38-45

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    DOI:10.5687/iscie.13.38

    Parameter perturbations on decoupling control problem of linear multivariable systems are discussed in this paper. Fabian & Wonham had considered this problem. But the class of parameter perturbations that they studied preserved the decoupling property restrictive. The new class of parameter perturbation which preserves only the decoupling property is derived here. The proposed procedure for calculating the class is useful to mechanical systems when parameter perturbations are confined to specific elements. Experimental results show that this method is effective for a simple mass-spring system. Robust stability is also discussed in this experiment.
  • A Design Method of PID Controllers for First-Order Lag with Dead Time Based on Partial Model Matching

    pp. 46-52

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    DOI:10.5687/iscie.13.46

    This paper is concerned with a design method of robust PID controllers for first-order lag with dead time. PID controllers have been widely used as they are easy to be tuned up. Ziegler-Nichols rule gives the parameters of a PID controller simply from the time constant, the dead time and the gain of the given plant. Although the rule is well-known and widely used, designed PID controllers does not attain the satisfactory performance even with the given nominal plant. This paper proposes a simple design method of robust PID controllers based on partial model matching. The proposed method gives the time constant of the closed-loop systems simply from the time constant and the dead time of the given plant.
  • A Limiting Property of the Inverse of Sampled-data Systems on a Finite Time Interval

    pp. 53-64

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    DOI:10.5687/iscie.13.53

    It is tricky to predict the limiting property of the inverse of sampled-data systems obtained from linear continuous-time systems in a finite-time domain when the sampling period goes to 0. The reason is that, in some cases, all zeros tend to the boundary between the stable and unstable areas when the sampling period goes to 0, while the number of sample points goes to infinity. In this paper, we discuss the limiting property of the case of relative degree 2. It is demonstrated that inverse sampled-data systems converge to inverse continuous-time systems on the finite-time domain independently of the stability of zeros.

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