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Transactions of the Institute of Systems, Control and Information Engineers
Vol. 20 (2007), No. 6

Transactions of the Institute of Systems, Control and Information Engineers Vol. 20 (2007), No. 6

Discrete-time Least-squares Estimation in a Behavioral Framework

Osamu KANEKO, Takao FUJII

pp. 227-237

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Discrete-time Least-squares Estimation in a Behavioral Framework

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DOI:10.5687/iscie.20.227

Abstract

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.
Switching Control and Its Experimental Verification Based on Domain of l₂ Performance for Discrete-time Robust Control Systems with Saturation Nonlinearities

Takanori HASEGAWA, Tsuyoshi KIYAMA, Masahiro TAKEKAWA

pp. 238-247

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Switching Control and Its Experimental Verification Based on Domain of l₂ Performance for Discrete-time Robust Control Systems with Saturation Nonlinearities

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DOI:10.5687/iscie.20.238

Abstract

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.
Library for Analysis and Synthesis of Control Systems Using the Graphing Calculator

Ryoji KAWATANI, Naoto TAKADA

pp. 248-254

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Library for Analysis and Synthesis of Control Systems Using the Graphing Calculator

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DOI:10.5687/iscie.20.248

Abstract

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.
A Study on Dummy Size to be Allocated to a Project Schedule

Haruhiko SUWA, Hiroaki SANDOH

pp. 255-261

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A Study on Dummy Size to be Allocated to a Project Schedule

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DOI:10.5687/iscie.20.255

Abstract

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.
Exact Robust H₂ Performance Analysis for Linear Single-Parameter Dependent Systems

Hiroko FUKUMOTO, Yasumasa FUJISAKI

pp. 262-267

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Exact Robust H₂ Performance Analysis for Linear Single-Parameter Dependent Systems

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DOI:10.5687/iscie.20.262

Abstract

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.
Effects of Approximate Derivative to Optimal Parameter Values in Two-Degree-of-Freedom PID Control Systems

Hidefumi TAGUCHI

pp. 268-270

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Effects of Approximate Derivative to Optimal Parameter Values in Two-Degree-of-Freedom PID Control Systems

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DOI:10.5687/iscie.20.268
Adaptive H_∞ Control for Robotic Arm with Link Friction Compensation

Kazuya SATO, Hiroshi MUKAI, Kazuhiro TSURUTA

pp. 271-273

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Adaptive H_∞ Control for Robotic Arm with Link Friction Compensation

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DOI:10.5687/iscie.20.271

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