授業/制御工学特論2012
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開始行:
*Advanced Automation [#i4b9e296]
** &color(green){[lecture #1]}; 2012.9.6 review of classi...
#ref(2012.09.06-1.jpg,left,noimg,whiteboard #1);
#ref(2012.09.06-2.jpg,left,noimg,whiteboard #2);
#ref(2012.09.06-3.jpg,left,noimg,whiteboard #3);
#ref(2012.09.06-4.jpg,left,noimg,whiteboard #4);
** &color(green){[lecture #2]}; 2012.9.20 given by Prof. ...
** &color(green){[lecture #3]}; 2012.9.27 CACSD introduct...
+ introduction of Matlab and Simulink
--[[Basic usage of MATLAB and Simulink>/:~kobayasi/eastti...
used for 情報処理演習及び考究II/Consideration and Practic...
//
+ relationship between &color(black,cyan){TF}; and &color...
#ref(ex0927_1.m)
//
+ open-loop stability can be checked by &color(black,cyan...
#ref(ex0927_2.m)
#ref(mod0927_2.mdl)
//
+ closed-loop stability
-- graphical test by &color(black,yellow){Nyquist stabili...
#ref(ex0927_3.m)
#ref(mod0927_3.mdl)
-- numerical test by &color(black,cyan){poles of closed-l...
#ref(ex0927_4.m)
-- example: stabilization of unstable system
#ref(ex0927_5.m)
#ref(mod0927_5.mdl)
%-- 9/27/2012 1:07 PM --%
a = 1
pwd
G1 = 1/(s+1)
ex0927_1
G1 = 1/(s+1)
A
ex0927_2
G2_tf
G2_tf.den
G2_tf.den{:}
G2_tf.num{:}
eig(G2_tf)
G2_ss.a
eig(G2_ss.a)
G2_ss
G2_ss.a
G2_ss.b
ex0927_3
nyquist(1.5*G3_tf)
nyquist(-1.5*G3_tf)
bode(-1.5*G3_tf)
bode(1.5*G3_tf)
K
K = 1
ex0927_4
ex0927_5
A
eig(A)
K = 0
K=1
ex0927_5
#ref(2012.09.27-1.jpg,left,noimg,whiteboard #1);
#ref(2012.09.27-2.jpg,left,noimg,whiteboard #2);
** &color(green){[lecture #4]}; 2012.10.4 Intro. to robus...
+ Typical design problems
++ robust stabilization
++ &color(black,yellow){performance optimization};
++ robust performance problem (robust stability and perfo...
//
+ H infinity norm
-- definition
-- example
//
+ H infinity control problem
-- definition
-- application example : reference tracking problem
--- relation to the sensitivity function S(s) (S(s) -> 0 ...
--- given control system
#ref(ex1004_1.m)
please change the line `K = 1' to `K = ss(1)'
--- controller design with H infinity control theory
#ref(ex1004_2.m)
%-- 10/4/2012 1:11 PM --%
s = tf('s')
G = 1/(s+1)
norm(G, 'inf')
help norm
ex1004_1
ex1004_2
K
K_hinf
size(K_hinf.a)
#ref(2012.10.04-1.jpg,left,noimg,whiteboard #1);
#ref(2012.10.04-2.jpg,left,noimg,whiteboard #2);
#ref(2012.10.04-3.jpg,left,noimg,whiteboard #3);
** &color(green){[lecture #5]}; 2012.10.11 Introduction t...
+ Typical design problems
++ &color(black,yellow){robust stabilization}; ... &color...
++ performance optimization; ... &color(red){plant has no...
++ robust performance problem (robust stability and perfo...
//
+ connection between H infinity control problem and robus...
-- normalized uncertainty \Delta
-- small gain theorem
-- sketch proof ... Nyquist stability criterion
+ How to design robust stabilizing controller with H infi...
-- connection between \Delta and plant ?
-- generalized plant G ?
-- practical example of robust stabilization problem
--- unstable plant with perturbation
#ref(ex1011_1.m)
--- multiplicative uncertainty model
#ref(ex1011_2.m)
--- H infinity controller design
#ref(ex1011_3.m)
#ref(mod1011.mdl)
%-- 10/11/2012 12:56 PM --%
ex1011_1
ex1011_2
ex1011_3
mod1011
ex1011_1
P
ex1011_2
1i
j
j = 2
1i = 2
ex1011_3
mod1011
c = 0.8
c = 1.2
c = 1.3
c = 2
#ref(2012.10.11-1.jpg,left,noimg,whiteboard #1);
#ref(2012.10.11-2.jpg,left,noimg,whiteboard #2);
#ref(2012.10.11-3.jpg,left,noimg,whiteboard #3);
** &color(green){[lecture #6]}; 2012.10.18 Introduction t...
+ review
-- robust stabilization ... ||WT T||_inf < 1 (for multipl...
-- performance optimization ... ||WS S||_inf < gamma -> min
-- mixed sensitivity problem gives &color(red){a sufficie...
//
+ proof of small gain theorem ... Nyquist stability crite...
+ mixed sensitivity problem
-- the sufficient condition
-- exercise
#ref(ex1018_1.m);
#ref(ex1018_1_ans.m);
#ref(mod1018.mdl);
%-- 10/18/2012 12:56 PM --%
mod1018
ex1018_1
input_to_P0
WT
WSgam
systemnames
ex1018_1
G
ex1018_1
#ref(2012.10.18-1.jpg,left,noimg,whiteboard #1);
#ref(2012.10.18-2.jpg,left,noimg,whiteboard #2);
#ref(2012.10.18-3.jpg,left,noimg,whiteboard #3);
** &color(green){[lecture #7]}; 2012.10.25 singular value...
- review of mixed sensitivity problem
- definition of SVD and maximum singular value
%-- 10/25/2012 1:27 PM --%
A = [1, 2, 3; 4, 5, 6]
[U, Sigma, V] = svd(A)
U*U'
U'*U
V'*V
[U, Sigma, V] = svd(A')
A = [1, 2, 3; 4, 5, 1i]
[U, Sigma, V] = svd(A)
#ref(2012.10.25-1.jpg,left,noimg,whiteboard #1);
#ref(2012.10.25-2.jpg,left,noimg,whiteboard #2);
#ref(2012.10.25-3.jpg,left,noimg,whiteboard #3);
#ref(2012.10.25-4.jpg,left,noimg,whiteboard #4);
** &color(green){[lecture #8]}; 2012.11.1 Robust performa...
- review of the proof
- nominal and robust performance (motivation of robust pe...
-- setting for P0 and WT
#ref(ex1101_1.m);
-- controller design with mixed sensitivity problem
#ref(ex1101_2.m);
-- robust performance is not satisfied
#ref(ex1101_3.m);
- %%how to tackle with the robust performance problem (a ...
//#ref(ex1101_4.m);
- %%less conservative design with scaled H infinity contr...
//#ref(ex1101_5.m);
%-- 11/1/2012 1:37 PM --%
ex1101_1
ex1101_2
K
ex1101_2
ex1101_3
#ref(2012.11.01-1.jpg,left,noimg,whiteboard #1);
#ref(2012.11.01-2.jpg,left,noimg,whiteboard #2);
** &color(green){[lecture #9]}; 2012.11.8 Robust performa...
- review: mixed sensitivity problem = robust stability + ...
- how to tackle with the robust performance problem
++ introduction of a fictitious uncertainty
++ the maximum singular value of block diagonal matrices ...
#ref(ex1101_4.m);
++ intruduction of scalling matrix ---> less conservative...
#ref(ex1101_5.m);
%-- 11/8/2012 1:29 PM --%
ex1101_4
ex1101_1
ex1101_2
ex1101_3
ex1101_4
ex1101_5
#ref(2012.11.08-1.jpg,left,noimg,whiteboard #1);
#ref(2012.11.08-2.jpg,left,noimg,whiteboard #2);
#ref(2012.11.08-3.jpg,left,noimg,whiteboard #3);
#ref(2012.11.08-4.jpg,left,noimg,whiteboard #4);
** &color(green){[lecture #10]}; 2012.11.15 Robust perfor...
- review of scaled H infinity control problem
++ ex1101_4.m, ex1101_5.m ... What does the designed resu...
++ How was the class of scaling determined ?
++ effect of scaling on closed-loop H infinity norm ... m...
%-- 11/15/2012 1:08 PM --%
ex1101_1
ex1101_2
ex1101_3
ex1101_4
ex1101_5
-13/20
10**-0.65
10^-0.65
ex1101_4
K
ex1101_4
ex1101_5
gam
K
d
gam
K
sigma(mdiag(1,1/gam)*lft(G,K))
sigma(mdiag(1/d,1/gam)*lft(G,K)*mdiag(d,1),'r')
sigma(mdiag(1,1/gam)*lft(G,K))
hold on
sigma(mdiag(1/d,1/gam)*lft(G,K)*mdiag(d,1),'r')
#ref(2012.11.15-1.jpg,left,noimg,whiteboard #1);
#ref(2012.11.15-2.jpg,left,noimg,whiteboard #2);
#ref(2012.11.15-3.jpg,left,noimg,whiteboard #3);
** &color(green){[lecture #11]}; 2012.11.22 will be given...
** &color(green){[lecture #12]}; 2012.11.29 will be given...
** &color(green){[lecture #13]}; 2012.12.6 Robust control...
- Experimental setup
#ref(photo1.jpg,left,noimg,photo1);
#ref(photo2.jpg,left,noimg,photo2);
#ref(photo3.jpg,left,noimg,photo3);
#ref(photo4.jpg,left,noimg,photo4);
#ref(photo5.jpg,left,noimg,photo5);
-- linear motor : FOSTEX &color(red){FW-};208N (corn, edg...
-- PSD(Position Sensitive Detector) : Hamamatsu Photonics...
-- Potentio meter : Midori Precisions Model QP-2H
-- PC : Dell Dimension 2400 (Intel Celeron 2.4G, Linux 2....
-- D/A : CONTEC DA12-4 (PCI) 12bit, 10us
-- A/D : CONTEC AD12-16 (PCI) 12bit, 10us
-- He-Ne Laser : NEC GLG5230
- Objective for control system design
++ to attenuate vibration due to pendulum oscillation
++ robust stability against modelling error due to non-li...
- Modelling
-- frequency response experiment results:
#ref(frdata_amp005.dat);
#ref(frdata_amp010.dat);
#ref(frdata_amp020.dat);
&color(red){due to some change on experimental apparatus,...
#ref(frdata_amp005_1st.dat);
#ref(frdata_amp010_1st.dat);
#ref(frdata_amp020_1st.dat);
#ref(frdata_amp005_2nd.dat);
#ref(frdata_amp005_3rd.dat);
#ref(frdata_amp005_4th.dat);
-- example of m-files &color(red){(the following files ha...
#ref(freqresp.m)
#ref(nominal.m)
#ref(weight.m);
>> freqresp
>> nominal
>> weight
- Controller design (robust performance problem)
-- example of m-file
#ref(cont.m)
>> cont
-- design example
#ref(cont.dat)
#ref(cont_order.dat)
#ref(cont.mat)
#ref(result.dat)
#ref(result_no.dat)
-- example of m-file to compare designed controllers
#ref(compare.m)
- report
+design your controller(s) so that the system performance...
+Draw the following figures and explain the difference be...
++bode diagram of controllers
++gain characteristic of closed-loop systems
++time response of control experiment
+Why is the performance of your system improved(or unfort...
--&size(30){&color(red){due date: 27th(Thu) Dec 17:00};};
--submit your report(pdf or doc) by e-mail to kobayasi@na...
--You can use Japanese
--maximum controller order is 20
--submit your cont.dat, cont_order.dat, and cont.mat to k...
- program sources for frequency response experiment
#ref(freqresp.h)
#ref(freqresp_module.c)
#ref(freqresp_app.c)
-- format of frdata.dat file
--- 1st column: frequency (Hz)
--- 2nd column: gain
--- 3rd column: phase (deg)
--- 4th column: gain
--- 5th column: phase (deg)
- program sources for control experiment
#ref(hinf.h)
#ref(hinf_module.c)
#ref(hinf_app.c)
-- format of result.dat file
--- 1st column: time (s)
--- 2nd column: PSD output (V)
--- 3rd column: Potentio meter output (V)
--- 4th column: control input (V)
--- 5th column: input disturbance (V)
- configuration of control experiment
-- input disturbance is given as described in hinf_module...
if(t < 0.1){
w = DIST_AMP;
}else{
w = 0;
}
da_conv(V_OFFSET + w, 0); // D/A output for linear motor
freqresp
nominal
help n4sid
load result.dat
load result_no.dat
plot(result(:,1),result(:,3),'r',result_no(:,1),result_n...
plot(result(:,1),result(:,3),'r',result_no(:,1),result_n...
#ref(2012.12.06-1.jpg,left,noimg,whiteboard #1);
#ref(2012.12.06-2.jpg,left,noimg,whiteboard #2);
&color(red){... please use the potentio meter output as t...
#ref(2012.12.06-3.jpg,left,noimg,whiteboard #3);
#ref(2012.12.06-4.jpg,left,noimg,whiteboard #4);
** &color(green){[lecture #14]}; 2012.12.13 Robust contro...
&size(20){&color(red){IMPOTANT};:due to some change on ex...
-explanation of design example (cont. from the previous l...
-preparation of your own controller(s)
%-- 12/13/2012 12:59 PM --%
freqresp
pwd
freqresp
nominal
P0
weight
cont
compare
load result.dat
plot(result(:,1),result(:,3));
load result_no.dat
plot(result_no(:,1),result_no(:,3),'b',result(:,1),resul...
plot(result_no(:,1),result_no(:,2),'b',result(:,1),resul...
plot(result_no(:,1),result_no(:,4),'b',result(:,1),resul...
#ref(2012.12.13-1.jpg,left,noimg,whiteboard #3);
** &color(green){[lecture #15]}; 2012.12.20 Robust contro...
-preparation of your own controller(s)
#ref(load_frdata.m)
[[participant list2012]]
**related links [#y9f6a832]
//-東ティモール工学部復興支援/support of rehabilitation f...
//--[[How to control objects>/:~kobayasi/easttimor/2009/i...
--[[Prof. Kimura's page>http://sessyu.nagaokaut.ac.jp/~ki...
終了行:
*Advanced Automation [#i4b9e296]
** &color(green){[lecture #1]}; 2012.9.6 review of classi...
#ref(2012.09.06-1.jpg,left,noimg,whiteboard #1);
#ref(2012.09.06-2.jpg,left,noimg,whiteboard #2);
#ref(2012.09.06-3.jpg,left,noimg,whiteboard #3);
#ref(2012.09.06-4.jpg,left,noimg,whiteboard #4);
** &color(green){[lecture #2]}; 2012.9.20 given by Prof. ...
** &color(green){[lecture #3]}; 2012.9.27 CACSD introduct...
+ introduction of Matlab and Simulink
--[[Basic usage of MATLAB and Simulink>/:~kobayasi/eastti...
used for 情報処理演習及び考究II/Consideration and Practic...
//
+ relationship between &color(black,cyan){TF}; and &color...
#ref(ex0927_1.m)
//
+ open-loop stability can be checked by &color(black,cyan...
#ref(ex0927_2.m)
#ref(mod0927_2.mdl)
//
+ closed-loop stability
-- graphical test by &color(black,yellow){Nyquist stabili...
#ref(ex0927_3.m)
#ref(mod0927_3.mdl)
-- numerical test by &color(black,cyan){poles of closed-l...
#ref(ex0927_4.m)
-- example: stabilization of unstable system
#ref(ex0927_5.m)
#ref(mod0927_5.mdl)
%-- 9/27/2012 1:07 PM --%
a = 1
pwd
G1 = 1/(s+1)
ex0927_1
G1 = 1/(s+1)
A
ex0927_2
G2_tf
G2_tf.den
G2_tf.den{:}
G2_tf.num{:}
eig(G2_tf)
G2_ss.a
eig(G2_ss.a)
G2_ss
G2_ss.a
G2_ss.b
ex0927_3
nyquist(1.5*G3_tf)
nyquist(-1.5*G3_tf)
bode(-1.5*G3_tf)
bode(1.5*G3_tf)
K
K = 1
ex0927_4
ex0927_5
A
eig(A)
K = 0
K=1
ex0927_5
#ref(2012.09.27-1.jpg,left,noimg,whiteboard #1);
#ref(2012.09.27-2.jpg,left,noimg,whiteboard #2);
** &color(green){[lecture #4]}; 2012.10.4 Intro. to robus...
+ Typical design problems
++ robust stabilization
++ &color(black,yellow){performance optimization};
++ robust performance problem (robust stability and perfo...
//
+ H infinity norm
-- definition
-- example
//
+ H infinity control problem
-- definition
-- application example : reference tracking problem
--- relation to the sensitivity function S(s) (S(s) -> 0 ...
--- given control system
#ref(ex1004_1.m)
please change the line `K = 1' to `K = ss(1)'
--- controller design with H infinity control theory
#ref(ex1004_2.m)
%-- 10/4/2012 1:11 PM --%
s = tf('s')
G = 1/(s+1)
norm(G, 'inf')
help norm
ex1004_1
ex1004_2
K
K_hinf
size(K_hinf.a)
#ref(2012.10.04-1.jpg,left,noimg,whiteboard #1);
#ref(2012.10.04-2.jpg,left,noimg,whiteboard #2);
#ref(2012.10.04-3.jpg,left,noimg,whiteboard #3);
** &color(green){[lecture #5]}; 2012.10.11 Introduction t...
+ Typical design problems
++ &color(black,yellow){robust stabilization}; ... &color...
++ performance optimization; ... &color(red){plant has no...
++ robust performance problem (robust stability and perfo...
//
+ connection between H infinity control problem and robus...
-- normalized uncertainty \Delta
-- small gain theorem
-- sketch proof ... Nyquist stability criterion
+ How to design robust stabilizing controller with H infi...
-- connection between \Delta and plant ?
-- generalized plant G ?
-- practical example of robust stabilization problem
--- unstable plant with perturbation
#ref(ex1011_1.m)
--- multiplicative uncertainty model
#ref(ex1011_2.m)
--- H infinity controller design
#ref(ex1011_3.m)
#ref(mod1011.mdl)
%-- 10/11/2012 12:56 PM --%
ex1011_1
ex1011_2
ex1011_3
mod1011
ex1011_1
P
ex1011_2
1i
j
j = 2
1i = 2
ex1011_3
mod1011
c = 0.8
c = 1.2
c = 1.3
c = 2
#ref(2012.10.11-1.jpg,left,noimg,whiteboard #1);
#ref(2012.10.11-2.jpg,left,noimg,whiteboard #2);
#ref(2012.10.11-3.jpg,left,noimg,whiteboard #3);
** &color(green){[lecture #6]}; 2012.10.18 Introduction t...
+ review
-- robust stabilization ... ||WT T||_inf < 1 (for multipl...
-- performance optimization ... ||WS S||_inf < gamma -> min
-- mixed sensitivity problem gives &color(red){a sufficie...
//
+ proof of small gain theorem ... Nyquist stability crite...
+ mixed sensitivity problem
-- the sufficient condition
-- exercise
#ref(ex1018_1.m);
#ref(ex1018_1_ans.m);
#ref(mod1018.mdl);
%-- 10/18/2012 12:56 PM --%
mod1018
ex1018_1
input_to_P0
WT
WSgam
systemnames
ex1018_1
G
ex1018_1
#ref(2012.10.18-1.jpg,left,noimg,whiteboard #1);
#ref(2012.10.18-2.jpg,left,noimg,whiteboard #2);
#ref(2012.10.18-3.jpg,left,noimg,whiteboard #3);
** &color(green){[lecture #7]}; 2012.10.25 singular value...
- review of mixed sensitivity problem
- definition of SVD and maximum singular value
%-- 10/25/2012 1:27 PM --%
A = [1, 2, 3; 4, 5, 6]
[U, Sigma, V] = svd(A)
U*U'
U'*U
V'*V
[U, Sigma, V] = svd(A')
A = [1, 2, 3; 4, 5, 1i]
[U, Sigma, V] = svd(A)
#ref(2012.10.25-1.jpg,left,noimg,whiteboard #1);
#ref(2012.10.25-2.jpg,left,noimg,whiteboard #2);
#ref(2012.10.25-3.jpg,left,noimg,whiteboard #3);
#ref(2012.10.25-4.jpg,left,noimg,whiteboard #4);
** &color(green){[lecture #8]}; 2012.11.1 Robust performa...
- review of the proof
- nominal and robust performance (motivation of robust pe...
-- setting for P0 and WT
#ref(ex1101_1.m);
-- controller design with mixed sensitivity problem
#ref(ex1101_2.m);
-- robust performance is not satisfied
#ref(ex1101_3.m);
- %%how to tackle with the robust performance problem (a ...
//#ref(ex1101_4.m);
- %%less conservative design with scaled H infinity contr...
//#ref(ex1101_5.m);
%-- 11/1/2012 1:37 PM --%
ex1101_1
ex1101_2
K
ex1101_2
ex1101_3
#ref(2012.11.01-1.jpg,left,noimg,whiteboard #1);
#ref(2012.11.01-2.jpg,left,noimg,whiteboard #2);
** &color(green){[lecture #9]}; 2012.11.8 Robust performa...
- review: mixed sensitivity problem = robust stability + ...
- how to tackle with the robust performance problem
++ introduction of a fictitious uncertainty
++ the maximum singular value of block diagonal matrices ...
#ref(ex1101_4.m);
++ intruduction of scalling matrix ---> less conservative...
#ref(ex1101_5.m);
%-- 11/8/2012 1:29 PM --%
ex1101_4
ex1101_1
ex1101_2
ex1101_3
ex1101_4
ex1101_5
#ref(2012.11.08-1.jpg,left,noimg,whiteboard #1);
#ref(2012.11.08-2.jpg,left,noimg,whiteboard #2);
#ref(2012.11.08-3.jpg,left,noimg,whiteboard #3);
#ref(2012.11.08-4.jpg,left,noimg,whiteboard #4);
** &color(green){[lecture #10]}; 2012.11.15 Robust perfor...
- review of scaled H infinity control problem
++ ex1101_4.m, ex1101_5.m ... What does the designed resu...
++ How was the class of scaling determined ?
++ effect of scaling on closed-loop H infinity norm ... m...
%-- 11/15/2012 1:08 PM --%
ex1101_1
ex1101_2
ex1101_3
ex1101_4
ex1101_5
-13/20
10**-0.65
10^-0.65
ex1101_4
K
ex1101_4
ex1101_5
gam
K
d
gam
K
sigma(mdiag(1,1/gam)*lft(G,K))
sigma(mdiag(1/d,1/gam)*lft(G,K)*mdiag(d,1),'r')
sigma(mdiag(1,1/gam)*lft(G,K))
hold on
sigma(mdiag(1/d,1/gam)*lft(G,K)*mdiag(d,1),'r')
#ref(2012.11.15-1.jpg,left,noimg,whiteboard #1);
#ref(2012.11.15-2.jpg,left,noimg,whiteboard #2);
#ref(2012.11.15-3.jpg,left,noimg,whiteboard #3);
** &color(green){[lecture #11]}; 2012.11.22 will be given...
** &color(green){[lecture #12]}; 2012.11.29 will be given...
** &color(green){[lecture #13]}; 2012.12.6 Robust control...
- Experimental setup
#ref(photo1.jpg,left,noimg,photo1);
#ref(photo2.jpg,left,noimg,photo2);
#ref(photo3.jpg,left,noimg,photo3);
#ref(photo4.jpg,left,noimg,photo4);
#ref(photo5.jpg,left,noimg,photo5);
-- linear motor : FOSTEX &color(red){FW-};208N (corn, edg...
-- PSD(Position Sensitive Detector) : Hamamatsu Photonics...
-- Potentio meter : Midori Precisions Model QP-2H
-- PC : Dell Dimension 2400 (Intel Celeron 2.4G, Linux 2....
-- D/A : CONTEC DA12-4 (PCI) 12bit, 10us
-- A/D : CONTEC AD12-16 (PCI) 12bit, 10us
-- He-Ne Laser : NEC GLG5230
- Objective for control system design
++ to attenuate vibration due to pendulum oscillation
++ robust stability against modelling error due to non-li...
- Modelling
-- frequency response experiment results:
#ref(frdata_amp005.dat);
#ref(frdata_amp010.dat);
#ref(frdata_amp020.dat);
&color(red){due to some change on experimental apparatus,...
#ref(frdata_amp005_1st.dat);
#ref(frdata_amp010_1st.dat);
#ref(frdata_amp020_1st.dat);
#ref(frdata_amp005_2nd.dat);
#ref(frdata_amp005_3rd.dat);
#ref(frdata_amp005_4th.dat);
-- example of m-files &color(red){(the following files ha...
#ref(freqresp.m)
#ref(nominal.m)
#ref(weight.m);
>> freqresp
>> nominal
>> weight
- Controller design (robust performance problem)
-- example of m-file
#ref(cont.m)
>> cont
-- design example
#ref(cont.dat)
#ref(cont_order.dat)
#ref(cont.mat)
#ref(result.dat)
#ref(result_no.dat)
-- example of m-file to compare designed controllers
#ref(compare.m)
- report
+design your controller(s) so that the system performance...
+Draw the following figures and explain the difference be...
++bode diagram of controllers
++gain characteristic of closed-loop systems
++time response of control experiment
+Why is the performance of your system improved(or unfort...
--&size(30){&color(red){due date: 27th(Thu) Dec 17:00};};
--submit your report(pdf or doc) by e-mail to kobayasi@na...
--You can use Japanese
--maximum controller order is 20
--submit your cont.dat, cont_order.dat, and cont.mat to k...
- program sources for frequency response experiment
#ref(freqresp.h)
#ref(freqresp_module.c)
#ref(freqresp_app.c)
-- format of frdata.dat file
--- 1st column: frequency (Hz)
--- 2nd column: gain
--- 3rd column: phase (deg)
--- 4th column: gain
--- 5th column: phase (deg)
- program sources for control experiment
#ref(hinf.h)
#ref(hinf_module.c)
#ref(hinf_app.c)
-- format of result.dat file
--- 1st column: time (s)
--- 2nd column: PSD output (V)
--- 3rd column: Potentio meter output (V)
--- 4th column: control input (V)
--- 5th column: input disturbance (V)
- configuration of control experiment
-- input disturbance is given as described in hinf_module...
if(t < 0.1){
w = DIST_AMP;
}else{
w = 0;
}
da_conv(V_OFFSET + w, 0); // D/A output for linear motor
freqresp
nominal
help n4sid
load result.dat
load result_no.dat
plot(result(:,1),result(:,3),'r',result_no(:,1),result_n...
plot(result(:,1),result(:,3),'r',result_no(:,1),result_n...
#ref(2012.12.06-1.jpg,left,noimg,whiteboard #1);
#ref(2012.12.06-2.jpg,left,noimg,whiteboard #2);
&color(red){... please use the potentio meter output as t...
#ref(2012.12.06-3.jpg,left,noimg,whiteboard #3);
#ref(2012.12.06-4.jpg,left,noimg,whiteboard #4);
** &color(green){[lecture #14]}; 2012.12.13 Robust contro...
&size(20){&color(red){IMPOTANT};:due to some change on ex...
-explanation of design example (cont. from the previous l...
-preparation of your own controller(s)
%-- 12/13/2012 12:59 PM --%
freqresp
pwd
freqresp
nominal
P0
weight
cont
compare
load result.dat
plot(result(:,1),result(:,3));
load result_no.dat
plot(result_no(:,1),result_no(:,3),'b',result(:,1),resul...
plot(result_no(:,1),result_no(:,2),'b',result(:,1),resul...
plot(result_no(:,1),result_no(:,4),'b',result(:,1),resul...
#ref(2012.12.13-1.jpg,left,noimg,whiteboard #3);
** &color(green){[lecture #15]}; 2012.12.20 Robust contro...
-preparation of your own controller(s)
#ref(load_frdata.m)
[[participant list2012]]
**related links [#y9f6a832]
//-東ティモール工学部復興支援/support of rehabilitation f...
//--[[How to control objects>/:~kobayasi/easttimor/2009/i...
--[[Prof. Kimura's page>http://sessyu.nagaokaut.ac.jp/~ki...
ページ名:
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