[lecture #2] 2011.9.8 CACSD introduction with review of classical control theory †

• introduction of Matlab and Simulink

[lecture #3] 2011.10.6 CACSD introduction with review of classical and modern control theory †

1. relationship between TF and SSR (higher order case)
2. open-loop stability
3. closed-loop stability
%-- 10/6/2011 1:25 PM --%
ls
ex1006_1
ex1006_2
ex1006_3
grid on
-0.8*1.5
ex1006_4

[lecture #4] 2011.10.13 Intro. to robust control theory (H infinity control theory) †

• H infinity norm
1. robust stabilization
2. performance optimization
s = tf('s');
G = 1/(s+1);
norm(G, inf)
G = 1/(s^2+0.1*s+1);
norm(G, inf)
bode(G)
ex1013_1
ex1013_2

[lecture #5] 2011.10.7 Introduction to Robust Control (cont.) †

• H infinity norm
1. robust stabilization
2. performance optimization
1. a class used to represent plant uncertainty and/or perturbation ... H infinity norm
2. small gain theorem
• connects the closed-loop H infinity norm and robust stability condition
• sketch proof ... Nyquist stability criterion
3. practical example of robust stabilization problem
%-- 10/20/2011 1:41 PM --%
ex1020_1
ex1020_2
ex1020_3
mod1020
c
c = 0.8

[lecture #10] 2011.12.8 Speed control of two inertia system with servo motor (1/3) †

• report
1. design your controller(s) so that the system performance is improved compared with the given example above
2. Draw the following figures and explain the difference between two control systems (your controller and the example above):
1. bode diagram of controllers
2. gain characteristic of closed-loop systems
3. time response of control experiment
3. Why is the performance of your system improved(or unfortunately decreased)?
• due date: 28th(Wed) Dec 17:00
• submit your report(pdf or doc) by e-mail to kobayasi@nagaokaut.ac.jp
• You can use Japanese
• maximum controller order is 20
• submit your cont.dat, cont_order.dat, and cont.mat to kobayasi@nagaokaut.ac.jp not later than 23th(Fri) Dec
• Difficulties of our plant: As motor speed is approximately calculated by using difference for one sampling period in hinf_module.c like
thetaM_rad = (double)read_theta(0) / (double)Pn212 * 2 * M_PI;
sampling period should not become too small. On the other hand, sampling period should be chosen as small as possible so that desiged continuous-time controller could be closely implemented by its descretized version. Therefore, we have a dilemma to control our plant. The sampling period 0.25 msec was chosen by traial and error so that noise in measured speed is not too large. The gain in high frequency range of continuous-time controller should be small enough for discretization.
%-- 12/8/2011 1:22 PM --%
freqresp
nominal
weight
result_small
plot(result_small(:,1),result_small(:,2))
plot(result_small(:,1),result_small(:,2), 'b', result_small(:,1),result_small (:,4),'r')

[lecture #11] 2011.12.15 Speed control of two inertia system with servo motor (2/3) †

• explanation of design example (cont. from the previous lecture)
• preparation of your own controller(s)
%-- 12/15/2011 1:06 PM --%
cont
help hinfsyn
K
Ktf = tf(K)
bode(K, 'r', Ktf, 'b')
legend('ss', 'tf')
help fitsys

[lecture #12] 2011.12.22 Speed control of two inertia system with servo motor (3/3) †

• preparation of your own controller(s)

participant list2011

supplementary lectures will be given by Prof. Kimura.†

• example for changing ws = 2 pi 0.1 -> 2 pi 0.01

#ref(): The style ref(filename,pagename) is ambiguous and become obsolete. Please try ref(pagename/filename)

%-- 12/22/2011 1:20 PM --%
nominal
ctrlpref
nominal
weight
cont
ks
cont
compare_result