*Advanced Automation [#y8aaf13b]

**2009.9.10 CACSD introduction [#y138ae77]

- introduction of Matlab and Simulink
--[[Basic usage of MATLAB and Simulink>/:~kobayasi/easttimor/2009/text/text.pdf]]
used for 情報処理演習及び考究II/Consideration and Practice of Information Processing II: Advanced Course of MATLAB
-review of clasical control theory
++ transfer function
++ state-space representation
++ Bode diagram
++ characteristics of 2nd-order system
++ Nyquist stability criterion
++ gain margin and phase margin
++ characteristic polynomial
++ poles and impulse response

#ref(ex.m)
#ref(mod1.mdl)

**2009.9.17 Intro. to Robust Control [#pce7e512]
-robust stability
- performance improvement
- H infinity norm

#ref(ex21.m)
#ref(ex22.m)
#ref(ex23.m)
#ref(ex24.m)
#ref(mod2.mdl)

** 2009.10.15 norm, vector space, normed linear space [#l8a321a6]

** 2009.10.22 eigenvalue, eigenvector, singular value decomposition [#i4bfc846]

** 2009.11.5 state space representation of connected system, state space representation of generalized plant for various control problem, mixed sensitivity problem [#ldf0b460]

#ref(ex61.m)

** 2009.11.19 [#q528f91a]

#ref(rub2.m)
... generalized  plant is described by hand
#ref(rub.m) 
... function sysic() is used to obtain generalized plant

simulink model
#ref(simurub.mdl)

simulink model for noise problem
#ref(simurub_noise.mdl)

execution example for Matlab
 rub2
 size(Ap)
 size(Ap,1)
 size(Ap,2)
 M = zeros(3,2)
 size(M,1)
 size(M,2)
 gopt
 simulink
 simout
 plot(t, y)
 plot(t, y, 'r', t, r, 'b')
 figure(3);
 bodemag(S, 'r', gopt/WS, 'r--', T, 'b', gopt/WT, 'b--');
 ctrlpref
 bodemag(S, 'r', gopt/WS, 'r--', T, 'b', gopt/WT, 'b--');
 grid on
 ctrlpref
 figure(6);
 plot(t, y, 'r', t, r, 'b')
 grid on
 figure(7);
 bodemag(P0, 'r', K, 'b')
 grid on
 rub2
 grid on
 gopt
 plot(t, y, 'r', t, r, 'b')
 grid on
 simulink
 plot(t, y, 'r', t, r, 'b')
 plot(t, y, 'r', t, n, 'b')
 plot(t, y*10, 'r', t, n, 'b')
 plot(t, y, 'r', t, n, 'b')
 bodemag(P0, 'r', K, 'b')
 grid on
 bode(P0, 'r', K, 'b')
 grid on
 bode(P0, 'r', K, 'b', P0*K, 'm')
 grid on
 bode(P0, 'r', K, 'b', -P0*K, 'm')
 grid on
 size(K.a)
 size(WS.a)
 size(WT.a)
 size(P0.a)

** 2009.12.3 [#bc440c69]

#ref(rub3.m)

#ref(rub4.m)

** 2009.12.10 Speed control of two inertia system with servo motor (1/3) [#a30052e4]
- Problem setup
- Modelling (frequency response experiment)

** 2009.12.17 Speed control of two inertia system with servo motor (2/3) [#h1fdacdf]
- Controller design

** 2009.12.24 Speed control of two inertia system with servo motor (3/3) [#d57e0f9d]
- Control experiment

**related links [#od998635]
//-東ティモール工学部復興支援/support of rehabilitation for faculty of eng. National University of Timor-Leste
//--[[How to control objects>/:~kobayasi/easttimor/2009/index.html]] to design, to simulate and to experiment control system by using MATLAB/Simulink with an application of Inverted Pendulum
--[[Prof. Kimura's page>http://sessyu.nagaokaut.ac.jp/~kimuralab/index.php?%C0%A9%B8%E6%B9%A9%B3%D8%C6%C3%CF%C0]]


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