*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]]