授業/制御工学特論2010 の履歴(No.15)

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• 授業/制御工学特論2010 へ行く。
  • 1 (2010-09-07 (火) 12:25:32)
  • 2 (2010-09-07 (火) 12:32:46)
  • 3 (2010-09-09 (木) 12:56:25)
  • 4 (2010-09-16 (木) 12:08:15)
  • 5 (2010-09-29 (水) 17:33:59)
  • 6 (2010-09-30 (木) 14:29:23)
  • 7 (2010-10-05 (火) 12:30:35)
  • 8 (2010-10-07 (木) 12:11:44)
  • 9 (2010-10-14 (木) 10:53:49)
  • 10 (2010-10-21 (木) 10:40:46)
  • 11 (2010-10-21 (木) 14:24:55)
  • 12 (2010-11-04 (木) 11:41:09)
  • 13 (2010-11-04 (木) 11:42:28)
  • 14 (2010-11-11 (木) 11:46:05)
  • 15 (2010-11-11 (木) 14:10:37)
  • 16 (2010-11-15 (月) 13:21:38)
  • 17 (2010-11-25 (木) 12:50:06)
  • 18 (2010-11-26 (金) 13:10:58)
  • 19 (2010-12-02 (木) 13:12:42)
  • 20 (2010-12-09 (木) 11:44:47)

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Advanced Automation†

2010.9.9 CACSD introduction†

• introduction of Matlab and Simulink
  • Basic usage of MATLAB and Simulink used for 情報処理演習及び考究II/Consideration and Practice of Information Processing II: Advanced Course of MATLAB

2010.9.16 CACSD introduction†

• review of clasical control theory
  1. transfer function
  2. Bode diagram
  3. characteristics of 2nd-order system
  4. Nyquist stability criterion
  5. gain margin and phase margin
• review of modern control theory
  1. state-space representation

2010.9.30 Intro. to Robust Control†

• H infinity norm
  1. robust stabilization
  2. performance improvement

s = tf('s')
G = 1/(s+1)
norm(G, 'inf')
P = 1/(s^2 + 0.2*s + 1)
K = 1
nyquist(P*K)
help impulse
impulse(P)
T = 1/(1 + P*K)
impulse(T)
sqrt(2)/(2*pi)
1/ans
step(T)
ex21
ex22

2010.10.7 Introduction to Robust Control (cont.)†

• H infinity norm
  1. robust stabilization <--
  2. performance improvement

2010.10.14 norm, vector space, normed linear space†

• H infinity norm ... {robust stabilization, performance improvement}
• norm
  • size of {number, signal, system}
  • defined on vector space (linear space)
    • ---> normed linear space
    • ... optimization

2010.10.21 eigenvalue, eigenvector, singular value decomposition†

• H infinity norm : scalar (SISO) ---> matrix (MIMO)
  • absolute value ---> maximum singular value
  • background: mixed sensitivity problem {robust stabilization and performance improvement are simultaneously considered}

A = [2, 1; 0, 1]
[X, L] = eig(A)
X*L/X - A
[U, S, V] = svd(A)
U*U'
V*V'
U*S*V'
U*S*V' - A
sqrt(eig(A'*A))
S

2010.10.28 state space representation of connected system, state space representation of generalized plant for various control problem, mixed sensitivity problem†

2010.11.4 robust control design example: Robust Control System Synthesis for Pneumatic Systems†

see RubustControlOfPneumatic-e.pdf in Prof. Kimura's homepage for detail

2010.11.11 robust control design example (cont.)†

1. Design H infinity controller with Eqs.(41)-(47) and generalized plant depicted in Fig.3 in the pdf file.
   1. Confirm the following m-file for design:
      pneum.m
      pneum_ans.m
   2. Derive the generalized plant by hand and correct the m-file.
   3. Run the m-file to find controller.
2. Simulation
   simu_pneum.mdl
   simu_pneum_noise.mdl

simu_pneum
plot(t, y, 'r', t, r, 'b');

simu_pneum_noise
plot(t, y, 'r', t, n, 'b')

========== Caution!!! The followings are under construction ==========

Speed control of two inertia system with servo motor (1/3)†

• Problem setup
• Modelling (frequency response experiment)

Speed control of two inertia system with servo motor (2/3)†

• Controller design
• report

...

related links†

• Prof. Kimura's page