Advanced Automation†
[lecture #1] 2011.9.1 review of classical control theory†
[lecture #2] 2011.9.8 CACSD introduction with review of classical control theory†
- introduction of Matlab and Simulink
[lecture #3] 2011.9.15 given by Prof. Kimura cancelled†
[lecture #4] 2011.9.22 given by Prof. Kimura cancelled†
[lecture #5] 2011.9.29 given by Prof. Kimura cancelled†
supplementary lectures will be given by Prof. Kimura.†
[lecture #3] 2011.10.6 CACSD introduction with review of classical and modern control theory†
- relationship between TF and SSR (higher order case)
- open-loop stability
- can be checked by poles of TF and eigenvalues of A-matrix in SSR
- closed-loop stability
- can be checked graphically by Nyquist stability criterion and Bode plot with GM(gain margin) and PM(phase margin)
- can be checked numerically by poles of closed-loop TF and eigenvalues of A-matrix in closed-loop SSR
%-- 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
- robust stabilization
- performance optimization
- Example of performance optimization problem : disturbance attenuation problem
- controller design with trial and error
- controller design with H infinity control theory
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
- robust stabilization
- performance optimization
- a class used to represent plant uncertainty and/or perturbation ... H infinity norm
- small gain theorem
- connects the closed-loop H infinity norm and robust stability condition
- sketch proof ... Nyquist stability criterion
- practical example of robust stabilization problem
- unstable plant with perturbation
- multiplicative uncertainty model
- H infinity controller design
%-- 10/20/2011 1:41 PM --%
ex1020_1
ex1020_2
ex1020_3
mod1020
c
c = 0.8
[lecture #6] 2011.10.27 norm (vector space, normed linear space), singular value, mixed sensitivity problem†
- H infinity norm ... {robust stabilization, performance improvement}
- norm
- size of {number, signal, system}
- defined on vector space (linear space)
- ---> normed linear space
- ... optimization
- H infinity norm : scalar (SISO) ---> matrix (MIMO)
- absolute value ---> maximum singular value
- robust stabilization or performance optimization problem ---> mixed sensitivity problem
- reference
- Feedback control theory / John C. Doyle, Bruce A. Francis and Allen R. Tannenbaum
- 2. Norms for signals and systems
- 3. Basic concepts
- 4. Uncertainty and robustness ... p.62 Eq.(4.10) H infinity norm condition in mixed sensitivity problem
- Robust and optimal control / Kemin Zhou, John C. Doyle and Keith Glover
- 2. Linear algebra (2.7 Vector norms and matrix norms, 2.8 Singular value decomposition)
- 4. Performance specifications (4.1 Normed spaces, 4.3 Hardy spaces H_2 and H_infinity)
- 9. Model uncertainty and robustness
- 16. H infinity control: simple case
- 17. H infinity control: general case
[lecture #8] 2011.11.10 state space representation of connected system, state space representation of generalized plant for various control problem, mixed sensitivity problem (by Prof. Kimura)†
see Prof. Kimura's page
[lecture #9] 2011.12.1 robust control design example: Robust Control System Synthesis for Pneumatic Systems (given by Prof. Kimura)†
[lecture #10] 2011.12.8 Speed control of two inertia system with servo motor (1/3)†
- Experimental setup
- Objective for control system design
- speed tracking
- robust against inertia-load variation
- Modelling
- Controller design (mixed sensitivity problem)
- example of m-file
>> cont
- design example
- design your controller(s) so that the system performance is improved compared with the given example above
- Draw the following figures and explain the difference between two control systems:
- bode diagram of controllers
- gain characteristic of closed-loop systems
- time response of control experiment
- 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
- program sources for frequency response experiment
- format of frdata.dat file
- 1st column: frequency (Hz)
- 2nd column: gain
- 3rd column: phase (deg)
- program sources for control experiment
- format of result.dat file
- 1st column: time (s)
- 2nd column: motor speed (rad/s)
- 3rd column: motor torque (Nm)
- 4th column: reference speed (rad/s)
- configuration of control experiment
%-- 12/8/2011 1:22 PM --%
freqresp
nominal
weight
load result_small.dat
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)
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! the followings are under construction !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
[lecture #14] 2010.12.9 Speed control of two inertia system with servo motor (3/3)†
Due to a dimension change of the driven shaft, frequency response experiment has been re-conducted. Please use the following fixed files instead of the ones introduced on the previous lecture.
- frequency response experiment results:
#ref(): File not found: "frdata_offset5_small_fixed.dat" at page "授業/制御工学特論2011"
#ref(): File not found: "frdata_offset5_large_fixed.dat" at page "授業/制御工学特論2011"
#ref(): File not found: "frdata_offset10_small_fixed.dat" at page "授業/制御工学特論2011"
#ref(): File not found: "frdata_offset10_large_fixed.dat" at page "授業/制御工学特論2011"
- example of m-file
#ref(): File not found: "freqresp_fixed.m" at page "授業/制御工学特論2011"
#ref(): File not found: "nominal_fixed.m" at page "授業/制御工学特論2011"
#ref(): File not found: "weight_fixed.m" at page "授業/制御工学特論2011"
#ref(): File not found: "cont_fixed.m" at page "授業/制御工学特論2011"
- design example 1 (wt1 = 2*pi*20 is set in weight.m)
#ref(): File not found: "cont1_fixed.dat" at page "授業/制御工学特論2011"
#ref(): File not found: "cont_order1_fixed.dat" at page "授業/制御工学特論2011"
#ref(): File not found: "cont1_fixed.mat" at page "授業/制御工学特論2011"
#ref(): File not found: "result_small1_fixed.dat" at page "授業/制御工学特論2011"
#ref(): File not found: "result_large1_fixed.dat" at page "授業/制御工学特論2011"
- design example 2 (wt1 = 2*pi*5 is set in weight.m)
#ref(): File not found: "cont2_fixed.dat" at page "授業/制御工学特論2011"
#ref(): File not found: "cont_order2_fixed.dat" at page "授業/制御工学特論2011"
#ref(): File not found: "cont2_fixed.mat" at page "授業/制御工学特論2011"
#ref(): File not found: "result_small2_fixed.dat" at page "授業/制御工学特論2011"
#ref(): File not found: "result_large2_fixed.dat" at page "授業/制御工学特論2011"
#ref(): File not found: "2010.12.9-1.jpg" at page "授業/制御工学特論2011"
[lecture #15] 2010.12.16 Speed control of two inertia system with servo motor (cont.)†
- preparation of your own controller(s)
participant list2011
related links†