Feedback Control System Design

To make analysis and controller design of the mechanical and the electrical systems, some advanced knowledge on mathematical tools and control engineering are required. This couese deals with them and introduces the robust control.

1．	system description (differential equation, transfer function and state space description) and their equivalence
2．	calculation of impulse and step response of 1st and 2nd order systems
3．	stability analysis of linear system
4．	design of state feedback stabilizer and state observer

	【授業計画】	【授業時間外課題（予習および復習を含む）】
1．	system description (differential equation, transfer function and state space description) and their equivalence	inverse matrix
2．	Laplace transformation and convolution integral	Laplace transformation
3．	response of 1st order system	impulse signal, step signal
4．	response of 2nd order system: case i(with oscillations)	pole and zero
5．	response of 2nd order system: case i&ii (no oscillations)	damping coefficient and natural frequency
6．	system pole and input/output stability	boundedness
7．	stability analysis-1: Hurwitz criterion	eigenvalue and eigenvector
8．	midterm exercise	point review
9．	frequency response: gain and phase shift	absolute value and arctan
10．	frequency response: Bode diagram and Nyquist plot	semilog
11．	frequency response: gain and phase margins	critical condition
12．	stability analysis-2: internal stability and Nyquist criterion	input/output stability
13．	Nyquist criterion -case study	example study
14．	PID control	proportional gain, integral gain
15．	adaptive control -toward unknown parameters-	unknown parameters
16．	summary and comments

examination(50%) and paper reaction(50%)

R.C.Dorf and R.H.Bishop, Modern Control Systems, Prentice-Hall, 2005

Applied mathmatics, Physics

・	Mon.-Fri., 13:30-17:00
・	required appointment via mail

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能動的な学修への参加を取り入れた授業が1コマ分以上

最終更新 : Sat Sep 24 07:15:26 JST 2016

開講部	大学院理工学研究科　修士課程
開講学科	システム理工学専攻
開講学年	1年次
開講時期	前期
単位数	2
単位区分	特修
系列区分	特論
講義区分	講義

6M006900

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