本記事では，線形行列不等式を用いた制御器設計について述べます。線形行列不等式を用いた設計法は制御工学において非常に有益なツールとして知られています。 以下の解説記事でMATLABを用いた線形行列不等式に基づく制御器設計について説明をしており，それ…

Linear matrix inequalities (LMIs) and controller design The method using Linear Matrix Inequality (LMI) is one of the most powerful controller design methods in the field of control engineering. The usefulness of controller design using LM…

Discretization of Continuous-Time Control Systems When expressing the characteristics of a control target based on physical laws, it is often represented in the form of differential equations, which are treated within the framework of cont…

In this article, we summarize system identification and dynamic system modeling. Links to related articles and explanatory articles are placed at the bottom. Overview of System Identification Model Representation Example of System Identifi…

This article summarizes the stability of systems represented by state equations. Videos related to stability are placed at the bottom. Poles of the Controlled System and Stability When the Order of the Controlled System is 1 Lyapunov's Sta…

This article summarizes state feedback control for systems expressed in state equation form. It particularly touches on gain design using pole placement methods and the relationship between pole placement and performance. At the end, you c…

This article explains controller design based on optimal regulators for linear systems represented by state equations. Optimal regulators are a type of optimal control, also known as LQ control or LQR (Linear Quadratic Regulator). For an o…

This article summarizes state estimators (state observers) for systems represented by state equations. A video explaining the state observer for systems expressed by state equations is provided at the bottom. Observers are also called soft…

This article summarizes the equivalent transformation (coordinate transformation, equivalence transformation) of a system expressed by a state equation. A video explaining the equivalent transformation of state equations is provided at the…

This article summarizes the controllability and observability of systems. First, I would like to discuss controllability. Links to videos explaining controllability and observability are provided at the bottom. The overall picture of state…

This article summarizes the state-space realization of system state equations. In control based on state equations, deriving a mathematical model is the first step. A video explaining state equation representation is placed at the bottom. …

This article explains control using MATLAB with images and videos, focusing particularly on state feedback control. The videos and related article links explaining MATLAB simulations are provided at the bottom. The following article summar…

This article summarizes partial fraction decomposition. We will explain how to decompose rational functions using partial fraction decomposition and its use in control engineering. Links to videos and related articles that explain partial …

This blog is about state estimation method unaffected by sensor outliers. Explanation of state observer in the below. The state estimation problem for systems where observation outputs include outliers is addressed herein. When the observa…

Optimal Velocity Control Method in Path Following Control Problem IFAC World Congress 2008 youtu.be Conference paper link: Optimal Velocity Control Method in Path Following Control Problem - ScienceDirect