制御工学ブログ

制御工学の研究者を20年やっている国立大学教員が制御工学の基礎から専門まで広く説明します。記事内では、動画やMATLABコードを交えながらわかりやすく解説する方針です。制御工学チャンネル(YouTube,動画ポータル)を運営しています。

System Identification: Obtaining Dynamical Model

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…

Stability of Systems Represented by State Equations

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…

State Feedback Control: Design Gains using Pole Placement

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…

State Feedback Control: Design Gains using Optimal Regulators

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…

State Observer for State Space Model

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…

Equivalent Transformations of State Equations: What Properties Are Preserved Through Coordinate Transformation?

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…

Controllability and Observability of Systems

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…

State-Space Model for Control: Mathematical Modeling through State Equations

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. …

MATLAB Simulations of Control Engineering Topics

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…

Control Engineering: Understanding Partial Fraction Decomposition

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 …

State estimator unaffected by sensor outliers: MCV approach

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…

IFAC World Congress 2008: Optimal Velocity Control Method in Path Following Control Problem

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

IEEE Conference on Decision and Control 2009: Unified Form of Performance Limitations in Reference Tracking Control Problem for Discrete Time Systems

Unified Form of Performance Limitations in Reference Tracking Control Problem for Discrete-Time Systems Hiroshi Okajima, Toru Asai, Shigeyasu Kawaji the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese …

IEEE Conference on Decision and Control 2010: Optimal quantization interval design of dynamic quantizers which satisfy the communication rate constraints

Optimal quantization interval design of dynamic quantizers which satisfy the communication rate constraints Hiroshi Okajima, Kenji Sawada, Nobutomo Matsunaga 49th IEEE Conference on Decision and Control (CDC) youtu.be Conference paper link…

IFAC World Congress 2023: Model Error Compensator for adding robustness for existing systems

Model Error Compensator for adding robustness for existing systems IFAC world congress 2023, Yokohama, Japan youtu.be Conference paper link: Model Error Compensator for adding Robustness toward Existing Control Systems⋆ - ScienceDirect Add…