Feedback Control, Fall 20

(フィードバック制御 SCE.C.202)



Instructor

Prof. Masayuki Fujita

Department of Systems and Control Engineering, Tokyo Tech

Office: S5-303B

Lecture Time and Place

Monday and Thursday 5-7 periods (13:20-15:50), S224 Lecture Room

Credit

Unit: 2-1-0

Teaching Assistants

Hayato Dan, Tomoki Adachi, and Yuuki Taya(S5-303A)

Email :

Please send e-mail to the above address if you have any questions. Note that Prof. Fujita's address is not included in the above address.

Office Hour

Course Description

The purpose of this course is to provide the students with the principles and tools of feedback control: sensitivity, steady-state error, vector locus, Bode plots, internal stability, Nyquist criterion, stability margin, robustness, loop shaping, PID control, two degree-of-freedom control. The students will be introduced to the computational tools for dynamical systems available in Control System Toolbox. (More)

Course Learning Outcomes

1. An ability to formulate, analyze and design fundamental control problems

2. An ability to use a numerical computing environment, such as MATLAB and Simulink, to solve engineering problems

Grading

1. Exercises and also your interaction with the TAs and instructor : 20%

2. Midterm exam : 40%

3. Final exam : 40%

Textbook

The primary text for the course and the excercise is :

[1] 杉江俊治,藤田政之, "フィードバック制御入門," コロナ社, 1999 (ISBN: 4-339-03303-0).

Reference Books

[2] 杉江俊治,梶原宏之, "システム制御工学演習," コロナ社, 2014 (ISBN: 978-4-339-03306-9).
[3] "Control System Toolbox Documentation," MathWorks, 2016.

Introductory Books

[4] 大須賀公一,足立修一, "システム制御へのアプローチ," コロナ社, 1999 (ISBN: 978-4-339-03301-4).
[5] 示村悦二郎, "自動制御とは何か," コロナ社, 1990 (ISBN: 978-4-339-03140-9).
[6] 木村英紀, "制御工学の考え方−産業革命は「制御」からはじまった," ブルーバックス, 2002 (ISBN: 978-4-06-257396-2).

Pre-requisites

動的システム基礎    (Fundamentals of Dynamical Systems)
システム制御数学A   (Mathematics for Systems and Control A)
基礎情報処理及び演習(システム制御)   (Information Processing and Programming (Systems and Control))

Post-requisites

線形システム制御論    (Linear System Theory)
システムモデリング    (System Modeling)
ロバスト制御    (Robust Control)

Computer Access and MATLAB

The students can install MATLAB R20b (MATLAB, Simulink, Control System Toolbox and Simulink Control Design) in your computer. Please see the GSIC's installation guide for more details.

The students can also use MATLAB/Simulink at GSIC.


Lecture Schedule

Schedule
Lecture Date Topics Keywords
1st9/26 1 序論
   1.1 制御とは
   1.2 制御系の標準的構成と制御目的
   1.3 フィードバック制御の利点と課題
Control, System, Feedforward, Feedback, Benefits of Feedback Control
2nd9/30 Reading Assignment:
4 フィードバック制御系の特性
   4.1 感度特性 [pp.67 - 71]
   4.2 定常特性 [pp.71 - 75]
Sensitivity, Sensitivity Function, (Open) Loop Transfer Function, Steady-State Error
3rd10/3 Reading Assignment:
4 フィードバック制御系の特性
   4.2 定常特性 [pp.75 - 76]
   4.3 根軌跡 [pp.76 - 84]
5 周波数応答
   5.1 周波数応答と伝達関数 [pp.87 - 90]
Steady-State Error, Characteristic Equation, Characteristic Root, Root Locus, Frequency Transfer Function, Gain, Phase
4th10/7 Reading Assignment:
5 周波数応答
   5.2 ベクトル軌跡 [pp.90 - 94]
   5.3 ボード線図 [pp.94 - 98]
Vector Trajectory, Bode Diagram, Gain Curve, Phase Curve
5th10/17 Reading Assignment:
5 周波数応答
   5.3 ボード線図
   5.4 ボード線図の性質 [pp.98 - 104]
Bode Diagram, Gain Curve, Phase Curve, Minimum Phase System, Gain-Phase Relational Equation
6th10/21 Reading Assignment:
6 フィードバック制御系の内部安定性
   6.1 フィードバック系の内部安定性 [pp.106 - 110]
   6.2 ナイキストの安定判別法 [pp.110 - 115]
Internal Stability, Characteristic Polynomial, Nyquist's Stability Criterion
7th10/24 Reading Assignment:
6 フィードバック制御系の内部安定性
   6.2 ナイキストの安定判別法 [pp.115 - 120]
   6.3 ゲイン余裕,位相余裕 [pp.120 - 125]
Simplified Nyquist's Stability Criterion, Phase Cross Frequency, Gain Cross Frequency, Phase Margin, Gain Margin
8th10/28 Reading Assignment:
7 フィードバック制御系のロバスト性解析
   7.1 不確かさとロバスト性 [pp.127 - 135]
Robustness, Model, Uncertainty, Nominal Model, Model Set
9th10/31 Reading Assignment:
7 フィードバック制御系のロバスト性解析
   7.2 ロバスト安定性 [pp.135 - 138]
   7.3 制御性能のロバスト性 [pp.139 - 142]
Robust Stability, Complementary Sensitivity Function, Nominal Performance, Sensitivity Function, Robust Performance
10th11/4 Mid-term Exam
11th11/7 Reading Assignment:
8 フィードバック制御系の設計法
   8.1 設計手順と性能評価 [pp.146 - 149]    8.2 PID補償による制御系設計 [pp.149 - 154]
Design Process, Performance Evaluation, Proportional, Integral, Differential
12th11/11 Reading Assignment:
8 フィードバック制御系の設計法
   8.2 PID補償による制御系設計 [pp.149 - 155]
   8.3 位相進み-遅れ補償による制御系設計 [pp.156 - 166]
PID-Tuning, Loop Shaping, Phase-Lag Compensation, Phase-Lead Compensation, Phase-Lead-Lag Compensation
13th11/14 Reading Assignment:
8 フィードバック制御系の設計法
   8.3 位相進み-遅れ補償による制御系設計 [pp.156 - 166]
Phase-Lag Compensation, Phase-Lead Compensation
14th11/18 Reading Assignment:
8 フィードバック制御系の設計法
   8.3 位相進み-遅れ補償による制御系設計 [pp.156 - 166]
9 2自由度制御系
   9.1 フィードフォワードとフィードバックの役割 [pp.168 - 171]
   9.2 2自由度制御系の構造と設計法 [pp.171 - 175]
Feedforward, Feedback, Two-Degrees of Freedom Control
15th 11/21 Control System Toolbox を用いたフィードバック制御系の設計
Exam11/25 Final Exam

Materials

Materials
Lecture Lecture
Notes
Exercises MATLAB Recommended
Problems
1st -- --  
2nd -- -- [1] p. 85 演習問題【5】
[2] p. 50 例題 4.3
3rd -- -- [1] p. 104 演習問題【2】
[2] p. 51 例題 4.4
4th -- -- [1] p. 104 演習問題【3】
演習問題【4】
5th -- -- -- -- [1] p. 104 演習問題【6】
[2] p. 71 例題 5.8
6th -- -- -- -- [1] p. 126 演習問題【3】
[2] p. 76 例題 6.2
7th -- -- -- -- [1] p. 126 演習問題【5】
[2] p. 88 例題 6.10
8th -- -- -- -- [1] p. 142 演習問題【1】
HW #8 添付資料
9th -- -- -- -- [1] p. 143 演習問題【5】
HW #9 添付資料
11th -- -- -- -- [1] p. 166 演習問題【3】
[2] p. 104 例題 7.7
12th -- -- -- -- [1] p. 166 演習問題【4】【5】
13th -- -- -- -- [1] p. 167 演習問題【7】【8】
[2]
14th -- --   --     --   [1] p. 186 演習問題【3】【4】
[2] p. 111 例題 7.15,p. 113 例題 7.16
15th -- --   --     --     --  

Tokyo Tech Online Service

Check Tokyo Tech OCW here, and Tokyo Tech Portal here.

Supplemental Materials

[AM09] K. J. Astrom and R. M. Murray, "Feedback Systems," Princeton University Press, 2009 (ISBN-10: 0-691-13576-2).
Lecture Notes "Analysis and Design of Linear Control Systems,, Summer, 2005-2015.
[KP14] K. J. Astrom and P. R. Kumar, "Control: A perspective," Automatica, Volume 50, Issue 1, Pages 3-43, 2014.

Collaboration Policy

Collaboration on homework assignment is encouraged. But it is forbidden to copy solutions from other students.