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| Title of Course |
Basic of Control |
| Credits |
2 |
| Credit Category |
Electives |
| Target Students |
Second-year Students |
| Course Format |
General Lecture |
| Term |
1st Semester |
| Day and Time |
Monday 2, Thursday 2 |
| Lecture Room |
Ｃ１０２ |
| Teachers in Charge |
Wang Shuoyu, Oka Koichi |
| Contacts |
Teacher's Room：A480， Extension No.: 2306， Email：wang.shuoyu@kochi-tech.ac.jp |
| Keywords |
System, Open-loop Control, Feedback Control, Pole-Zero, Transient Response, Stability, Transfer Function, Block Diagram |
| Course Objectives |
Controls used to be only useful if available, but they have now become indispensable as control techniques are used for things around us, from household appliances such as televisions and refrigerators, which are necessary in our daily life, to aircrafts and artificial satellites. In this course, students learn basic qualitative concepts and then understand fundamentals of classical control. |
| Course Procedure |
Prof. WANG will be in charge of the first half, and Prof. OKA will be in charge of the latter half.
First, students will understand basic concepts of qualitative control using video such as active suspension control for automobiles and animation of intelligent robot control. Then, transfer functions and block diagrams are explained, and based on them, students will learn system transient response analysis and stability, as well as characteristics of feedback control systems.
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| Achievement Goals |
①Able to explain what a linear system is.
②Able to represent systems such as electric circuits and spring-mass systems in terms of transfer functions.
③Able to determine total transfer functions by block diagram transformation method.
④Able to relate system response to pole positions.
⑤Able to understand concept of stability, and to discriminate system stability.
⑥Able to determine sensitivity and steady-state characteristics of a feedback control system.
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| Course Plan |
1. Control
Definition of Control, Examples, Components of Control System, Benefits of Control
History of Control Engineering, Classification of Automatic Control, Control in the Future, Future Control-Intelligent Robots
2. Open-loop Control and Closed-loop Control
Advantages and Disadvantages of Open-loop Control, Advantages and Disadvantages of Closed-loop Control, Components of Feedback Control Systems, Negative Feedback and Positive Feedback
3. Dynamical Systems and Linearization
Spring-mass Systems, RLC Circuits, Differential Equations, Linear Systems, Superposition Principle, Linearization of Systems
4. Laplace Transform
Definition of Laplace Transform, Laplace Transform Calculation of Common Functions (Unit Step Function, Exponential Function, Linear Function, Sine Function)
5. Transfer Function
Definition of Transfer Function, Conversion from Differential Equation to Transfer Function, Examples of Basic Transfer Function
6.Block Diagram
BBlock Diagram, Block, Summing Point, Lead-out Point, Combining Method of Block Diagrams, Equivalent Transformation of Block Diagram
7.Exercises
Exercises for 1. to 6.
8.Midterm Test
Range: 1. to 7.
9. Impulse Response and Step Response
Unit Impulse Function, Unit Step Function and Convolution Integral
10. Response of First-order System, Response of Second-order System
First-order Delay System, Inverse Laplace Transformation, Time Constant, Gain, Second-order Delay System, Damping Coefficient, Natural Angular Frequency
11. Pole-Zero and Transient Response
Position of Poles and Impulse Response, Rise Time, Lag-time, Setting Time, Overshoot, Excess Time, Damping-ratio, Dominant pole, Reverse Brayton
12.Stability of Dynamical System
Stability, Condition of Stability, Routh Stability Criterion, Hurwitz Stability Criterion
13.Sensitivity Characteristics and Steady-state Characteristics
Sensitivity to Parameter Changes, Sensitivity to Disturbances, Steady-state Deviation from Desired Values, System Type and Steady-state Deviation, Steady-state Deviation to Disturbances.
14.Root Locus
Relationship between Feedback Gain and Poles, Characteristic Root, Root Locus, Characteristics of Root Locus, Drawing Method of Root Locus
15.Exercises
Exercises for 9. to 14.
15. Regular Test
Range: 9. to 15 |
| Texts |
The contents are currently being updated.
|
| Books for Reference |
テキスト：フィードバック制御入門，コロナ社
参考書： 土谷，江上： 基礎システム制御工学，森北出版株式会社 |
| Academic Grading |
Academic Grading: Point of total 60 or higher is required to pass the course. Distribution of points is as follows.
Mini Test: 20 points ([2 points/ 1 time］×10times ＝ 20points）
Midterm Test: 40 points (Breakdown: 30 points for Basic Questions, 10 points for Advanced Questions)
Regular Test: 40 points (Breakdown: 30 points for Basic Questions, 10 points for Advanced Questions)
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| Course Name |
Control Engineering I (Introduction to Control Engineering) |
| Credits |
2 |
| Target Students |
Second-year Students |
| Term |
3Q |
| Teacher in Charge |
Wang Shuoyu |
| Contacts |
Teacher's Room: A480， Extension No.: 2306， Email：wang.shuoyu@kochi-tech.ac.jp |
| Keywords |
Automatic Control, Sequential Control, Feedback Control, Transient Response, Stability, Transfer Function, Block Diagram
|
| Course Objectives |
Controls used to be only useful if available, but they have now become indispensable as can be seen by televisions, refrigerators, air conditioners, personal computers, cars, traffic lights, elevators, vending machines, automatic ticket gates, that are a part of our daily lives. In this course, students learn basic concepts qualitatively through familiar examples, and then understand essence of control engineering quantitatively through minimal calculations. |
| Course Procedure |
Students will understand basic concepts of control qualitatively using video such as active suspension control for automobiles and animation of intelligent robot control, and then Laplace Transform method is explained, and based on them, learn about transient response analysis and stability criterion of control systems. |
| Achievement Goals |
①Able to explain basic concepts of control system in one's own words.
②Able to analyze sequential control systems using logical elements (AND, OR, NOT).
③Able to conceptually understand differences between optimal control, adaptive control and preview control.
④Able to understand properties of Laplace Transform and to use them.
⑤Able to determine total transfer functions by block diagram transformation method.
⑥Able to understand concept of stability, and to discriminate stability by poles of transfer function. |
| Course Plan |
1. Control
Definition of Control, Examples, Components of Control System, Benefits of Control
2. Sequential Control
Definition of Sequential Control, Examples, Basic Ideas of Sequential Control, Configuration of Sequential Control System
3. Progress of Control Engineering
History of Control Engineering, Classification of Automatic Control, Controls in Future, Future Control-Intelligent Robot
4. Open-loop Control and Closed-loop Control
Advantages and Disadvantages of Open-loop Control, Advantages and Disadvantages of Closed-loop Control, Components of Feedback Control Systems, Negative Feedback and Positive Feedback
5.-6. Mathematical Basis of Control Theory Ⅰ
Necessity of Mathematic Models, Dynamic System and Static System, Concept of Transient Response, Step Response and Impulse Response, Definition and Properties of Laplace Transform, Calculation of Laplace Transform of Exponential Function and Unit Step Function
7.Exercises
Exercises for 1. to 6.
8.Midterm Test
Range: 1. to 7.
9.-10. Mathematical Basis of Control TheoryⅡ
Usage of Laplace Transform, Input/Output, Transfer Function, Block Diagram, Block Diagram Transformation
10.Modeling of Control Objects
Transfer functions of control system components (Proportional, Derivative and Integral, First-order Lag, Second-order Lag, Dead-time) through examples.
11.Response of Control System
Necessity of Dynamic Response. The way to obtain a transient response when a unit step function is input to a system in which a transfer function is a derivative element, a first-order lag element, and a second-order lag element.
12.-13. Stability of Control System
Concepts of Stability and Instability, Poles of Characteristic Equation and Transfer Function, Criterion of Stability by Positions of Poles, Stabilization by Feedback.
14.Exercises
Exercises for 9. to 13.
15.Regular test
Range: 9. to 14. |
| Texts |
The contents are currently being updated. |
| Books for Reference |
土谷，江上： 基礎システム制御工学，森北出版株式会社 |
| Academic Grading |
Points of total 60 or higher is required to pass the course. Distribution of points is 20 for Midterm Test, 50 for Regular Test, and 30 for Exercises. Students may use calculators during the tests. Preferred courses to be taken beforehand: 『機械の運動』, 『機械の数学』. |
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| Course Name |
Control Engineering Ⅱ(Fundamental Control Theory) |
| Credits |
2 |
| Target Students |
Third-year Students |
| Term |
1Q |
| Teacher in Charge |
Wang Shuoyu |
| Contacts |
Teacher's Room：A480， Extension No.：2306， Email：wang.shuoyu@kochi-tech.ac.jp |
| Keywords |
Control, State Equation, Transfer Function, Controllability, Observability, Concept of Stability, Criterion of Asymptotic Stability, Pole Placement Method |
| Course Objectives |
Control, in the category of mechanical engineering, means to make machineries/apparatuses to be in a desired operating condition. In a broader sense, it means to subdue others and rule them to do what you want. Humans have a desire to have everything done or moved the way they want it to be done. For example, TV channels, room temperature by an air conditioner, motor vehicle operation, elevator lifts, health of mind and body, human organization, economic systems, environment systems etc. However, we all know by common sense that everything cannot be controlled in real life. This depends on controllability of the system. In Control Engineering Ⅱ, although limited to linear systems, students learn how to quantitatively discriminate controllability, observability and stability using state equation, while valuing qualitative physical concepts. In addition, students will learn about the pole placement method as a control system configuration method. |
| Course Procedure |
The course will focus on contents of the textbook, but will also use actual examples, animation and video to place emphasis on physical meaning of calculations. In each lecture, we first review contents of the previous lecture, and then summarize main points we learned. |
| Achievement Goals |
①Able to explain basic concepts of stability, controllability and observability etc. in one's own words.
②Able to discriminate stability, controllability, and observability of a control system.
③Able to set up a state equation from a physical model expressed by a second-order differential equation.
④Able to understand properties of Laplace Transform and to use them.
⑤Able to freely arrange poles using constant feedback.
⑥Basic calculation of matrices and determinants. |
| Course Plan |
1. Concept of Modern Control Theory
While explaining development history of control engineering, idea, feature and practical applications of modern control will be explained.
2. Basic MathematicsⅠ
Matrices and Vectors, Addition and Multiplication of Matrices, Determinants, Inverse Matrices
3.Basic MathematicsⅡ
Eigenvalue, Eigenvector, Matrix Rank, Positive Definiteness, Matrix Exponential
4.～5.State Equation
Concept of State Variable, State Variable Representation, Transfer Function and State Variable Representation, Solution of State Equation
6.～7.Controllability and Observability
Criteria of Controllability and Observability, Duality of Controllability and Observability
8.exercise
exercise about 1.～7.
9.Mid test
Range： 1.～8.
10.～11.Stability
Stability of Linear System, Hurwitz Stability Criterion, Equilibrium Point, Stability and Asymptotic Stability, Lyapunov's Method, Application of Lyapunov's Method on Linear System
12.～13.Design Method of Control System by Pole Placement
Concept of Regulator, Regulator Pole (Eigenvalue), Necessary and Sufficient Conditions for Pole Placement, Constitution Method of Control System by Pole Placement Method
14.Exercises
Exercises for 10. to 14.
15. Regular Test
Range: 10. to 14.
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| Texts |
The contents are currently being updated.
|
| Books for Reference |
土谷，江上： 新版 現代制御工学，産業図書 |
| Academic Grading |
Point of total 60 or higher is required to pass the course. Distribution of points is 20 for Midterm Test, 50 for Regular Test, and 30 for Exercises. Students may use calculators during the tests. Preferred courses to be taken beforehand: ： 『制御工学Ⅰ』，『機械の数学』 |
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| Course Name |
Introduction to Robotics |
| Credits |
2 |
| Target Students |
Second-year Students |
| Term |
2Q |
| Teacher in Charge |
Wang shuoyu |
| Contacts |
Teacher's Room：A480， Extension No.：2306， Email：wang.shuoyu@kochi-tech.ac.jp |
| Key Words |
Robot, Wheeled Robot, Two-legged Robot, Four-legged Robot, Industrial Robot, Medical/Health Promotion/Welfare and Nursing Care Robot, Human-friendly Robot, Sensor, Robot Arms and Hands, Manipulator, Position, Posture, Joint, Kinematics, Dynamics, Control, Learning Control |
| Course Objectives |
When the environment around us is carefully observed, many kinds of robots, such as industrial robots that contribute to mass production, cleaning robots that help housewives, child care robots that talk and play with children, can be found as useful. The word "robot" is so well known that there is no one who does not know it. Robots are made of machines and have a certain shape. Because of such shape, it is visible and easy to recognize. Robots are also fun to watch because they can move wisely.Robot engineering supports these things behind the scenes. In this course, students learn fundamentals of mechanism, dynamics, measurement, and intelligent control for wheeled-type robots, walker-type robots and manipulators. As practical applications, cleaning robots, rescue robots, soccer robots, education robots, guiding robots, mental care robots, welfare and nursing care robots, rehabilitation/health promotion robots etc. are also introduced. |
| Course Procedure |
The course will focus on contents of the textbook, but will also use actual examples, animation and video to place emphasis on physical meaning of calculations. In each lecture, we first review contents of the previous lecture, and then summarize learned points. |
| Achievement Goals |
①Able to define Robot in one's own words.
② Able to sort out types of robots.
③ Able to explain mechanisms of mobile robots and manipulators.
④ Able to understand kinematics and dynamics of mobile robots and manipulators.
⑤ ⑤Able to understand procedures to realize robot intelligence.
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| Course Plan |
1. Robot
History of Robots, Etymology of Robot, Three Principles of Robot, Classification by Mechanism, Classification by Field of Application
2. ～4.Wheeled Robot
Classification of Wheeled Robots, Structure and Arrangement of Wheels, Steering and Casters, Special Mechanism, Omni-directional Vehicle, Statics and Travel of Wheeled Robot, Dynamics of Wheeled Robot, Practical Applications
5. ～7. Manipulator
Structure and Representation of Manipulator, Types of Manipulators, Kinematics of Manipulator, Differential Relation of Manipulator, Dynamics of Manipulator, Practical Applications
8.Exercise
Exercise about 1.～7．
9.Middle test
Range：1.～8.
10.～12.Walker Robot
Classification of Walker Robots by Structure, Mechanism of Walker Robot, Effective Use of Energy, Movable Range and Walking Stability, Gait Generation, Practical Applications
13.Robot Intelligence
Sensor, Measurement Method of Object Distance, Trajectory Planning, Path Planning, Task Planning, Intelligent Control, Applications
14.Exercises
Exercises for 9. to 13.
15.Regular Test
Range: 10. to 14.
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| Texts |
The contents are currently being updated.
|
| Books for Reference |
小川，加藤：基礎ロボット工学，東京電機大学出版社 |
| Academic Grading |
Point of total 60 or higher is required to pass the course. Distribution of points is as follows.
Mini Test: 30 points ([3 points per one test] x 10 times = 30 points)
Midterm Test: 30 points (Breakdown: 20 points for Basic Questions, 10 points for Advanced Questions)
Regular Test: 60 points (Breakdown: 50 points for Basic Questions, 10 points for Advanced Questions)
A A： Above 100 points
A： Between 80 points to 99 points
B： Between 70 points to 79 points
C： Between 60 points to 69 points
Preferred courses to be taken： 『制御工学Ⅰ』，『機械の運動』，『機械の数学』
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| Course Name |
Intelligent Robotics |
| Credits |
2 |
| Target |
Graduate Students |
| Category |
Subject of Specialized Field (Intelligent Machine) |
| Teacher in Charge |
Wang shuoyu |
| Contacts |
Teacher's Room：A480， Extension No.：2306， Email：wang.shuoyu@kochi-tech.ac.jp |
| Key words |
Transfer Function, Frequency Response, Vector Locus, Bode Diagram, Internal Stability, Gain Margin, Phase Margin, Optimal Control, Digital Optimal Control, Regulator System, Servo System |
| Course Objectives |
①The purpose of this course is, based on a premise of intelligent machines including robots, to acquire significance of intelligent information processing of various types of sensor information and neural networks (learning) and fuzzy systems (reasoning), which are basic algorithms of various signal processing corresponding thereto, and to acquire basic knowledge and understanding for specific intelligent control and autonomization of robots.Through such examples, students will also acquire importance of reflecting accurate movement or behavior of a robot which has intelligently processed sensor information from outside, in comparison with simple playback behavior often seen in conventional industrial robots.
②② Different from the industrial robots which could only do predetermined simple work, intelligent robots can autonomously reason about and execute necessary actions in response to different working environment. Reasoning about appropriate actions requires knowledge. Knowledge is obtained through learning. That is, in constructing an intelligent robot that can work wisely, not only mechanical mechanisms, but also reasoning and learning functions must be equipped with. The objective in this course is to acquire learning and reasoning algorithms. Specifically, students will learn about learning methods using neural networks, reasoning methods using fuzzy sets, and realization of intelligent robots using these methods. |
| Course Procedure |
In this lecture, various data processing and algorithms for machine intelligence will be illustrated based on basic concepts and application examples, and fundamentals of intelligent information processing technology and machine autonomy are mentioned, with robots used as a concrete example. In particular, neural networks and fuzzy systems will be used as intelligent information processing algorithms. Furthermore, the lecture is given in a classroom style, and many pictures, videos, and animations related to intelligent robots will be used to enhance understanding. Prof. TAKEDA will be in charge of the first half, and Prof. WANG will be in charge of the latter half. Evaluation is taken at the end of each lecture. |
| Achievement Goals |
① Able to understand learning mechanism of neural networks and obtain basic understanding of their introduction to robots.
② Able to obtain basic concepts for making robots intelligent and autonomous by neural networks.
③ Able to understand effectiveness of adaptability to dynamic time series variation of a robot by learning neural networks.
④ Able to understand a quantification method of ambiguous concept by fuzzy sets, and to perform basic operations of fuzzy sets and relations.
⑤ Able to understand basic concepts of fuzzy reasoning, and to express three types of fuzzy reasoning algorithm by mathematical formulas.
⑥ Able to understand relationship between knowledge acquisition, learning and reasoning, and to create obstacle avoidance language rules for intelligent robots. |
| Course Plan |
1. ～2.Fundamentals of Neural Network
Operating principles of neural networks are described and basic concepts when applied to pattern recognition and machine control will be explained. In addition, a variety of network configuration methods and advantages and disadvantages related to various configuration methods will be explained, and issue of convergence in machine learning will also be mentioned.
3. ～4.Learning algorithms represented by back-propagation method are introduced and basics of learning mechanism using stochastic gradient descent method are explained. In addition, points to be noted in introducing a method in online learning with neural networks will be mentioned for manipulator-type robots.
5. Superiority of neural networks as nonlinear controllers for control objects (artificial muscles, vertical articulated manipulators, etc.), in which nonlinear characteristics play a large role, will be discussed, and history up to now and current status of robot control research using neural networks will be explained.
6.Practical Case Study
Using visual information of a robot as an example, students will learn mechanism of learning system by neural network and its robustness against variation of external information by generalization ability.
7.First Half Test: 60 points（50 points for Basic Contents, 10 points for Applied Questions)
8.Fuzzy Theory and Intelligent Control
Concept of Fuzziness and its Importance, History of Fuzzy Theory, Practical Examples of Intelligent Control System and Introduction of Intelligent Robot using Fuzzy Theory.
9.Fuzzy Sets and Quantification of Ambiguous Concept
Sets, Crisp Sets and Definition Function, Fuzzy Sets and Membership Function, Stringent Quantification of Concepts by Fuzzy Sets, Basic Operations of Fuzzy Sets (Sum Set, Common Set, Complementary Set), Properties of Fuzzy Sets (Commutative Law, Associativity Law, Distribution Law, Double Negative Law, De Morgan's Law).
10.Fuzzy Relation
Concept of Fuzzy Relation, Binary Fuzzy Relation (Continuous Expression, Discrete Expression), Operation of Fuzzy Relation (Join, Intersection Complement), Composition of Fuzzy Relation
11.Fuzzy Numbers and their Operation
Definition of Fuzzy Numbers, Extension Principle, Decomposition Theorem, Expression of Intelligence in Language, Practical Examples of Intelligent Control using Language Knowledge Base
12.Fuzzy Reasoning
Mamdani's Reasoning Method, Functional Reasoning Method, Singleton Reasoning Method, Product-Sum Reasoning Method
13.Control of Intelligent Robot using Fuzzy Reasoning
Configuration of Model-based Fuzzy Control System and its Application to Intelligent Robot, and Configuration of Learning System using Language Knowledge Base and its Application to Intelligent Robot.
14.Motion Planning for Intelligent Robot based on Fuzzy Reasoning
Relationship between Knowledge Acquisition, Learning and Reasoning, Trajectory and Path Planning of Intelligent Robot based on Fuzzy Reasoning, and Obstacle Avoidance based on Reasoning Method with Learning Function.
15.Latter Half Test: 60 points（50 points for Basic Contents, 10 points for Applied Questions)
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| texts |
In the first half of the course, necessary materials will be distributed as appropriate.
In the second half, self-edited materials will be used.
目標点探索.exe
GAによる最大値のサーチ.exe
InvDyna.exe
|
| Books for Reference |
『図解雑学ロボット』，新井建生（ナツメ社）ISBN4-8163-3916-7\1350 Video materials will be used.
『アドバストファジィ制御』，田中一男（共立出版株式会社）ISBN4-320-08530-2 ￥3570
『ファジィ制御』菅野道夫（日刊新聞社）ISBN4-526-02348-5 |
| Academic Grading |
Grades for the first half and the second half will be combined for evaluation as follows.
A A： Above 100 points
A： Between 80 points to 99 points
B： Between 70 points to 79 points
C： Between 60 points to 69 points
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Prerequisite Courses
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None |
Preferred courses to be taken in advance
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機械数学、メカトロニクス、人工知能入門、制御工学Ⅰ、ロボット工学概論 |
Courses recommended to be taken concurrently
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None |
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| Course Name |
Advanced Control Engineering |
| Credits |
2 |
| Target |
Graduate Students |
| Category |
Subject of Specialized Field (Intelligent Machine) |
| Teachers in Charge |
Oka Koichi，Wang Shuoyu |
| Contacts |
Teacher's Room：A480， Extension No.：2306， Email：wang.shuoyu@kochi-tech.ac.jp |
| Keywords |
Transfer Function, Frequency Response, Vector Locus, Bode Diagram, Internal Stability, Gain Margin, Phase Margin, Optimal Control, Digital Optimal Control, Regulator System, Servo System |
| Course Objectives |
The objective of this course is to acquire the followings as extension of control engineering and robotics courses taught at the undergraduate level. In the first half, students learn frequency response. The frequency response is a response of output in a steady state when sine wave of various frequencies is applied to a system as an input, and characteristics of the system can be well described by understanding this.In the latter half of the course, in particular, students will learn design methods of optimal regulator system and optimal servo system for continuous-time and discrete-time systems respectively. With understanding of these design methods, one can actually design a control system which allows minimum control time and energy consumption. |
| Course Procedure |
The course will focus on contents of the textbook, but will also use actual examples, animation and video to place emphasis on physical meaning of calculations. In each lecture, we first review contents of the previous lecture, and then summarize main points we learned. |
| Achievement Goals |
① Able to understand concept of frequency response and to determine gain and phase in each input frequency.
② Able to determine transfer function from the graph represented on the Bode diagram.
③ Able to understand gain margin and phase margin, and to determine gain of stability limit.
④ Able to understand physical meaning of evaluation function, and to express evaluation function of energy consumption in a mathematical formula.
⑤ Able to determine digital state equation from continuous time state equation.
⑥ Able to design optimal regulator system and optimal servo for a control target of two inputs and two outputs. |
| Course Plan |
１．Transfer Function and Frequency Response
２．Vector Locus
３．Bode Diagram
Properties and Advantages of Bode Diagrams
５． Internal Stability and Nyquist Stability Criterion of Feedback Control System
６．Gain Margin and Phase Margin
７．First Half Test: 60 points (50 points for Basic Contents, 10 points for Applied Questions)
８．Preliminary Knowledge of Optimal Control
Matrix, Vector, Matrix Operation, Determinant, Inverse Matrix, (Semi) Positive Definite Matrix and (Semi) Positive Matrix Criteria, Eigenvalue
９．Basic Concepts of Optimal Control
Physical Meaning of Optimal Control, Evaluation Function, Relationship between Controllability and Observability
１０．Optimal Regulator System of Continuous Time System
Continuous Time System State Equation, Concept of Regulator, Formulation of Optimal Regulator Problem, Derivation of Control Law of Optimal Regulator
１１．Optimal Servo System of Continuous Time System
Concept of Servo, Formulation of Optimal Servo Problem, Design Method of Optimal Servo
１２．Digital Optimal Regulator System
Discretization of Continuous Time System State Equation, Formulation of Digital Optimal Regulator Problem, Derivation of Control Law for Digital Optimal Regulator System
Solution of Riccati Equation
１３．Digital Optimal Servo System
Formulation of Digital Optimal Servo Problem, Design Method of Digital Optimal Servo System, Stability Condition, Proof of Stability using Positive Definite Lyapunov Function, Solution of Riccati Equation
１４．Comparison with Pole Placement Method
Characteristics of optimal control theory will be explained, comparing differences with design method by the pole placement method learned in undergraduate courses. Finally, basic concepts of adaptive control, preview control, and learning control as intelligence control will be introduced.
１５．15. Latter Half Test: 60 points (50 points for Basic Contents, 10 points for Applied Questions)
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| texts |
None in particular. |
| Books for Reference |
『フィードバック制御入門 システム制御工学シリーズ３』
杉江俊治，藤田政之著，(コロナ社, 1999) ISBN 4-339-03303-0
『新版 現代制御工学』
土谷武士，江上正 著（産業図書株式会社，2000）ISBN:4782855486 |
| Academic Grading |
Grades for the first half and the second half will be combined for evaluation as follows.
A A： Above 100 points
A： Between 80 points to 99 points
B： Between 70 points to 79 points
C： Between 60 points to 69 points
◇Preferred courses to be taken in advance: 制御工学Ⅰ，Ⅱ，Ⅲ，コンピュータ制御。
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| Course Name |
Comprehensive Lecture on Intelligent Mechanical Systems 2 |
| Teacher in Charge |
CHONO Shigeomi |
| Target |
Third-year Students and Fourth-year Students |
| Lecture Room |
Ａ１１３ |
| Day and Time |
Monday １, Thursday １ |
| Course Format |
General Lecture |
| Class |
Faculty: Major 001 |
| Term |
2nd Semester |
| Credit Category |
Elective |
| Credits |
2.0 |
| Lecture Objectives |
This is one of the subjects in Comprehensive Lecture of Intelligent Mechanical Systems Engineering Course offered from the second semester of the third year to the fourth year students. Based on the theme set by each laboratory, students learn comprehensive contents such as explorations, taking turns in giving lectures, experiments, designing and fabricating apparatuses and circuits, programming, and acquire background and basic knowledge and skills related to their graduation research theme. |
| Course Procedure |
In the specialized guidance which is a prerequisite course, there is a detailed explanation for each laboratory. |
| Achievement Goals |
In the specialized guidance which is a prerequisite course, there is a detailed explanation for each laboratory. |
| Course Plan |
Students will work on the following themes set by each laboratory.
・ Theory of Mechanics
・ Analysis of Theoretical Formulas with Mathematica
・ Take turns in giving lectures on specialized books related to system control.
・ Each of the students decides their own theme and work on their research for graduation thesis.
・ Assemble robot kits and learn operation of them (learning RoboVie).
・ Read basic materials and conduct experiments on assigned theme to deepen understanding of the content of graduate research in preparation for employment examinations. In addition, design and fabricate (order) devices to be used in experiments while making drawings using 3D-CAD and conducting analysis using ANSYS and Pro/Mechanica.
・ Learn operation of various experimental devices and instruments for graduation research, assist fourth-year and graduate students in data collection, and understand basic operation and performance of the experimental devices on the spot. In addition, make suggestions and proposals for improvement to increase performance.
・ Review of Solid Mechanics, English Literature Reading, Industrial Mathematics, Presentation Practices
・Experiments and Practices for Preparation of Graduation Research
（１） Practices to measure length.
（２） Experiments to measure positioning accuracy of tabletop machine tools.
（３） Practices to operate NC surface grinders and experiments of grinding process.
・ Seminars on Ion Beam using Literatures
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| Texts |
Distributed as needed. |
| Academic Grading |
n the specialized guidance which is a prerequisite course, there is a detailed explanation for each laboratory.
Notes for taking the course:
This course is one of the Comprehensive Lectures (laboratory-oriented course including graduation research offered for third year to fourth year students). To take this course group, students must pass Specialized Guidance.
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