抄録
This paper describes the optimum control of transferring a container partially filled with liquid, in order to damp the vibration of the liquid surface, called sloshing, when the static liquid level changes each transfer. Two control transfer systems are described : a control system with robustness and a gain scheduling control system. The control system with robustness is intended for the worst condition, which is when the static level is the lowest. The gain scheduling control system is built by obtaining the gain function corresponding to each static liquid level. Sloshing is represented by a simple pendulum-type model. For a rectangular container, water and straight transfer path, optimum servo control system with Kalman filter was applied.
