In this paper, the theoretical fact that Random fluctuations in feedback control scheme can improve its control performance is verified by using a practical demonstration experiment for a seesaw and cart control equipment. Unstable closed-loop system with a simple proportional control law is stabilized due to the state-dependent fluctuation. Our theoretical expectation on the control performance improvements due to fluctuation are shown from both aspects of numerical simulations and its experimental validation.
Global logistic design is becoming a keen interest to provide an essential infrastructure associated with modern societal provision. For examples, we can designate green and/or robust logistics in transportation systems, smart grids in electricity utilization systems, and qualified service in delivery systems, and so on. As a key technology for such deployments, we engaged in practical vehicle routing problem on a basis of the conventional saving method. This paper extends such idea and gives a general framework available for various real-world applications. It can cover not only delivery problems but also two kind of pick-up problems, i.e., straight and drop-by routings. Moreover, multi-depot problem is considered by a hybrid approach with graph algorithm and its solution method is realized in a hierarchical manner. Numerical experiments have been taken place to validate effectiveness of the proposed method.