An iterative learning control (ILC) is considered for a linear time-invariant plant. Its discretized system with a sampling period is introduced via delta operator. For this discrete-time plant, a necessary and sufficient condition is given under which its tracking error converges to zero as the number of iterations goes to infinity. Then, a sufficient condition of convergence of ILC for the original continuous-time plant is derived by considering the case that the sampling period tends to zero. The condition is that the spectral radius of a matrix is less than one, while the existing condition is that an induced norm of the matrix is less than one. Since the spectral radius of a matrix is always less than or equal to any induced norm of the matrix, the convergence condition of this paper is better than any other condition based on induced norm.

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A formal model named Expanded-Timed-State-Chart (ETSC) for expressing the complex behavior of a discrete production system (DPS), where multiple jobs are simultaneously carried out in parallel, was proposed by expanding Timed-State-Chart model. Making use of the model, event-driven simulation of DPS in formal fashion can conveniently be carried out, and so the verification method based on Model-Checking becomes applicable to DPS. In order to illustrate the usefulness of the model, computational experiments were carried out for verifying the validity of operations given to a target DPS, that is a multi-purpose chemical batch plant given by Japan Batch Forum. Some practical assumptions to reduce the “reachable-tree” to a restricted one have been introduced here in order to avoid the difficulty of combinatorial explosion, that intrinsically appears in the generation of Kripke-Structure of original DES.

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The present paper proposes an idea generation support system taking a leaf from TRIZ, which is known as a theory of inventive problem solving, to design systems that make use of FUBEN-EKI (FUrther BENEfit of a Kind of Inconvenience). Even the benefits of inconvenience are known as an essence of spiritually affluent lives, it is quite difficult to design artifacts for providing such benefits. A design support method for implementing such benefits were proposed based on the result of analyzing many tools and methods that are generally said to be inconvenient but provide user-dependent such benefits as fostering affirmative feelings, enhancing awareness, and prompting creative contributions. The proposed method takes such leaves from TRIZ as contradiction-matrix and the process of making use of the matrix for creative thinking. The system, proposed in the present paper, is a web application of the design support method. The experimental result shows that the system is beneficial for users who use the system in deep but is harmful for users who use it superficially. Generally, convenient systems perform well at almost same level for any users. In this sense, the experimental result revealed that the proposed system itself is a kind of FUBEN-EKI system.

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This paper presents the decoupling method of the complementary sensitivity of MIMO systems with generalized stabilizer and servo systems. In order to accomplish it, design methods of compensators for the decoupling condition and for unstable zeros to be row ones are proposed. Computation method of the observable diagonal-block model are also provided.

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In this paper, it has proposed about the charge-and-discharge control system which raises the efficiency of the electric power storage equipment using a capacitor by decreasing the variation in inter-terminal voltage of the capacitors resulting from the variation in capacitance. That is, by a pair of capacitors, and some switches which switch them in series or in parallel, circuit brock is constituted, further, the circuit brock is connected to n stage series, and an electric power storage part is constituted. And in order to always maintain the output voltage of an electric power storage part to allowable-input-voltage within the limits of an electric power converter, connection of the capacitors in each circuit block is switched in series or in parallel. In that case, when a multiple connection part is required, by constituting multiple connection parts not only including a pair of capacitors which constitute each block but two capacitors which adjoin mutually, inter-terminal voltage of all the capacitors is equalized, and the charge-and-discharge efficiency of electric power storage equipment is raised.

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The wheeled inverted pendulum robots whose control methods are discussed in this paper can move on a two dimensional horizontal plane by controlling two wheels. The horizontal motion is nonholonomic like the motion of two wheeled vehicles. However, the translational acceleration of inverted pendulum robot is used for stabilizing the body angle. Therefore, the translational velocity is not considered as an independent control input in the tracking problem of nonholonomic system. In this study, a tracking controller for inverted pendulum robots is proposed. Two control inputs of the system are separately designed by using the transformation to the time-state control form. At first, the translational control input is designed for stabilizing the body angle and controlling the translational velocity. Then, the rotational input is designed based on the time-state control form of the horizontal motion model in order to asymptotically converge to given trajectories. In numerical simulations and experiments, it was confirmed that the robot tracked given desired trajectories even if the translational velocity fluctuated.

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In this paper, we propose the nonlinear feedback controller design based on the phase plane behavior. The controller is to minimize the difference of two vector fields: the nonlinear closed-loop vector fields and the stabilized closed-loop vector fields of linear approximation with linear controller. The stability of the controller is guaranteed by considering the Lyapunov function on the phase plane. The effectiveness of the proposed controller is shown by the simulation of a general inverted pendulum. The results show that the stabilized domain is extended. In this model, we use the coordinate transform to extend the stabilized domain further.

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It is known that collocated dynamical systems can be robustly stabilized by using symmetric static output feedback controllers and some optimization methods of the feedback gain matrices have been proposed for symmetric systems. This paper extends the result to the asymmetric gyroscopic systems. We first show that static output feedback controllers having asymmetric gains are appropriate for optimal disturbance attenuation in the sense of H_∞ control, and provide an optimization method using LMIs. Then it is shown that the obtained optimal controller works to cancel the gyroscopic term included in the system. We further propose to construct dynamic output feedback controllers based on the static optimal gain matrices. Finally, some numerical study results are shown to verify the effectiveness.

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This paper deals with game theoretic real-time pricing method based on dual decomposition and its application to load frequency control of power networks. The proposed pricing method in this study aims to solve the constrained optimization problem consist of each player's utility and social welfare under selfish players. Selfish player's decision is a Nash equilibrium solution considering their own cost functions. We show this method can lead their own decision to social welfare maximization. Finally we show the effectiveness of the proposed methodology for load frequency control by several simulation results.

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This paper proposes a level control of a carrier platform on a cart with an active vibration reducer of a 3-degree-of-freedom parallel link type. The carrier platform is supported with three links, which are connected to each linear actuator. The pitch angle, the roll angle and the vertical displacement of the carrier platform are controlled by these linear actuators. The level control system is designed by using a skyhook theory. Even when the cart runs on uneven grounds, the carrier platform is always kept levelly with the active vibration reducer. The usefulness of the proposed control system is demonstrated through simulation and experimental results.

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Finger tapping movements (open-close movements of thumb and index finger) are routinely tested in order to evaluate motor function of Parkinson's disease (PD) patients, and more than ten different indices calculated from measured data have been used in medical diagnosis. However, underlying relationships among the indices and even basic factors influencing them remain still unknown. This paper investigates the basic factors that influence the motor function evaluation of the finger tapping movements and proposes a novel method to classify and evaluate the movements of the normal elderly subjects and the PD patients based on the extracted features of abnormal movements. In the experiments, finger tapping movements of 35 PD patients and 86 normal elderlies were evaluated based on 12 indices, and the factor analysis was applied to the results. The results indicate the finger movements of PD patients have three factors: opening and closing ability of fingers; stability of the movements; and movement rhythm. Also, it can be observed that the subjects can be classified into eight groups by thresholding the three factors. The results lead us to conclude that the factor analysis enables the detailed investigation of the motor function by classifying the subject movements.

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This paper focuses on distributed LED lighting systems composed of multiple LED lights and communication channels. In this paper, a lighting pattern control problem for the systems is formulated. The problem is to determine lighting patterns (on/off modes) such that a supplying illuminance distribution is similar to a desired one. Then, a simple and useful distributed control algorithm is proposed, and its effectiveness is verified by a numerical simulation and an experiment.

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