# Syllabus 2018

Common Portal for All Students (Login to KULASIS)

## Course Title : Control Theory for Mechanical Systems

Code | 10X717 |
---|---|

Course Year | Master Course |

Term | 1st term |

Class day & Period | Mon 2nd |

Location | Engineering Science Depts Bldg.-315 |

Credits | 2 |

Restriction | |

Lecture Form(s) | Lecture |

Language | Japanese |

Instructor | Toshiharu Sugie (School of Informatics) |

### Course Description

In this lecture, some basic components of advanced control theory for mechanical

systems are described, which include coprime factorization, two-degree-of-freedom

control, and robust controller design which takes account of model uncertainties.

### Grading

It is evaluated by the raw score of the formal test in July. The students must

submit the reports and the small exam papers which are requested in the class. The

students should attend the class (with no late) more than 90 percent.

### Course Goals

The course goals are (a) to understand the basic concepts of coprime factorization

and algebraic control theory, (b) to be able to handle numerical examples, and (c)

to understand the basic concepts of the robust control theory.

### Course Topics

Theme | Class number of times | Description |
---|---|---|

Introduction | 1 | The purpose and the back ground of this lecture are described. |

Coprime factorization | 3-4 | How to calculate the coprime factorization and its relation to stabilization are described. |

Parametrization of stabilizing controllers | 2-3 | The class of all stabilizing controllers are given. |

2 DOF control systems | 3-4 | The merits of 2 degree-of-freedom systems are described, and a systematic controller design method is given. |

H-infinity control | 3-4 | Some basics of H- infinity control theory are described. |

### Textbook

none

### Textbook(supplemental)

T.Sugie and M.Fujita, Introduction to Feedback Control, Corona Publishing Co., Ltd.

### Prerequisite(s)

Classical Control Theory should be learned in advance.

### Independent Study Outside of Class

Each student must confirm the numerical examples given in the lecture shown by

himself/herself.

### Web Sites

none

### Additional Information

Office hour: Monday 15:00?17:00 at Room 409 of Research Building No. 10