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
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.


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.




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


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

Web Sites


Additional Information

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