Control Engineering Ⅲ

Course Information

College	Toyama College	Year	2022
Course Title	Control Engineering Ⅲ
Course Code	0133	Course Category	Specialized / Elective
Class Format	Lecture	Credits	Academic Credit: 1
Department	Department of Electrical and Control Systems Engineering	Student Grade	5th
Term	First Semester	Classes per Week	前期:2
Textbook and/or Teaching Materials	森北出版　森泰親　著「わかりやすい現代制御理論」
Instructor	Urakaze Kazuhiro

Course Objectives

At the completion of this course, students will be able to
1)Describe the equation of state of the system.
2)Calculate the state transition matrix from the state equation and explain the eigenvalues and response characteristics.
3)Convert a system matrix to a diagonal canonical and a controllable canonical system.
4)Determine the controllability and observability of the system.
5)Calculate the state feedback coefficient by the polar placement method.

Rubric

	Ideal Level of Achievement	Standard Level of Achievement	Unacceptable Level of Achievement)
Evaluation 1	Can describe the equation of state of the system almost perfectly.	Can describe the equation of state of the system correctly.	Can't describe the equation of state of the system.
Evaluation 2	Can calculate the state transition matrix from the state equation and explain the eigenvalues and response characteristics almost perfectly.	Can calculate the state transition matrix from the state equation and explain the eigenvalues and response characteristics correctly.	Can't calculate the state transition matrix from the state equation and explain the eigenvalues and response characteristics.
Evaluation 3	Can convert a system matrix to a diagonal canonical and a controllable canonical system almost perfectly.	Can convert a system matrix to a diagonal canonical and a controllable canonical system correctly.	Can't convert a system matrix to a diagonal canonical and a controllable canonical system.
Evaluation 4	Can determine the controllability and observability of the system almost perfectly.	Can determine the controllability and observability of the system correctly.	Can't determine the controllability and observability of the system.
Evaluation 5	Can calculate the state feedback coefficient by the polar placement method almost perfectly.	Can calculate the state feedback coefficient by the polar placement method correctly.	Can't calculate the state feedback coefficient by the polar placement method.

Assigned Department Objectives

学習・教育到達度目標 A-6 （核となる専門分野の既存技術を説明でき，社会から要求されている問題や実務上の問題を見出し設定することができる。）

JABEE 1(2)(d)(1) （専門工学（工学（融合複合・新領域）における専門工学の内容は申請高等教育機関が規定するものとする）の知識と能力）

JABEE 1(2)(e) （種々の科学、技術及び情報を活用して社会の要求を解決するためのデザイン能力）

ディプロマポリシー 1 （電気工学，機械工学，情報工学の知識，技術を総合的に身につけ，それらを応用したものづくりができる。）

Teaching Method

Outline:

Students learn the basics of modern control theory and learn a method of controlling systems(such as mechanical systems and electrical systems) which have multiple inputs and outputs that cannot be dealt with by classical control theory.
The teacher who experienced the development of the industrial robot lectures on the application example to the system.

Style:

Lectures and exercises

Notice:

Submit classwork by the deadline.
Can take makeup exam in need aid up to maximum of 60 points.

Course Plan

			Theme	Goals
1st Semester
	1st Quarter
		1st	Overview of modern control theory	Can understand the basic idea of modern control theory.
		2nd	Equation of state	Can derive the equation of state and understand the relationship with the transfer function.
		3rd	Equation of state	Can derive the equation of state for the mechanical and electrical systems.
		4th	Dynamic response of the system	Can understand the response of the system.
		5th	Modal canonical form	Can explain the relationship between the eigenvalue and response.
		6th	Coordinate transformation	Can convert the system matrix to a diagonal canonical system.
		7th	Coordinate transformation	Can convert the system matrix to a controllable canonical form.
		8th	mid-term exam
	2nd Quarter
		9th	Controllability	Can understand the concept of controllability.
		10th	Observability	Can understand the concept of observability.
		11th	Duality of the system	Can understand the concept of duality of the system.
		12th	Pole placement method	Can calculate the state feedback coefficient by the pole placement method.
		13th	Inverted pendulum	Be able to derive the motion equation of the inverted pendulum, to determine the controllability and observability, and to calculate the feedback coefficient by the pole placement method.
		14th	Optimal regulator	Can explain the method of calculating feedback coefficients by the optimal regulator.
		15th	term end exam
		16th	Confirmation of results

Evaluation Method and Weight (%)

	Examination	Presentation	Mutual Evaluations between students	Behavior	Portfolio	Classwork	Total
Subtotal	80	0	0	0	0	20	100
Basic Ability	60	0	0	0	0	20	80
Technical Ability	20	0	0	0	0	0	20
Interdisciplinary Ability	0	0	0	0	0	0	0