研究者業績

佐藤 孝雄

サトウ タカオ  (Takao Sato)

基本情報

所属
兵庫県立大学 大学院 工学研究科 機械工学専攻 教授
学位
博士(工学)(2002年3月 岡山大学)

ORCID ID
 https://orcid.org/0000-0003-0590-3594
researchmap会員ID
5000022439

外部リンク

主要な委員歴

 174

主要な論文

 212
  • J.L. Guzman, K.Zakova, I.K. Craig, T.Hagglund, D.E. Rivera, J.E. Normey-Rico, P. Moura-Oliveira, L. Wang, A. Serbezov, T. Sato, A. Visioli
    International Journal of Engineering Education 40(5) 1162-1180 2024年9月  査読有り
  • Takao Sato, Tomoka Nishino, Natsuki Kawaguchi, Hisashi Mori, Hayato Uchida, Kiichiro Murotani, Yuichi Kimura, Isao Mizukura, Syoji Kobashi, Orlando Arrieta
    Scientific Reports 14(1) 2024年7月27日  査読有り筆頭著者責任著者
  • 永尾賢太, 川口夏樹, 佐藤孝雄
    システム制御情報学会論文誌 37(7) 195-202 2024年7月  査読有り最終著者責任著者
  • Y. Sakai, N. Kawaguchi, O. Arrieta, T. Sato
    ISA Transactions 140 157-169 2023年9月  査読有り最終著者責任著者
  • Yuta Sakai, Natsuki Kawaguchi, Takao Sato, Orlando Arrieta
    Asian Journal of Control 25(1) 54-65 2023年1月  査読有り責任著者
  • J.L. Guzmán, K. Žáková, I.K. Craig, T. Hägglund, D.E. Rivera, J.E. Normey-Rico, P. Moura-Oliveira, L. Wang, A. Serbezov, T. Sato, M. Beschi
    IFAC-PapersOnLine 55(17) 31-36 2022年10月  査読有り
  • T. Sato, Y. Sakai, N. Kawaguchi, A. Inoue
    ISA Transactions 126 254-262 2022年7月  査読有り筆頭著者責任著者
    For the next generation of manufacturing, represented by Industrie 4.0, a multi-input controller is designed directly from controlled data, without using the mathematical plant model, where the ratio between the D/A conversion of multiple inputs and the A/D conversion of a single output is non-uniquely. With the proposed method, the fixed-structured controller is optimally designed by solving a model reference problem using one-shot data. Furthermore, to eliminate inter-sample ripples emerged by input oscillation, the deviation of the control inputs is also evaluated using the proposed method. As a result, a non-ripple data-driven controller is achieved. Numerical examples show that the proposed multi-rate data-driven method is superior than the conventional single-rate method.
  • Takao Sato, Yuta Sakai, Natsuki Kawaguchi, Orlando Arrieta
    IEEE Access 9 144426-144437 2021年10月  査読有り筆頭著者責任著者
    In this study, a data-driven design method is proposed for a dual-rate system, where the sampling interval of a plant output is restricted and is an integer multiple of the holding interval of a control input. In our proposed method, single-rate virtual reference feedback tuning (S-VRFT), where the holding interval is the same as the sampling interval, is extended to the dual-rate virtual reference feedback tuning (D-VRFT) system. In D-VRFT, a controller is decided using a set of input/output data used in S-VRFT, and it is easy to extend S-VRFT to D-VRFT and implement D-VRFT. In this study, intersample oscillations caused in such a dual-rate control system is prevented because a weighting filter is introduced for penalizing the control input deviation between the sampling instants. The filter is designed as an integrator for weighting the low-frequency domain. The improvement in fast-tracking performance as well as the ripple-free property are demonstrated through both the numerical and experimental results.
  • R. Yasui, N. Kawaguchi, T. Sato, A. Inoue
    Journal of the Franklin Institute 358(8) 4483-4502 2021年5月  査読有り責任著者
    The present study discusses the design method for controlling a single-input/single-output linear time-invariant dual-rate system, where the sampling interval of the plant output is longer than the holding interval of the control input. In such a dual-rate system, the intersample output might oscillate even when the sampled output converges to the reference input in the steady state. In a conventional ripple-free method, an existing control law is extended by introducing an exogenous variable, which is independent of the discrete-time sampled response, and the exogenous variable is designed for eliminating the steady-state intersample ripples without changing the existing sampled response. In another method, since a control law is designed such that the intersample performance is optimized, the intersample ripples are eliminated in the transient as well as steady states. However, the preservation of an existing sampled response is not taken into account. The present study proposes a new design method for eliminating the intersample ripples subject to the existing sampled response. In the proposed method, the continuous-time index is optimized subject to the existing discrete-time response. As a result, the intersample ripples are eliminated in the transient as well as steady states, and the existing discrete-time sampled response is maintained. The proposed method is compared to the conventional dual-rate design methods in numerical examples, and the effectiveness of the method is demonstrated.
  • Takao Sato, Takuma Kusakabe, Kazuma Himi, Nozomu Araki, Yasuo Konishi
    IEEE Transactions on Control Systems Technology 29(3) 1332-1339 2021年5月  査読有り筆頭著者責任著者
    This study proposes a data-driven approach for controlling a dual-rate sampled-data system using the lifting technique, where the sampling interval of the plant output is longer than the holding interval of the control input. In the proposed method, the structure of the dual-rate controller is linearized to its controller parameter, and the controller parameter is optimized using noniterative correlation-based tuning. Furthermore, intersample ripples are eliminated because the difference in the control inputs between sampled outputs is weighted. The effectiveness of the proposed method is demonstrated through numerical and experimental examples.
  • T. Sato, K. Fujita, N. Kawaguchi, T. Takagi, I. Mizumoto
    Control Engineering Practice 105(104651) 1-7 2020年12月  査読有り筆頭著者責任著者
    In the design of simple adaptive control (SAC) using almost strictly positive real (ASPR), the feedback control system is stabilized by the output feedback with a high gain. Although ASPR is not, however, generally satisfied, it is achieved by introducing a parallel feedforward compensator (PFC). When SAC is designed for the augmented system which consists of an actual plant and PFC, not the actual plant output but the augmented system output converges to the reference input because of the influence of PFC. To resolve the problem, an extension method of the conventional SAC is proposed. In the proposed method, based on the null-space of an augmented plant, an exogenous input, which is independent of the augmented system output, is newly introduced. Because the exogenous input is designed so that PFC output is to be 0, the actual plant output is the same as the augmented system output in the steady state, and as a result, the actual plant output converges to the reference input. From a practical application point of view, the proposed method can easily improve the control performance of the conventional SAC with a PFC. In the proposed method, an exogenous input generated as the feedback signal of PFC output is only added to the conventional SAC control input. Therefore, the proposed method can be applied to various field in which the SAC method has been implemented, e.g., process control, mechanical systems, power systems, robotics, and others. In the present study, the effectiveness of the proposed method is also demonstrated through experiments for a motor control.
  • Takumi Furusaka, Takao Sato, Natsuki Kawaguchi, Nozomu Araki, Yasuo Konishi
    IEEE Access 8(1) 97557-97563 2020年12月  査読有り責任著者
    The present study discusses the consensus control of dual-rate multi-agent systems, where the sampling/communication interval of quantized data is an integer multiple of the control interval. A conventional multi-agent system uses a dynamic quantizer which is designed in a single-rate system where the intervals are equal, i.e., the control interval length is the same as the communication interval length. However, a dynamic quantizer designed in a dual-rate system is expected to have improved control performance. In the present study, an objective function is divided into a quantization term, which is related to the quantization error, and the remaining term. The proposed dual-rate dynamic quantizer is designed such that the quantization term is minimized. Finally, in numerical examples, the proposed dual-rate method is quantitatively evaluated by comparing with the conventional single-rate method, and the effectiveness of the proposed method is demonstrated.
  • R. Kurokawa, T. Sato, R. Vilanova, Y. Konishi
    Journal of the Franklin Institute 357(7) 4187-4211 2020年5月  査読有り責任著者
    The present study discusses an optimal design method of a proportional integral derivative (PID) control system for a continuous-time second-order plus dead-time system (SOPDT) that includes an under-damping system. The proposed PID control system is designed to minimize the performance index defined as the tracking performance for the set-point or the regulation performance for the disturbance, where the assigned stability margin is also achieved in order to attain robust stability for the modeling error. Because of the relationship between tracking performance and robust stability, the PID parameters are decided such that the tracking performance is optimized subject to the user-specified stability margin. In the proposed design method, in order to obtain the most general optimal PID possible parameters for controlled plants, we discuss a design method based on a normalized plant model. As a result, the PID parameters are seamlessly optimized between over-damping, critical-damping, and under-damping systems. The effectiveness of the proposed method is demonstrated through numerical examples.
  • Takao Sato, Toru Yamamoto, Nozomu Araki, Yasuo Konishi
    Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME 136(6) Paper No: DS-12-1419 2014年11月  査読有り筆頭著者責任著者
    In the present paper, we discuss a new design method for a proportional-integral-derivative (PID) control system using a model predictive approach. The PID compensator is designed based on generalized predictive control (GPC). The PID parameters are adaptively updated such that the control performance is improved because the design parameters of GPC are selected automatically in order to attain a user-specified control performance. In the proposed scheme, the estimated plant parameters are updated only when the prediction error increases. Therefore, the control system is not updated frequently. The control system is updated only when the control performance is sufficiently improved. The effectiveness of the proposed method is demonstrated numerically. Finally, the proposed method is applied to a weigh feeder, and experimental results are presented. © 2014 by ASME.
  • T. Sato
    CONTROL ENGINEERING PRACTICE 18(2) 105-113 2010年2月  査読有り筆頭著者責任著者
    Most weigh feeders are controlled by a PID control method, and it is desirable to achieve high performance with this PID control. The present paper discusses the application of a generalized predictive control (GPC)-based PID controller to a weigh feeder. In conventional methods, GPC-based PID controllers are designed using a step-type reference signal, but in control of a weigh feeder, a reference input to be followed by a measured signal is a ramp-type signal because the measured signal is discharged mass. Hence, control of a weigh feeder using a GPC-based PID controller is enhanced for tracking a ramp-type signal. Because GPC can be expressed by PID parameters, the proposed method can be easily adopted in various industries. Experimental results show that a weigh feeder is well controlled using the enhanced GPC-based PID controller. (C) 2009 Elsevier Ltd. All rights reserved.

書籍等出版物

 12

主要な講演・口頭発表等

 262
  • 西野智香, 川口夏樹, 小橋昌司, 室谷樹一郎, 木村雄一, 水庫 功, 森 寿仁, 内田勇人, 佐藤孝雄
    電気学会研究会資料 制御研究会 2023年4月 電気学会
  • Saeri Suda, Yuta Sakai, Natsuki Kawaguchi, Takao Sato
    SICE Annual Conference 2022 2022年9月
  • Natsuki Kawaguchi, Nozomu Araki, Takao Sato, Masaharu Kuroda
    SICE Annual Conference 2022 2022年9月
  • Takao Sato, Tomonori Yao, Natsuki Kawaguchi
    IFAC Symposium on Advances in Control Education 2022 2022年7月
  • J.L. Guzmán, K. Zakova, I. Craig, T. Hagglund, D. Rivera, J.E. Normey-Rico, P. Moura-Oliveira, L. Wang, A. Serezov, T. Sato, M. Beschi
    IFAC Symposium on Advances in Control Education 2022 2022年7月
  • Takao Sato, Yuta Sakai, Natsuki Kawaguchi
    IFAC Workshop on Adaptive and Learning Control Systems 2022年6月
  • Takao Sato, Shinpei Ogawa, Natsuki Kawaguchi
    Asian Control Conference 2022 2022年5月
  • 川口夏樹, 東手 悠太, 佐藤孝雄, 高木太郎, 水本郁朗
    電気学会論文誌C 2022年3月
  • Akira Inoue, Mingcong Deng, Takao Sato, Akira Yanou
    International Conference on Advanced Mechatronic Systems, ICAMechS 2021年12月
    This paper proposes an extended controller for generalized minimum variance control (GMVC) based on a full-order observer which has the equivalence to a controller by the polynomial approach. Although it has been proved that the controller using the reduced-order observer has the equivalence, it is difficult for the controller to be extended to Youla-Kucela generalized stabilizing controller. On the other hand, the controller using the full-order observer can be easily extended. Hence, the authors have already proposed a modified full-order observer so that the controller using the modified observer could be easily extended and has the equivalence with the controller by the polynomial approach. This paper extends the controller using the modified full-order observer to the generalized stabilizing controller and proves the equibalance to the extended controller by the polynomial approach mathematically. The equivalence gives the controller of polynomial approach to have the strong points of state-space based design. That is, the observer-based controller has a simple structure, which is state-feedback plus state estimator observer and it is easy to design the closed-loop poles. A numerical simulation is given to show the effectiveness of the proposed controller.
  • Ryo Kurokawa, Natsuki Kawaguchi, Takao Sato, Ramon Vilanova
    15th International Conference on Innovative Computing, Information and Control 2021年9月
  • E.A. Cortes-Gutierrez, Orlando Arrieta, Ramon Vilanova, Takao Sato, Jose David Rojas
    26rd IEEE International Conference on Emerging Technologies and Factory Automation 2021年9月
    Cascade control structures are widely implemented in industries, due to the fact that they increase the performance of single-loop control. Nevertheless, their implementation requires a higher initial investment. Because of this, it is of great importance to be able to quantify their relative performance improvement. Very few studies handle this subject, and they do not obtain results which directly establish this quantification on a general basis. Therefore, the objective of this project is to conduct a study with help of computational tools, in order to determine the relative performance improvement of a cascade control structure with respect to a single-loop structure, for setpoint tracking and disturbance rejection. An overdamped second-order-plus-dead-time process, separable in two first-order-plus-dead-time subprocesses, was considered. The controllers were implemented using a PID algorithm. Simulations were conducted to obtain the ratio of the IAE performance indexes of each control structure, as a function of the time constant ratio, for different process parameters. The controllers were tuned by means of optimization routines, in order to guarantee that they provided the best IAE index. Finally, two general equations were obtained, which quantify the relative performance improvement of a cascade control structure with respect to a single-loop structure, as a function of the process parameters, for set point tracking and disturbance rejection.
  • Yuta Sakai, Natsuki Kawaguchi, Takao Sato
    SICE Annual Conference 2021 2021年9月
  • Yugo Tokura, Takao Sato, Ryota Yasui, Natsuki Kawaguchi, Nozomu Araki, Yasuo Konishi
    Proceedings of International Conference on Artificial Life and Robotics 2020年1月
    The aim of the present study is to improve the understanding of the control engineering for university students through the experience of the control experiment, and hence an experimental device is developed. The students are educated using the device, and the educational effect is evaluated. In the present study, the students take examinations for the control engineering before and after the experiment, and the effect is evaluated objectively.
  • Akira Inoue, Mingcong Deng, Takao Sato, Akira Yanou, Tomohiro Henmi
    2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2019 2019年9月
    This paper proposes a model predictive controller for multivariable systems with time-delays. The design method is derived by the following way, first to consider a design for single input single output(SISO) systems and to modify the control problem for the SISO systems with no time-delays by shifting the outputs with time-delay steps and a design method with no time-delays is applied to the modified systems. Then the SISO case is extended to multi-input multi-output(MIMO) case by replacing time-delay steps in SISO case with an interactor matrix of MIMO plants.
  • Takumi Furusaka, Natsuki Kawaguchi, Takao Sato, Nozomu Araki, Yasuo Konishi
    IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2019年9月
    Multi-agent systems (MASs) are used for distributed control purposes and substantial research attention has been directed to these systems because of their practical merits. In MASs, agents' information is shared through networks. In networked-control systems, the measured data is usually quantized because of sensor performance or specification, and its resolution is inadequate. Furthermore, because of network quality, the measurement interval is often longer than the control interval. Therefore, the present study introduces a design method for a dual-rate quantized control system, in which the measurement interval of agents is an integer multiple of the control interval.
  • Akira Inoue, Takao Sato, Mingcong Deng, Akira Yanou
    Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018 2019年1月
    This paper gives an optimal control law to eliminate ripples in inter-sample intervals of transient state of multi-rate sampled-control systems. As for ripples in steady state, there already exist several methods to remove the ripples. But to reduce the ripples in transient-state, so far there exists only trial and error method and there does not exist a systematic method. In this paper, first a reference model is defined which generates a reference output with no ripples and at sampled points, it has the same outputs with continuous time multi-rate control systems. Then the ripples in transient state are measured by the integrals of squared output errors. And equations to calculate the integrals are given by solving of Lyapunov equations. Finally the optimal control law is derived by differentiating the equations by the control input. The obtained optimal control input has a state feedback form and can be calculated at the short sampling time.
  • Takumi Furusaka, Takao Sato, Nozomu Araki, Yasuo Konishi
    International Conference on Control, Automation and Systems 2018年12月
    This study proposes a new design method for the consensus control of multi-agent systems with quantized signal communication. When the static quantizer used, the performance of the consensus control is deteriorated depending on the quantizing level. In a conventional method, the quantization is implemented the probability function. On the other hand, in the proposed method, the dynamic quantizer is introduced, and it is optimally designed. As a result, the consensus control performance is improved. Finally, the effectiveness of the proposed method is demonstrated through numerical examples.

担当経験のある科目(授業)

 14

主要な所属学協会

 7

主要な共同研究・競争的資金等の研究課題

 47

主要なその他

 1