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

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
  • Takao Sato, Natsuki Kawaguchi
    International Journal of Advanced Mechatronic Systems 11(1) 1-10 2024年3月  査読有り筆頭著者責任著者
  • 佐藤佳奈美, 川口夏樹, 林直樹, 原尚之, 佐藤孝雄
    電気学会論文誌C 144(3) 179-180 2024年3月1日  査読有り最終著者責任著者
  • Akira Inoue, Takao Sato, Akira Yanou, Tomohiro Henmi
    International Journal of Advanced Mechatronic Systems 10(1) 41-48 2023年12月  査読有り
  • 田中孝也, 川口夏樹, 佐藤孝雄
    システム制御情報学会論文誌 36(11) 375-382 2023年11月15日  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
  • 酒井裕太, 川口夏樹, 佐藤孝雄
    システム制御情報学会論文誌 36(4) 113-119 2023年4月  査読有り最終著者責任著者
  • 川口夏樹, 渡辺健太, 荒木 望, 佐藤孝雄, 黒田雅治
    電気学会論文誌C 143(3) 242-249 2023年3月  査読有り
  • 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
  • Takao Sato, Yuta Sakai, Natsuki Kawaguchi
    IFAC-PapersOnLine 55(12) 616-620 2022年8月  査読有り筆頭著者責任著者
  • 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.
  • 川口 夏樹, 佐藤 孝雄, 荒木 望, 黒田 雅治
    計測自動制御学会論文集 58(4) 229-235 2022年4月  査読有り
  • Takao Sato, Ryota Yasui, Natsuki Kawaguchi
    Machines 10(296) 1-14 2022年4月  査読有り筆頭著者責任著者
  • Akira Inoue, Tomohiro Henmi, Shiro Masuda, Takao Sato
    IEEJ Transactions on Electronics, Information and Systems 2022年3月1日  
  • 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 142(3) 264-272 2022年3月1日  査読有り
  • 川口夏樹, 樫原 拓真, 佐藤孝雄, 荒木 望, 黒田雅治
    電気学会論文誌C 142(3) 257-263 2022年3月  査読有り
  • Ryo Kurokawa, Natsuki Kawaguchi, Takao Sato, Ramon Vilanova
    International Journal of Innovative Computing, Information and Control 18(1) 1-13 2022年2月  査読有り責任著者
    A new data-driven model-reference robust Proportional-Integral-Derivative (PID) control is proposed for a regulator system. In the proposed method, the PID parameters are decided such that a prescribed robust stability is achieved. Furthermore, the disturbance rejection performance is optimized. Since the proposed method is designed as a model reference problem, where the reference model and the controller parameters are optimized, trade-off design between robust stability and regulator performance is achieved by selecting the prescribed robust stability. Finally, the effectiveness of the proposed method is demonstrated through numerical examples.
  • 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.
  • Ryota Yasui, Natsuki Kawaguchi, Takao Sato, Nozomu Araki, Yasuo Konishi
    IEEJ Transactions on Electrical and Electronic Engineering 16(10) 1435-1437 2021年10月  査読有り責任著者
    The dual-rate control system, in which the sampling interval is an integer multiple of the holding interval, is designed using the null-space of the steady-state characteristic of the controlled plant. In the proposed method, a dual-rate control law is extended independent of the steady-state discrete-time output response. As a result, the intersample ripples caused by the input oscillation are eliminated by reallocating the control input. The proposed method based on the steady-state characteristic is a simple strategy compared with conventional methods based on the dynamic characteristic. © 2021 Institute of Electrical Engineers of Japan. Published by Wiley Periodicals LLC.
  • 荒木 望, 川口夏樹, 佐藤孝雄, 小西康夫
    日本機械学会論文集 87(901) 1-13 2021年9月  査読有り
  • 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.
  • Ryota Yasui, Natsuki Kawaguchi, Takao Sato, Nozomu Araki, Yasuo Konishi
    IFAC-PapersOnLine 53(2) 4499-4503 2021年4月  査読有り責任著者
    A dual-rate sampled-data control system is designed in which the sampling interval of measured signals is twice as long as the holding interval of a control input. In the proposed method, a control law is extended based on the null space and intersample ripples are eliminated without changing the sampled output trajectory in the steady state. Polynomial and state-space approaches are conventional open-loop design methods based on the null space. However, conventional methods are ineffective for unstable systems and are unavailable when the null space of the plant model is only the zero vector because the controlled plant is not arbitrarily selectable. On the other hand, the proposed method is effective for unstable systems, as well as stable systems, even when the null space of the plant model is only the zero vector, because the proposed controller is designed based on a closed-loop system.
  • Natsuki Kawaguchi, Takao Sato, Nozomu Araki, Masaharu Kuroda
    IEEJ Transactions on Electronics, Information and Systems 141(3) 288-294 2021年3月1日  査読有り
    Depending on the load requirement, active vibration isolation table may equip with redundant actuators. For such the table, it may be difficult to isolate the faulty actuator due to the redundancy. This paper presents a design of active fault diagnosis for the redundant driven active vibration isolation tables. The simulation results show the effectiveness of the proposed active fault diagnosis system by comparing to the conventional passive fault diagnosis method.
  • Yugo Tokura, Takao Sato, Ryota Yasui, Natsuki Kawaguchi, Nozomu Araki, Yasuo Konishi
    Journal of Robotics, Networking and Artificial Life 7(4) 262-265 2021年3月  査読有り責任著者
    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 the control engineering 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.
  • 牛村 知樹, 川口 夏樹, 荒木 望, 佐藤 孝雄, 黒田 雅治
    自動制御連合講演会講演論文集 64 1118-1122 2021年  
  • 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.
  • Natsuki Kawaguchi, Nozomu Araki, Takao Sato, Masaharu Kuroda, Toshihiko Asami
    ROBOMECH Journal 7(1) 1-17 2020年12月1日  査読有り
    A new approach to the active fault diagnosis (AFD) for input redundant plants is presented in this paper. A test signal which helps the diagnosis is injected to the plant in addition to nominal control input in the AFD typically. One feature of the proposed AFD is adaptive allocation of the test signal. The adaptive allocator which distributes the test signal and injects it to the redundant actuators is introduced in this paper. A fault-diagnosis (FD) system that estimates fault location and its magnitude from adaptive parameter of the adaptive allocator is constructed with a simple neural network (NN) model. Furthermore, a A fault-tolerant adaptive control system which includes the adaptive test signal allocator is designed based on the model reference adaptive control (MRAC) technique. The adaptive laws of the adaptive allocator and controller are derived by using a suitable Lyapunov function. By performing experiments using a two-input redundant plant, we show the effectiveness and applicability of the proposed AFD and MRAC system.
  • 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.
  • Hideaki Takatani, Nozomu Araki, Takao Sato, Yasuo Konishi
    Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering 86(8) 633-640 2020年8月5日  査読有り
    This paper proposes a method for determining a high accuracy posture for serial redundant manipulators with parametric uncertainty that suppresses the effect of the uncertainty. In the proposed method, the uncertainty variance is introduced as an index for quantifying the magnitude of the distribution of the end-effector coordinates of the manipulator caused by the uncertainty, and the posture is determined by using the uncertainty variance as an evaluation function of posture. In order to efficiently calculate the uncertainty variance, the method includes a calculation method based on the polynomial chaos theory. The effectiveness of the method is confirmed by a posture determination simulation of a serial redundant manipulator with uncertainty. In this simulation, it is confirmed that the calculation of the uncertainty variance can be achieved by the method using the polynomial chaos theory, and that the proposed method can determine the high-accuracy posture that suppresses the effect of the uncertainty.
  • Shin Wakitani, Toru Yamamoto, Takao Sato
    International Journal of Control, Automation and Systems 18(6) 1453-1464 2020年6月1日  査読有り
    The properties of most real systems vary every moment. For such systems, performance-adaptive control systems, which assess current control performance and tune their controller based on the assessment, are effective. This paper proposes a one-parameter tuning method as one of design methods of the performance-adaptive control systems. When the current control performance is diagnosed as being poor, the conventional performance-adaptive control systems redesign their controllers using the results of system re-identification. However, the system has a risk that the redesigned controller may cause further deterioration of the control performance depending on the identification accuracy of the estimated parameters. In the proposed method, the controller has a unique user-specified adjustable parameter. The controller can improve the control performance by adjusting only the parameter. However, only if the desired control performance cannot be maintained by adjusting the parameter because of drastic changes in the controlled object, the control system redesigns the controller using the estimated system parameters. Thanks to this strategy, the number of controller redesigns using the estimated system parameters is decreased when compared to the conventional performance-adaptive control system. It can also reduce the risk of further deterioration of the control performance because of the controller redesign. The effectiveness of the proposed method is evaluated by simulations and application to a weigh feeder that is one of food process systems.
  • 川口夏樹, 佐藤孝雄, 荒木 望, 浅見敏彦, 黒田雅治
    計測自動制御学会論文集 56(5) 293-298 2020年5月  査読有り
    <p>In this paper, we propose a null-space compensation control for linear first-order systems with redundant two input channels. In the input redundant systems, control input vector generally has null-space component of the plant parameter vector. The null-space component does not contribute to the generation of the control force which drives the plant state. If a control input that does not include the null-space component can be generated, efficient control is achieved from the viewpoint of minimizing the norm of the control input. In the proposed method, an adaptive control method is used to design a control system that compensates for the null-space component, even if the plant parameter vector is unknown. The effectiveness is shown by numerical examples.</p>
  • Akira Inoue, Mingcong Deng, Takao Sato, Akira Yanou, Tomohiro Henmi
    SICE Journal of Control, Measurement, and System Integration 13(3) 84-89 2020年5月1日  査読有り
  • 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.
  • 小林恒輝, 佐藤孝雄, 荒木 望, 小西康夫
    電気学会論文誌C 140(3) 334-335 2020年3月  査読有り責任著者
  • Yugo Tokura, Takao Sato, Ryota Yasui, Natsuki Kawaguchi, Nozomu Araki, Yasuo Konishi
    Proceedings of International Conference on Artificial Life and Robotics 2020 230-232 2020年  
    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.
  • Ryota Yasui, Natsuki Kawaguchi, Takao Sato, Nozomu Araki, Yasuo Konishi
    IEEJ Transactions on Electrical and Electronic Engineering 15(1) 135-139 2020年1月1日  査読有り
    The present paper discusses a design method for a single-input single-output linear time-invariant dual-rate sampled-data control system, where the sampling interval of a plant output is longer than the holding interval of a control input. In such a control system, intersample output oscillation, called ripple, can occur even if the sampled output converges to the reference input. In order to resolve this problem, two design methods have been proposed such that the existing sampled output response is maintained: an open-loop system design method and a closed-loop system design method. However, the open-loop design method cannot be applied to systems for which the gain matrix of the control input is full rank. On the other hand, the closed-loop design method can be used for such systems, but the sampled output response is maintained only in the steady state. The present study proposes a new closed-loop design method in which ripples are eliminated and both the transient and steady-state responses are maintained. The effectiveness of the proposed method is demonstrated through numerical examples. © 2019 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.
  • 保井良太, 川口夏樹, 佐藤孝雄, 荒木 望, 小西康夫
    日本機会学会論文集 85(873) 1-10 2020年  査読有り責任著者
  • Hideaki Takatani, Nozomu Araki, Takao Sato, Yasuo Konishi
    Artificial Life and Robotics 24(4) 487-493 2019年12月1日  査読有り
    Solving the inverse kinematics of redundant manipulators is difficult, because knowledge of the manipulators and their evaluation functions is required. To solve this problem, we propose a novel method of enabling a neural network model to learn the inverse kinematics. The method achieves learning independent of the structure of the evaluation function, by combining multiple neural network models. The method can obtain the neural network models of the inverse kinematics via an automatic calculation process using only training data, which consist of the postures, end-points, and evaluation values. In this paper, the algorithm used by the method and its background is explained, and the effectiveness of the method is validated by a numerical simulation.
  • Takumi Furusaka, Natsuki Kawaguchi, Takao Sato, Nozomu Araki, Yasuo Konishi
    IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2019- 1473-1476 2019年9月1日  
    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, Mingcong Deng, Takao Sato, Akira Yanou, Tomohiro Henmi
    2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2019 1535-1540 2019年9月1日  
    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, Takao Sato, Nozomu Araki, Yasuo Konishi
    Electronics and Communications in Japan 102(8) 31-35 2019年8月  査読有り責任著者
    In this paper, we consider the consensus control of multiagent systems with quantized signal communication. In such a network system, when the static quantizer is used, the control performance is degraded because of the influence of the quantization error. To compensate the quantization error, in a conventional method, a probabilistic quantizer is used. On the other hand, in this paper, the dynamic quantizer is introduced instead of the static quantizer. Because the dynamic quantizer is optimally designed, the control performance of the proposed method can be improved better than the conventional methods. Finally, the effectiveness of the proposed method is demonstrated through numerical examples.
  • Ryo Kurokawa, Takao Sato, Ramon Vilanova, Yasuo Konishi
    Applied Sciences (Switzerland) 9(3220) 1-19 2019年8月  査読有り責任著者
    The present study proposes a novel proportional-integral-derivative (PID) control design method in discrete time. In the proposed method, a PID controller is designed for first-order plus dead-time (FOPDT) systems so that the prescribed robust stability is accomplished. Furthermore, based on the control performance, the relationship between the servo performance and the regulator performance is a trade-off relationship, and hence, these items are not simultaneously optimized. Therefore, the proposed method provides an optimal design method of the PID parameters for optimizing the reference tracking and disturbance rejection performances, respectively. Even though such a trade-off design method is being actively researched for continuous time, few studies have examined such a method for discrete time. In conventional discrete time methods, the robust stability is not directly prescribed or available systems are restricted to systems for which the dead-time in the continuous time model is an integer multiple of the sampling interval. On the other hand, in the proposed method, even when a discrete time zero is included in the controlled plant, the optimal PID parameters are obtained. In the present study, as well as the other plant parameters, a zero in the FOPDT system is newly normalized, and then, a universal design method is obtained for the FOPDT system with the zero. Finally, the effectiveness of the proposed method is demonstrated through numerical examples.
  • 佐藤孝雄, 川口夏樹, 荒木 望, 小西康夫
    電気学会論文誌C 139(8) 889-890 2019年8月  査読有り筆頭著者責任著者
  • Takao Sato, Itaru Hayashi, Yohei Horibe, Ramon Vilanova, Yasuo Konishi
    Applied Sciences (Switzerland) 9(1934) 1-19 2019年5月  査読有り筆頭著者責任著者
    The present study proposes a new design method for a proportional-integral-derivative (PID) control system for first-order plus dead-time (FOPDT) and over-damped second-order plus dead-time (SOPDT) systems. What is presented is an optimal PID tuning constrained to robust stability. The optimal tuning is defined for each one of the two operation modes the control system may operate in: servo (reference tracking) and regulation (disturbance rejection). The optimization problem is stated for a normalized second-order plant that unifies FOPDT and SOPDT process models. Different robustness levels are considered and for each one of them, the set of optimal controller parameters is obtained. In a second step, suitable formulas are found that provide continuous values for the controller parameters. Finally, the effectiveness of the proposed method is confirmed through numerical examples.
  • 保井良太, 川口夏樹, 佐藤孝雄, 荒木 望, 小西康夫
    電気学会論文誌C 139(4) 287-292 2019年4月  査読有り責任著者
  • 佐藤孝雄
    電気学会論文誌C 特集解説 139(4) 276-279 2019年4月  査読有り招待有り筆頭著者最終著者責任著者

主要な書籍等出版物

 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