佐藤 孝雄

The present paper proposes a new design method for a dual-rate system, in which a plant in continuous time is controlled by updating a control input in discrete time, in which the sampling interval of the plant output differs from the update interval of the control input. A dual-rate control law that stabilizes a discrete-time closed-loop system is extended. One of the advantages of such an extension is that the dual-rate control law can be redesigned to be independent of the discrete-time closed-loop system. Consequently, the intersample response can be improved by making it independent of the sampled response using the newly introduced design parameters. The present paper proposes a design method for design parameters to improve the intersample response in the steady state. Numerical examples are presented to confirm the effectiveness of the proposed method.

In this paper, a weigh feeder is controlled by using a self-tuning controller. To make a plant output follow a ramp-type reference input without a steady-state error, we propose a new design method for generalized minimum variance control with a pre-compensator. In order to confirm the effectiveness of the proposed method, experimental results are shown.

一般化予測制御(Generalized Predictive Control; GPC)とサンプル点間の出力値と目標値の誤差を評価関数に組み入れたGPCの両制御手法を磁気ディスク装置のヘッド位置決め制御に適用する．シミュレーション結果より通常のGPCに比べサンプル点間を考慮したGPCは目標値追従特性が優れていることを示す．

入力多重型Multirate装置は制御性能が向上する一方で制御入力がしばしば振動的になりやすい．この影響はサンプル点間のリップルに現れ，時として大きな偏差を生む．本研究ではサンプル点間を考慮した一般化予測制御則をMultirate系へ拡張し，サンプル点間のリップルを改善する．

In this paper, the generalized predictive control (GPC) with a terminal matching condition for single-input single-output (SISO) plants proposed by Kwok and Shah [6] is extended so that it can be applied to multi-input multi-output (MIMO) plants. For the extension to MIMO case, a state-space approach is used in the proposed method while a polynomial approach is used in the conventional method. This is because a state-space approach for the design of the proposed GPC makes the extension to MIMO case possible. In addition, a steady-state predictor originally derived in this paper using a state-space approach is shown to be completely equivalent to that in the conventional method when SISO plant is designed. Finally, a numerical example is demonstrated to show that a terminal matching condition in the MIMO case has the same role for improving performances of the controlled system as in the SISO case using conventional method.