Toward Control System Design Based on System Structure

本研究旨在建立一种新的控制系统设计框架，从真实的系统的物理结构与其模型的数学结构相容的观点出发，将被控系统的建模和控制器的设计结合起来。个别调查人员从这个角度考虑他们自己的问题。所有成员聚集在四个研讨会上，评估他们获得的结果并讨论所需的框架。该项目的主要贡献如下：1.提出了一种新的鲁棒控制理论，它把物理系统的不确定性当作数学描述来处理，避免了对不确定性的过高估计。2.将鲁棒控制理论推广到预见控制，并提出了在鲁棒控制系统中引入整定参数的方法。3.将采样数据控制理论应用于无差拍控制、对称系统和信号处理。4.提出了新的建模方法、增益调度控制方法和信号处理方法。提出了非线性系统和时变系统的分散控制和自适应控制方法。5.提出了一种新的结构约束分散控制设计方法，6.提出了一种直接基于输入输出数据的控制策略，这是一种全新的控制思想，由于研究时间的限制，有些研究结果还不能很好地达到本课题的目的。但是，可以说，即使是这样的结果，也开创了新的思想控制理论的最终目标。

This research project aimed at establishing a new framework of control system design, which integrates modeling of a controlled system and design of a controller from the viewpoint of comatibility between the physical structure of a real system and the mathematical structure of its model. Individual investigators considered their own problems from this point of view. All members got together at four workshops to evaluate their obtained results and to discuss the desired framework. Main contributions of the project are as follows :1.New robust control theory has been proposed which treats uncertainty of a physical system as it is in the mathematical description and avoids overestimation of uncertainty.2.Robust control theory has been extended to preview control, and a method of introducing a tuning parameter in a robust control system has been proposed.3.Sampled-data control theory has been applied to deadbeat control, symmetric systems, and signal processing.4.New methods of modeling, gain-scheduling control, and adaptive control of nonlinear systems and varying systems have been proposed.5.New design methods of decentralized control in which structural constraints are imposed have been proposed under less restrictive conditions.6.A new control strategy based directly on input and output data has been proposed, which is from a completely new philosophy.Due to shortage of research period, some of the results have not satisfactorily achieved the aim of the project. But, it can be said that even such results have initiated new ideas of control theory toward the final objective.