Design of Adaptive Control Systems Based on Nonlinear Programming Method Using Plant Information on Frequency Domain

在本研究中，我们考虑了多输入/多输出线性系统的多变量线性控制器的设计问题，包括PID控制器的设计问题，通过使用一些频率响应在频域上，而不使用被控对象的精确数学模型。主要研究结果如下：（1）理论研究：提出了基于最小二乘算法的线性控制器参数整定方法。在本研究中，我们对这些方法进行了如下扩展和改进。首先，我们将一种设计方法应用于分散控制系统的设计。其次，我们提出了一种新的控制器设计方案，基于频域的控制系统的稳定性保证。在这种情况下，控制器参数调整，通过使用约束二次规划方法。(2)实验结果：我们通过几个实验证实了所提出的方法的有效性。将这些方法应用于具有柔性结构的仓储式运输车的振动主动控制中，并将其应用于多自由度结构的振动主动控制中。通过这些实验，我们可以证实所提出的方法的有效性和实用性。

In this research, we considered the design problem of multivariable linear controllers including PID controllers for multi-input/multi-output linear systems by using some number of frequency responses on frequency domain without using the exact mathematical model of the controlled plant. The main results are as follows:(1) Theoretical results:Some adjusting methods for the linear controller parameters based on the least-squares algorithm have been proposed by us. In this research, we extended and reformed the methods as follows. First, we applied a design method to the design of decentralized control systems. Second, we proposed a new controller design scheme based on frequency domain which guarantees stability of the resulting control system. In this case controller parameters are adjusted by using the constrained quadratic programming method.(2) Experimental results:We confirmed the effectiveness of the proposed methods through several experiments. These methods were applied w an active vibration control of carrier in warehouse which has flexible, structure, Further we applied the method to an active vibration control of a multi-degree-of-freedom structure. Through out those experiments, we could confirm the effectiveness and practical applicability of the proposed methods.