Control Systems Design Based on the Principle of Matching and Its Application to Mechanical Systems

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The principle of matching proposed by Dr. Zakian in UK is a new design principle which can explicity take account of real operating conditions of a control system. The principle is especially useful to design critical control systems which require to keep the magnitude of the controlled variables less than prescribed values. The principle converts a design of a critical control system to a problem formulated as the method of inequalities.In this project some issues are resolved for the effective use of the principle in practical designs. The results are summarized as follows:1) Since most control systems are realized by using a digital controller, inter-sample behavior of the controlled variables are important for the critical control systems design. The matching conditions for sample-data control systems have been derived for an important class of exogenous inputs.2) An application of linear matrix inequalities has been proposed as an efficient computational method for solving a set of inequalities required by the principle.3) An application of multiobjective genetic algorithms for the parameter search is discussed. The fundamental difference of the conventional multiobjcetive optimization and the solution of inequalities has been clarified. A new genetic algorithm has been proposed to solve a set of inequalities required by the principle.4) The principle of the matching often requires a controller with integral action. A systematic design method of a class of integral controllers has been discussed. An application of a loop transfer recovery technique to critical control systems design has been proposed.5) As an application of mechanical systems, actively controlled bed for an ambulance has been developed. The effect of the centrifugal force acting on a patient is reduced by controlling the tilt of bed.