京都大学 京都大学

System Analysis Laboratory

Numbering Code U-ENG29 39132 EJ72
U-ENG29 39132 EJ10 		Year/Term 2022 ・ First semester
Number of Credits 4 Course Type Experiment
Target Year Target Student
Language Japanese Day/Period Thu.4・5・Fri.4・5
Instructor name TSUJI TETSURO (Graduate School of Informatics Associate Professor)
OOKI KENTAROU (Graduate School of Informatics Assistant Professor)
NIINO KAZUKI (Graduate School of Informatics Assistant Professor)
Outline and Purpose of the Course Systems engineering consists of three factors: (1) modeling, (2) analysis, and (3) control. Our course aims at making students have a solid grasp of systems engineering through applications of their knowledge to the three real systems, Active Silencer, Flexible-Link Manipulator, and Inverted Pendulum. Students will master control methods through computer simulations and pilot experiments. Students will be divided into three groups in the first guidance class in order to study all the three different systems in turn.
Course Goals To understand the following theoretical knowledge through the control experiment of the real systems:
-- Physics modeling based on the first principle
-- Parameter identification from experiments
-- Analyses of frequency responses and stability
-- System stabilization and optimal control

To study how to obtain practical solutions for controlling real systems by observing behaviors of the real systems, considering a gap between theory and practice, and understanding the feature of the real systems.

To precisely express own understanding of the experiments through presentations and reports.
Schedule and Contents Guidance, 1 time, Introduction of topics and dividing students into 3 groups

Active Silencer, 9 times,
1. Introduction to principle of active sliencer
2. Basic lecture on DSP and programming
3. Experiment
4. Analyses on responses in time and frequency
*The specialized software Scilab is used.

Flexible-Link Manipulator, 9 times,
1. A recursive estimation of frequency transfer function and parameter identification
2. Tracking step signals
3. Two-degree-of-freedom controller
4. Tracking desired signals
*The specialized softwares Scilab and MATLAB/SIMULINK are used.

Inverted Pendulum, 9 times,
1. Mechanical model of inverted pendulum and parameter identification
2. Controller by state space representation
3. Inference of state variables by observer
4. Pole-place method / optimal control method
5. Swinging up of inverted pendulum
*The specialized softwares Scilab and MATLAB/SIMULINK are used.
Evaluation Methods and Policy Class participation and reports are mainly evaluated. Attitude, Creativeness, and Individual work and group work are also important during the evaluation process.
Course Requirements Students are supposed to have the knowledge of Introduction to Systems Analysis (90070) and take the course of Linear Control Theory (90720).
Study outside of Class (preparation and review) Students have to prepare for presentations and reports for each subject.
Textbooks Textbooks/References Each instructor will distribute his own text when necessary.
References, etc. Feedback Control Theory, Doyle, Francic and Tannenbaum, (Prentice Hall), ISBN:0023300116, (1992)
System Identification, Ljung, (Prentice Hall), ISBN:0136566952, (1998)
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