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This paper presents a design method of a performance-adaptive controller concerned with the robust stability. A control performance in steady state is important in process control systems because the performance strongly affects qualities of products. Given this background, in order to maintain a required control performance, a performance-adaptive controller that first assesses a control performance...
In this paper, the influence on control performance with a changing desired angle ratio are discussed, for a gymnastic based controller of an underactuated robot. An original evaluation function, which uses input torques and an amount of energy change, is applied for a verification of the control performance.
PID control schemes have been widely used in most industrial control systems. However, it is difficult to determine a suitable set of PID parameters because most industrial systems have nonlinearity. In order to overcome such a problem, a data-driven PID (DD-PID) control scheme based on utilizing a database has been proposed and its effectiveness has been investigated. However, the DD-PID controller...
Design methods for digital filters with sparse coefficients (0 coefficients) are beneficial for reduction of arithmetic cost. Although the number of multipliers of the filter (arithmetic cost) can be reduced by using 0 coefficients, the performance of the filter can be degraded. In this paper, we propose a design method for multi-band digital filters with not only the sparse coefficients but also...
Recently, design methods for digital filters with sparse coefficients (sparse filters) are well studied. The sparse filters mean the filter contain some zero coefficients. Thanks to zero coefficients, the number of multipliers of the filter can be reduced. However, the performance (or accuracy) of the filter is degraded at the cost of less multipliers. In this work, we propose a design method for...
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