Publishing type：Research paper (scientific journal)  

The “Future Investment Strategy 2018” presented by the Cabinet Office in 2018 states that there is an urgent need to develop human resources that can use Artificial Intelligence to achieve the goal of Society 5.0. As a part of this strategy, programming education at the primary/secondary level of education is being promoted. However, there are some issues in the quantitative evaluation of learning and teaching methods based on assessment. In this study, sensor car teaching materials were used to teach programming. Then, a new lesson is proposed to tune the optimal parameters by quantitative evaluation. The results of the university students practice of the proposed lesson are explained.

DOI： 10.2991/jrnal.k.210713.007

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Language：Japanese   Publishing type：Research paper (bulletin of university, research institution)  

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CiNii Research

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Language：Japanese   Publisher：Japan Society for Science Education  

DOI： 10.14935/jsser.35.6_31

CiNii Research

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical Engineers of Japan (IEE Japan)  

DOI： 10.1541/ieejeiss.141.345

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Authorship：Lead author   Language：English   Publishing type：Research paper (scientific journal)  

In Japan, it has been decided that programming education will be required in elementary schools from 2020. In the new study guidelines, new programming subjects will not be established, but programming will be handled within existing subjects such as mathematics and science. Therefore, it is desirable to conduct independent research by analyzing information with programming related to existing subjects. Based on the above, we developed a teaching material on temperature control programming that uses heat generated by heating wire in the unit of “Use of electricity” in the 6th-grade elementary school. In this paper, after considering the index of the control performance, teaching materials using temperature control are introduced.

DOI： 10.2991/jrnal.k.201215.012

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：ALIFE ROBOTICS CO, LTD  

Control technology using the computer is one of the key technologies for improving energy efficiency. PWM control, which is a control technology for DC motors, is widely used as the basis of power electronics with the development of semiconductor devices. On the other hand, programming techniques are required to effectively use these techniques. In this paper, we propose teaching materials that can visualize the performance improvement by programming as the operating time performance index of the wind turbine.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：ALife Robotics Corporation Ltd  

The "Future Investment Strategy 2018" presented by the Cabinet Office in 2018 states that there is an urgent need to develop human resources who can use AI to achieve the goal of Society 5.0. As a part of this strategy, programming education in primary/secondary level of education is being promoted. However, there are some issues in the quantitative evaluation of learning and teaching methods based on evaluation. In this paper, sensor car teaching materials will be used to teach programming. Then, a new lesson is proposed to tune the optimal parameters by quantitative evaluation. The results of the university students practice of the proposed lesson was explained.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：ALife Robotics Corporation Ltd  

In the new study guidelines promulgated in 2017, it has been decided that programming education will be required in elementary schools from 2020. In the new study guidelines, new programming subjects will not be established, but programming will be handled within existing subjects such as mathematics and science. It is desirable to conduct independent research by analyzing information using programming using subjects related to existing subjects. Based on the above, we developed a teaching material on temperature control programming that uses heat generated by heating wire in the unit of “Use of electricity” in the 6th grade elementary school. In this paper, after considering various indicators of control, teaching materials using temperature control are introduced.

DOI： 10.5954/ICAROB.2020.OS12-3

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Authorship：Lead author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electrical Engineers of Japan  

<p>This paper proposes the opposite reference filter to realize the desired transient property in load control of hydraulic cylinder for Tunnel Boring Machine. In the case of load increase at the start of excavation, it is desirable to reduce load transiently in order to suppress overshoot, and to reduce load quickly in case of emergency. The reference filter is designed to have opposite characteristics when the reference signal is increased and decreased. Finally, the force control experiment of TBM hydraulic cylinder is performed to verify the usefulness of the proposed method.</p>

DOI： 10.1541/ieejeiss.140.320

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.2991/jrnal.k.191203.003

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Publishing type：Research paper (scientific journal)   Publisher：AMER CHEMICAL SOC  

In process industries, it is necessary to maintain the user-specified control performance in order to achieve desired productivity. This paper describes a design scheme for control performance evaluation based PID controllers in which the &quot;controller design&quot; is driven by a performance assessment&quot; scheme. According to the proposed scheme, controller parameters are tuned using a fictitious reference iterative tuning (FRIT) scheme. In FRIT, controller parameters are calculated by using only closed-loop data. The proposed scheme is a type of data-oriented adaptive controller whose controller parameters are tuned directly without requiring a model of the process. Unlike previous performance-based adaptive schemes, the control objective function to be minimized takes into account controller error variance as well as the manipulating variable or the control effort variance. The effectiveness of the proposed scheme is verified by using a simulation example and the benchmark stirred tank-heater system.

DOI： 10.1021/acs.iecr.8b06119

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press  

DOI： 10.20965/jrm.2019.p0375

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Elsevier B.V.  

In industrial processes, it is necessary to maintain the user-specified control performance in order to achieve desired productivity. Many process control systems have the stochastic noise. For the noisy systems, the ordinary performance assessment method which based on the control error variance requires the long data windows, because the short data windows make the performance index oscillatory. The control performance deterioration can not be detected quickly by the long data windows. Moreover, the optimizations of FRIT for the steady state is difficult for the noisy systems, because of the high frequency component of the control error signal. In this paper, a performance monitoring method and a data driven PID parameter tuning method for the noisy systems are considered. Each approach effectively uses a low-pass filter. The effectiveness of the proposed schemes are verified by using a simulation example.

DOI： 10.1016/j.ifacol.2019.12.654

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

In process industries, it is necessary to maintain the user-specified control performance in order to achieve desired productivity. This paper describes a design scheme for control performance evaluation based PID controllers in which the “controller design” is driven by a “control performance assessment” scheme. The proposed scheme is a type of data-oriented adaptive controller whose controller parameters are tuned directly without requiring a model of the process. Unlike previous performance-based adaptive schemes, the control objective function to be minimized takes into account controller error variance as well as the manipulating variable or the control effort variance. The effectiveness of the proposed scheme is verified by using a simulation example and the benchmark stirred tank-heater system.

DOI： 10.1109/IECON.2018.8591211

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DOI： 10.2991/jrnal.2015.5.3.8

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press  

Japan’s national education policy puts importance on children learning to program. In fact, course guidelines published by the government in 2008 made the programming of the measurement and control compulsory in junior high schools, and learning programming will be made compulsory in elementary schools in 2020. This research studies robotics classes for elementary and junior high school students. The tasks set for the robots used in each class are familiar to children, and they were set with the aim of inspiring a proactive learning attitude in the children. The objective of this study is to evaluate the effectiveness of robots in teaching programming to children.

DOI： 10.20965/jrm.2017.p0992

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Elsevier B.V.  

In process industries, it is important to maintain the desired control performance in steady state because of requirement of high-quality products and energy saving. This is the main motivation in the development of a performance-driven control scheme based on the minimum variance control law. In that scheme, controller parameters are adjusted when the control performance based on the MV-Index (Minimum Variance Index) deteriorates. However, this MV-Index based tuning scheme only takes into account only controller error variance unfortunately with no regard for manipulative variable activity. To circumvent this omission, this paper describes a design of a new performance-driven control system whose control performance assessment scheme takes into account controller error variance as well as the manipulating variable variance. Furthermore, in this newly proposed scheme, controller parameters are calculated using a fictitious reference iterative tuning (FRIT) scheme which is one of the data-driven tuning scheme. The effectiveness of the proposed scheme is demonstrated by evaluation on a numerical example.

DOI： 10.1016/j.ifacol.2017.08.2214

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Institute of Electrical Engineers of Japan  

<p>The excavation disk cutter is used for the tunnel boring machines because of the noise abatement and/or the safety. However, the hydraulic control of the force for the bedrock is not driven by the automatic control because the advantage is not clear. So, this paper considers the efficiency of the automatic control which drives the excavation disk cutter. Experiments are carried out by using a model excavator with excavation disk cutter for tunnel boring machines. The experimental results are assessed by MV-index and compared with the estimated output of minimum variance control. The application merit of the automatic control is evaluated by this procedure.</p>

DOI： 10.1541/ieejeiss.137.114

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Language：Japanese   Publishing type：Research paper (scientific journal)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

This study proposes a performance-driven control method that performs a "control performance assessment" and a "control system design" from a set of closed-loop data. The method evaluates control performance based on the minimum variance control index from closed-loop data. It also calculates control parameters that improve the control performance from the same closed-loop data by using the fictitious reference iterative tuning method. This method is characterized by not requiring any system model. The effectiveness of this method is verified through a numerical simulation.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

The idea of controller performance assessment is becoming very important in the process control area. One of the main performance monitoring index is based on the minimum variance control benchmark proposed by Harris. However, the low value of this index means only low performance of the controller. So, it is difficult to tune the controlled parameters based on this index. This paper considers the matching of each PID parameters based on frequency analysis of minimum variance output.

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press  

This study proposes a performance-driven control method that performs a “control performance assessment” and a “control system design” from a set of closed-loop data. The method assesses control performance based on the minimum variance control law from closed-loop data. It also calculates a control parameter that improves the control performance from the same closed-loop data by using the fictitious reference iterative tuning (FRIT) method. This method is characterized by not requiring any system model. The effectiveness of this method is verified through a numerical simulation and an application result to a temperature control unit.

DOI： 10.20965/jrm.2016.p0616

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Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.5687/iscie.29.202

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Language：Japanese  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

Some design schemes of data-driven control methods which called model free methods have been proposed in nearly a decade. Fictitious Reference Iterative Tuning (FRIT) method which is one of the data-driven control has good advantages. This method can calculate the control parameters by the operation data which is under closed loop control. This paper provides the PID parameter calculation based on FRIT with the control performance assessment index. The effectiveness and usefulness of the proposed approach is evaluated by simulation examples.

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Language：Japanese   Publisher：Japan Society for Science Education  

DOI： 10.14935/jssep.40.0_289

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical Engineers of Japan  

This paper proposes the switching control method based on the controller gain which is relevant to the control performance. The objective of the proposed method is to choose the best control performance of all candidate controllers. The switching mechanism is based on the controller gain which is calculated by all candidate controllers. The accepted controller has the best estimated performance of all controllers. Finally, numerical evaluations demonstrate the practicality and utility of this idea.

DOI： 10.1541/ieejeiss.136.697

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical Engineers of Japan  

A weigh feeder control system is designed using a PI control law which is based on generalized minimum variance control with the steady-state predictive output. The control performance is assessed using minimum variance index, and the control parameters are adaptively updated such that the control performance is optimized. The effectiveness of the proposed method is demonstrated through experimental results.

DOI： 10.1541/ieejeiss.136.728

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

In the field of process control, there are cases where the control performance becomes inferior due to the change of surrounding environment. On the other hand, the best control performance is required from the viewpoint of high-quality and energy saving. Therefore, it is important to monitor the process state and evaluate the control performance. The scheme based on minimum variance control (MV-Index) has been proposed to evaluate control performance for deadbeat system. In the deadbeat system, evaluation is considered only step reference value. Therefore, in this paper, the evaluation is considered the reference trajectory specified by user. The effectiveness of the proposed method is verified by a simulation example.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

The present study discusses a design method for controlling a weigh feeder. In the present study, a designed control system is assessed, and the control parameters are updated such that the control performance is improved. The proportional-integral (PI) control law is used to obtain a practical control system in industry. In the control system of a weigh feeder, since the steady-state response is more important than the transient response, the PI parameters of the PI control law are decided based on generalized minimum variance control with steady-state prediction (GMVCS). In the design of GMVCS, steady-state prediction is used instead of dead-time ahead prediction, and hence the steady-state control performance is superior to that of conventional methods. Finally, the effectiveness of the proposed method is demonstrated through experimental results.

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Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.5687/iscie.27.95

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

This study discusses a design method for controlling a weigh feeder which has been employed to dispense material at a specified rate. In this study, a proportional-integral (PI) control law is designed based on a generalized minimum variance control (GMVC) law. The control performance of the designed control system is evaluated using a minimum variance index. Based on the evaluated control performance, one of the design parameters in GMVC is automatically updated such that the control performance is enhanced. In the proposed method, unknown plant parameters are estimated, and the GMVC-based PI control law is adaptively updated using the estimated plant parameters. The effectiveness of the proposed method is demonstrated through both a numerical example and an experiment.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE Computer Society  

This paper considers control scheme for the the DC-DC converters with Electric Double-Layer Capacitor. The applied control method is switching control method based on the controller performance assessment. The reference value of DC-DC converter is given as the steady value. So, the control performance index based on the steady state is effective. Finally, the practically and utility of this idea are evaluated by the voltage control result of the DC-DC converters with Electric Double-Layer Capacitor

DOI： 10.1109/CoASE.2014.6899325

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Language：Japanese   Publisher：The Japan Joint Automatic Control Conference  

DOI： 10.11511/jacc.57.0_1197

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Language：Japanese   Publisher：The Japan Joint Automatic Control Conference  

DOI： 10.11511/jacc.57.0_320

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

This paper reports the practice of the robotics class for elementary school children. This event gives the elementary school children the experiment of the robot programming with LEGO mindstorms. The children can move the robots at will with the program which made by themselves. The objective of this research is consciousness investigation about the robot through organizing this robot class.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

This paper explains a workshop to assemble a mini-robot for PBL(Project based Learning) education of elementary schoolchildren. In this workshop, at first, elementary schoolchildren disassemble and analyze a mini-robot, respectively, with the support from a college student who made this mini-robot. Finally, a new mini-robot which achieves another new task is designed and rebuilt by each child based on analyzed result of disassembled mini-robot.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

This paper proposes the switching control method based on the controller performance assessment. The switching mechanism is based on the estimated controller performances of all prepared candidate controllers. The accepted controller must have the best estimated performance of all controllers. Each controller performance is estimated by the gain of the controllers. Finally, the effectiveness of the proposed switching PID control scheme is evaluated by the simulation example.

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical Engineers of Japan  

This paper proposes the switching control method based on the current control performance. The current control performance is obtained in an online manner over a user-specified time-window with some overlap. Experimental evaluations on the voltage control of the DC-DC converter demonstrates the practicality and utility of this idea.

DOI： 10.1541/ieejeiss.134.1273

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical Engineers of Japan  

This study discusses a design method to determine one of the design parameters in generalized minimum variance control (GMVC) law from the viewpoint of the control assessment. In this paper, a PI control law is designed based on GMVC. In addition, the control performance of the designed controller is evaluated by using a minimum variance index, and the design parameter in GMVC is automatically changed such that the control performance is optimized. In the proposed method, unknown plant parameters are estimated, and the PI control law based on GMVC is updated using estimated parameters. Finally, the effectiveness of the proposed method is shown through an experiment.

DOI： 10.1541/ieejeiss.134.1200

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Publishing type：Research paper (international conference proceedings)  

Some design schemes of model-free controllers which do not require any system models have been considered in the last decade. FRIT(Fictitious Reference Iterative Tuning) method that directly computes the control parameters from the operating data have been proposed as the one of model-free controllers. FRIT has some useful practical features. One is that it does not require system identification. Another is that the control parameters can be directly computed using only a set of closed loop input/output data and the desired output signal. The calculations of the control parameters needs the optimization of the cost functions. The ordinary approach is the gradient method. However, this calculations derives only linear parameters. Therefore, the applications of FRIT are limited for linear systems. In this paper, a new approach to the discrete FRIT-based nonlinear PID control is proposed. The neural network is utilized for the optimization of FRIT. PID parameters are adequately adjusted corresponding to the nonlinear properties. The conventional schemes by using the neural networks require the information of system Jacobian to update weighting factors. This proposed method can calculate the control parameters without the information of system Jacobian or system parameters except for the information about the time-delay. © IFAC.

DOI： 10.3182/20130703-3-FR-4038.00137

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE Computer Society  

The effectiveness of neural networks is discussed for nonlinear systems. The radial basis function network (RBFN) is proposed as one of the neural networks. This network has the bases functions, therefore, the large value can be obtained in the neighborhood of the training data. In this paper, the RBFN is utilized for the purpose of nonlinear compensation. That is, the control parameters are tuned by RBFN. First, the suitable values are learned for RBFN by using the input and output data. Finally, the practically and utility of proposed method is discussed through the experimental evaluation of the infrared-controlled model helicopter. © 2013 IEEE.

DOI： 10.1109/ICAMechS.2013.6681707

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Society of Instrument and Control Engineers (SICE)  

Some design schemes of model-free controllers which do not require any system models have been considered in the last decade. FRIT(Fictitious Reference Iterative Tuning) method that directly computes the control parameters from the operating data have been proposed as the one of model-free controllers. This paper proposes the PID tuning method based on FRIT with the control performance index.

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical Engineers of Japan  

This paper proposes an adaptive PID controller which is driven by current control performance. The calculations of the PID parameters are based on the generalized minimum variance control(GMVC) algorithm. The current control performance is obtained in an online manner over a user-specified time-window with some overlap. The retuning of PID parameters are only carried out when controller performance deteriorates below a user-specified threshold. Experimental evaluations on the voltage control of the DC-DC converter demonstrates the practicality and utility of this idea. © 2012 The Institute of Electrical Engineers of Japan.

DOI： 10.1541/ieejeiss.132.907

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：SPRINGER-VERLAG BERLIN  

In industrial processes, PID control strategy is still applied in a lot of plants. However, real process systems are nonlinear, thus it is difficult to obtain the desired control performance using fixed PID parameters. Cerebellar model articulation controller (CMAC) is attractive as an artificial neural network in designing control systems for nonlinear systems. The learning cost is drastically reduced when compared with other multi-layered neural networks. On the other hand, theories which directly calculate control parameters without system parameters represented by Virtual Reference Feedback Tuning (VRFT) or Fictitious Reference Iterative Tuning (FRIT) have received much attention in the last few years. These methods can calculate control parameters using closed-loop data and are expected to reduce time and economic costs. In this paper, an offline-learning scheme of CMAC is newly proposed. According to the proposed scheme, CMAC is able to learn PID parameters by using a set of closed-loop data. The effectiveness of the proposed method is evaluated by a numerical example.

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Publishing type：Research paper (international conference proceedings)  

Some design schemes of model-free controllers which do not require any system models have been considered in the last decade. FRIT(Fictitious Reference Iterative Tuning) method that directly computes the control parameters from the operating data have been proposed as the one of model-free controllers. FRIT has some useful practical features. One is that it does not require system identification. Another is that the control parameters can be directly computed using only a set of closed loop input/output data and the desired output signal. The calculations of the control parameters needs the optimization of the cost functions. The ordinary approach is the gradient method. However, this calculations derives only linear parameters. Therefore, the applications of FRIT are limited for linear systems. In this paper, a new approach to the discrete FRIT-based nonlinear PID control is proposed. The neural network is utilized for the optimization of FRIT. PID parameters are adequately adjusted corresponding to the nonlinear properties. The conventional schemes by using the neural networks require the information of system Jacobian to update weighting factors. This proposed method can calculate the control parameters without the information of system Jacobian or system parameters except for the information about the time-delay.

DOI： 10.3182/20120328-3-it-3014.00014

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：SOC INSTRUMENT CONTROL ENGINEERS JAPAN  

The idea of control performance assessment is becoming very important in the process control area. One of the first performance monitoring index was based on the minimum variance control benchmark based method proposed by Harris. This paper proposes the switching control method based on the controller performance assessment. Finally, experimental result demonstrate the practically and utility of this idea.

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Society of Instrument and Control Engineers  

PID controllers have been applied in a lot of industrial processes because its control structure is simple and physical meaning of PID parameters is clear. However the fixed PID controller cannot obtain a desired control performance because most real systems have nonlinearity. As an effective control method for these systems, a controller which has a tuning mechanism of PID parameters by using a Cerebellar Model Articulation Controller (CMAC) has been proposed (i.e, <i>CMAC-PID controller</i>) and the effectiveness of the method has been evaluated. However, it needs long period of time to learn CMAC in an on-line manner, therefore, it becomes a harmful effect to a practical realization of CMAC-PID controller. On the other hand, Virtual Reference Feedback Tuning (VRFT) and Fictitious Reference Iterative Tuning (FRIT) have been attracted much attention as methods which do not utilize system parameters to calculate control parameters. According to these methods, control parameters are computed by using a closed-loop data, thus it is expected to reduce a design procedure of a control system. In this paper, the new <i>off-line learning</i> method of CMAC unified FRIT is proposed. According to this method, CMAC learns its weights by using closed-loop data at off-line, as a result, the above practical problem of CMAC-PID controller can be resolved. Moreover the nonlinearly-expanded FRIT controller is realized by the proposed method. In this paper, the proposed method is first explained and the effectiveness of the proposed method is numerically evaluated by a simulation example.

DOI： 10.9746/sicetr.48.847

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Language：English   Publishing type：Research paper (scientific journal)  

There are many nonlinear systems among process control systems. However, it is difficult to handle nonlinear properties with a linear controller. Thus, various methods have been studied in this field. On the other hand, a scheme called boosting has been proposed in the machine learning field. This scheme can obtain highly accurate conditions by combining less-accurate conditions. Boosting can obtain better results than a neural network with fewer learning data. In this paper, we propose a method for the design of nonlinear PID control systems using the boosting algorithm. The original boosting is capable of dealing only with two-valued variables, and thus we extend the algorithm for function approximation using it. Finally, simulation examples are presented in order to demonstrate the effectiveness of the proposed scheme. © 2011 Wiley Periodicals, Inc.

DOI： 10.1002/ecj.10310

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Language：English   Publishing type：Research paper (international conference proceedings)  

In the challenge to manufacture high quality products for less, it is necessary to regularly monitor performance of control loops that regulate the quality variables of interest. This paper describes performance-adaptive PID control schemes which is based on a unified approach to the design of a control performance and PID controller. According to the proposed approach, the control performance is first monitored regularly. Then, if the performance exceeds a user-defined threshold, the system identification is initiated and PID parameters are subsequently updated for the new model. In this paper, two performance-adaptive PID controller design schemes are introduced. One is that the control performance is evaluated based on the minimum variance index of the control error, and PID parameters are retuned based on the relationship of the generalized predictive control. Another is that the modeling performance is first evaluated, and PID parameters are subsequently calculated based on the LQG trade-off curve obtained for the re-identified process model. The behavior of the performance-adaptive PID control schemes is numerically and experimentally evaluated. © 2011 Zhejiang University.

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Language：Japanese   Publisher：The Japan Joint Automatic Control Conference  

The PID controller that uses fixed PID parameters does not maintain a good control result due to nonlinearity of the real systems. Following this reason, the PID controller based on CMACs where PID parameters are adjusted online to achieve the desired control performance has been proposed. However, the computational cost of CMACs is higher since best performing control parameters are obtained by iterative methods. In this study, we propose a novel offline learning method based on FRIT to improve the learning efficiency.

DOI： 10.11511/jacc.54.0.99.0

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IFAC Secretariat  

Some design schemes of model-free controllers which do not require any system models have been considered in the last decade. FRIT(Fictitious Reference Iterative Tuning) method that directly computes the control parameters from the operating data have been proposed as the one of model-free controllers. FRIT has some useful practical features. One is that it does not require system identification. Another is that the control parameters can be directly computed using only a set of closed loop input/output data and the desired output signal. The calculations of the control parameters needs the optimization of the cost functions. The ordinary approach is the gradient method. However, this calculations derives only linear parameters. Therefore, the applications of FRIT are limited for linear systems. In this paper, a new approach to the discrete FRIT-based nonlinear PID control is proposed. The neural network is utilized for the optimization of FRIT. PID parameters are adequately adjusted corresponding to the nonlinear properties. The conventional schemes by using the neural networks require the information of system Jacobian to update weighting factors. This proposed method can calculate the control parameters without the information of system Jacobian or system parameters except for the information about the time-delay. © 2010 IFAC.

DOI： 10.3182/20100826-3-tr-4015.00030

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Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1109/ICNSC.2009.4919282

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：PROFESSIONAL ENGINEERING PUBLISHING LTD  

In order to manufacture high-quality products it is necessary to regularly monitor the performance of the control loops that regulate the quality variables of interest. This paper describes a design scheme of performance-adaptive controllers which are based on the above control strategy. According to the proposed control scheme, the output prediction error is monitored regularly and system identification is initiated if this error exceeds a user-defined threshold. Subsequently proportional-integral-derivative (PID) parameters are updated for the new model. Optimal PID parameters are calculated based on the linear quadratic Gaussian (LQG) trade-off curve obtained for the reidentified process model. The behaviour of the proposed control scheme is numerically evaluated by some simulation examples.

DOI： 10.1243/09596518JSCE562

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical Engineers of Japan  

There are a lot of nonlinear systems in the process control systems. However, it is difficult to deal with the nonlinear property by linear controller. Then, various methods have been studied in this field. On the other hand, a scheme called boosting is proposed in the machine learning field. This scheme can obtain the highly accurate condition by combining some less-accurate conditions. The boosting can obtain better results compared with the neural network under the less number of learning data. In this paper, we propose a design method of nonlinear PID control systems using boosting algorithm. The original boosting is only possible to deal with two-valued variable, so we extend the algorithm for function approximation using it. Finally, the simulation examjples are demonstrated in order to investigate the effectiveness of proposed scheme. © 2008 The Institute of Electrical Engineers of Japan.

DOI： 10.1541/ieejeiss.128.1767

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Society of Instrument and Control Engineers  

In this paper, a new PID parameter tuning method is proposed whose PID parameters are adjusted based on a control performance assessment (CPA) index. Although a majority of studies about the CPA have been focused on the derivation of the CPA index, the control parameter tuning method has been hardly studied which is based on the CPA. On the other hand, the conventional adaptive controllers are tuned based on the variance of control errors and/or modeling errors. Therefore, the conventional adaptive controllers can not be tuned in the steady state which the control errors and/or the modeling errors do not exist so much, even if the CPA index becomes worse. However, the proposed method can be tuned in such a case because the controller is tuned based on the CPA index which is evaluated on the steady state. Moreover, the proposed PID parameter tuning method can deal with a variety of systems, since the CPA does not depend on the degree of the controlled object. Finally, the effectiveness of the proposed method is numerically evaluated on some simulation examples.

DOI： 10.9746/ve.sicetr1965.43.110

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IFAC Secretariat  

This paper proposes an adaptive PID controller which is driven by current control performance. The objective of the proposed scheme is to carry out the retuning of PID parameters and system identification only when controller performance deteriorates below a user-specified limit. Experimental evaluations on a pilot-scale process demonstrates the practicality and utility of this idea.

DOI： 10.3182/20070606-3-MX-2915.00120

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

In industrial processes represented by petroleum and refinery processes, it is necessary to establish the performance-driven control strategy in order to improve the productivity, which the control performance is firstly evaluated, and the controller is reconstructed. This paper describes a tuning scheme which are based on the above control mechanism. In calculating the PID parameters, the desired control performance is considered. The behavior of the proposed control scheme is evaluated in air pressure experiment.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

In this paper, a new design scheme of performance-driven PID controllers whose PID parameters are adjusted based on a control performance criterion. Although a majority of studies have been focused on the derivation of the CPM index, the control parameter tuning method based on the CPM has been hardly studied. Conventional self-tuning controllers are tuned based on the variance of control errors and/or modeling errors. Few adaptive schemes use performance indice as tuning signals, which should be the main driving force in maintaining optimal operation, This paper develops a strategy for the tuning of an adaptive PID controller that is an approximation of a generalized minimum variance controller. The main driving signal for adaptive tuning is the degradation of the controller performance criterion. The effectiveness of the proposed method is numerically evaluated on two simulation examples.

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Language：English   Publishing type：Research paper (international conference proceedings)  

In this paper, a new design scheme of performance-driven PID controllers whose PID parameters are adjusted based on a control performance criterion. Although a majority of studies have been focused on the derivation of the CPM index, the control parameter tuning method based on the CPM has been hardly studied. Conventional self-tuning controllers are tuned based on the variance of control errors and/or modeling errors. Few adaptive schemes use performance indice as tuning signals, which should be the main driving force in maintaining optimal operation, This paper develops a strategy for the tuning of an adaptive PID controller that is an approximation of a generalized minimum variance controller. The main driving signal for adaptive tuning is the degradation of the controller performance criterion. The effectiveness of the proposed method is numerically evaluated on two simulation examples. © 2007 IEEE.

DOI： 10.1109/ACC.2007.4282345

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

This paper proposes an adaptive PID controller which is driven by current control performance. The objective of the proposed scheme is to carry out the retuning of PID parameters and system identification only when controller performance deteriorates below a user-specified limit. Numerical evaluations demonstrates the practically and utility of this idea.

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：WILEY-BLACKWELL  

Self-tuning control schemes (STC) are useful for systems with unknown or slowly time-varying parameters. Some single-input/single-output PID control schemes based on STCs have been proposed for such systems. However, there are a lot of multivariable systems in real process industries. And these systems often have relatively large time delays. In this paper, a design scheme of self-tuning PID control system is proposed for multivariable systems with unknown parameters and time delays. The controlled object is equipped with an internal model in order to compensate the time delay and also unstable zeros. Subsequently, a multivariable PID controller is designed for the augmented or compensated system. The PID parameters are calculated recursively based on the relationship between the minimum variance control law and the PID control law. A simulation example is presented to demonstrate the effectiveness of the proposed scheme. (C) 2004 Wiley Periodicals, Inc.

DOI： 10.1002/eej.10241

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IFAC Secretariat  

PID control schemes based on the classical control theory, have been widely used for various process control systems for a long time. However, since such processes have nonlinear properties, it is difficult to find suitable sets of PID parameters. This paper deals with new system identification scheme using a neural network, followed by a PID control scheme based on the estimates. According to the newly proposed scheme, it is possible to employ to nonlinear systems with unknown time-delays, since it does not require any information about the system Jacobian. Finally, the behavior of the newly proposed control scheme is investigated on a numerical simulation example.

DOI： 10.1016/S1474-6670(17)31519-7

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

In this paper, a design method of nonlinear PID control systems is proposed. First, some local models are estimated based on least squares method by using piecewise data sets. Furthermore, the PID parameters are calculated by using these local model parameters. Finally, the effectiveness of the proposed nonlinear PID control scheme is evaluated by the simulation example and experiment of temperature system.

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Language：English   Publishing type：Research paper (international conference proceedings)  

PID control schemes based on the classical control theory, have been widely used for various process control systems for a long time. However, it is difficult to find a set of suitable PID parameters for nonlinear systems. In this paper, a compensation method of PID parameters for the nonlinear systems is proposed by using a neural network.

Scopus

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：SCRIPTA TECHNICA-JOHN WILEY & SONS  

There are numerous studies of the design of self-tuning control (STC) systems for linear nonminimum-phase systems. A wide variety of existing methods on designing STC systems are conceptually classified into two groups. One is based on minimization of an error criterion, and the other on pole assignment of the closed-loop system. On the other hand, in order to guarantee the tracking property for the reference signals, an internal model which corresponds to the reference signals must be inserted into the control system based on the internal model principle. However, the variance of the control error signal may become large on inserting the internal model, because stochastic noise may be amplified. In this paper, a design method for self-tuning pole-assignment control systems with internal models is proposed based on minimizing the linear quadratic cost function. The newly proposed control scheme has the feature that the variance of the stochastic noise in the control system is reduced owing to the minimum variance control scheme, and also the tracking property with respect to the reference signal is assured owing to the internal model. The proposed control scheme is numerically evaluated in some simulation examples. (C) 2003 Wiley Periodicals, Inc.

DOI： 10.1002/eej.10120

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Language：Japanese  

DOI： 10.15027/27254

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Other Link： http://ir.lib.hiroshima-u.ac.jp/00027254

Language：English   Publishing type：Research paper (scientific journal)  

PID control schemes have been widely used for various process control systems for a long time. However, since such processes have relatively large time-delays and uncertainties caused by modeling errors and system fluctuation, it is non-trivial to choose a suitable set of PID parameters. In this paper, a design scheme of self-tuning PID controllers is proposed for unknown processes with time-delays. This scheme is equipped with a parallel feedforward compensator to compensate for the time-delays. The PID control system is then designed for the augmented system. The PID control parameters are calculated adaptively based on on-line process identification and the relationship between the minimum variance control law and PID control law. © 2003, The Institute of Electrical Engineers of Japan. All rights reserved.

DOI： 10.1541/ieejeiss.123.962

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

PID control schemes based on the classical control theory, have been widely used for various process control systems for a long time. However, since such processes have nonlinear properties, it is difficult to determine &apos;optimal&apos; PID parameters. In this paper, a system identification scheme by using a neural network is proposed. Furthermore, a PID control scheme based on the estimates is considered. According to the newly proposed scheme, it is possible to employ to nonlinear systems. Finally, the behavior of the newly proposed control scheme is investigated on a numerical simulation example.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：PERGAMON-ELSEVIER SCIENCE LTD  

Much research on designing self-tuning control systems for linear systems have been proposed by using the least squares parameter identification method. However, it is difficult to employ the algorithm for the nonlinear systems except for the case where the unknown parameters are linearly combined with nonlinear terms. In this paper, a parameter estimation scheme for nonlinear systems is proposed by using a neural network. Furthermore, a design method of the control system is derived by minimizing a cost function of the generalized minimum variance control. This control input is calculated by using the estimated parameters. Finally, the effectiveness of the proposed scheme is numerically evaluated. Copyright(C) 2001 IFAC.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

In this paper, a new self-tuning pole-assignment control scheme is proposed for stochastic systems with unknown deterministic disturbances, whose control law is first derived based,on minimizing a quadratic cost function. Furthermore, user-specified polynomials are designed based on the pole-assignment scheme. By considering the minimization of the cost function, the variance of the control errors can be minimized. On the other hand, this scheme has internal models corresponding to deterministic disturbances, and the internal models are adjusted in an on-line manner. Inserting self-tuned internal models enables us to reduce the influence of unknown deterministic disturbances. The effectiveness of the newly proposed control scheme is evaluated on simulation examples. .

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Language：Japanese   Publishing type：Research paper (scientific journal)  

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

PID control schemes have been widely used for various process control systems for a long time. However, since such processes have relatively large time-delays and uncertainties caused by modeling errors and system fluctuation, it is non-trivial to choose suitable PID parameters, in this paper, a design scheme of a multivariable self-tuning PID controllers is proposed for unknown processes with time-delays. A parallel internal model is firstly designed in order to compensate the time-delays. The PID control system is then constructed for the augmented system. The PID control parameters are tuned adaptively based on on-line process identification and the relationship between the PID control and the minimum variance control laws.

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：PERGAMON-ELSEVIER SCIENCE LTD  

PID control schemes have been widely used for various process control systems for a long time. However, since such processes have relatively large dead times and uncertainties caused by modeling errors and system fluctuation, it is non-trivial to determine suitable PID parameters. In this paper, a design scheme of self-tuning PID controllers is proposed for unknown processes with dead times. This scheme is equipped with a parallel feedforward compensator to compensate for the dead times. The PID control system is then designed for the augmented system. The PID control parameters are determined adaptively based on on-line process identification and the relationship between the minimum variance control law and PID control law. Copyright (C) 2000 IFAC.

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Language：Japanese   Publishing type：Research paper (scientific journal)  

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Authorship：Last author   Language：Japanese   Publishing type：Rapid communication, short report, research note, etc. (bulletin of university, research institution)  

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J-GLOBAL

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J-GLOBAL

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J-GLOBAL

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (other)  

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Other Link： http://iyokan.lib.ehime-u.ac.jp/dspace/handle/iyokan/4692

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Other Link： http://iyokan.lib.ehime-u.ac.jp/dspace/handle/iyokan/4676

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper explains a workshop based on reverse-engineering for elementary schoolchildren to disassemble and reassemble a mini-robot. In this workshop, at first, elementary schoolchildren disassemble and analyze a mini-robot, respectively, with the support from a college student who made this mini-robot. Finally, a new mini-robot which achieves another new task is designed and rebuilt by each child based on analyzed result of disassembled mini-robot.

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Other Link： http://iyokan.lib.ehime-u.ac.jp/dspace/handle/iyokan/4382

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Other Link： http://iyokan.lib.ehime-u.ac.jp/dspace/handle/iyokan/4383

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this paper, engineering design education effect for a college student who works in a mini-robot workshop for schoolchildren as an assistant for children is discussed. This workshop is an original approach that the schoolchildren dismantle and analyze a mini-robot, respectively, under helping of college student who made this mini-robot, and new mini-robot is redesigned and rebuilt by the schoolchildren based on analysis result of old mini-robot. In the redesigning work, the assistant college student need realize a completion drawing based on an easy drawing made by schoolchildren, and we think it is effective work for engineering design education of the college student. Thus, verification of effect for engineering design education is performed with considering comprehensively the satisfaction level of college student, the results of a mini-robot contest, and the performance of redesigned mini-robot.

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DOI： 10.11509/isciesci.58.3_99

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Other Link： http://iyokan.lib.ehime-u.ac.jp/dspace/handle/iyokan/4043

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We have organized a robotics class for elementally school students as an event of JSME Robotics and Mechatronics Division. LEGO mindstorms NXT was used as the learning tools. This paper gives the reports of this event and the consideration of the questionnaires about interests of elementally school students.

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Language：Japanese   Publisher：The Society of Instrument and Control Engineers  

DOI： 10.11499/sicejl.52.885

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Other Link： http://iyokan.lib.ehime-u.ac.jp/dspace/handle/iyokan/1706

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Other Link： http://iyokan.lib.ehime-u.ac.jp/dspace/handle/iyokan/1707

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Language：Japanese   Publishing type：Book review, literature introduction, etc.   Publisher：Institute of Electrical Engineers of Japan  

In the challenge to manufacture high quality products for less, it is necessary to regularly monitor performance of control loops that regulate the quality variables of interests. This paper introduces two methods of performance-driven PID control systems whose PID parameters are re-tuned based on the controller performance assessment. The re-tuning is based on the self-tuning control mechanism. The effectiveness of these schemes are demonstrated by the experimental studies. © 2012 The Institute of Electrical Engineers of Japan.

DOI： 10.1541/ieejeiss.132.824

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Other Link： http://iyokan.lib.ehime-u.ac.jp/dspace/handle/iyokan/1302

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Other Link： http://iyokan.lib.ehime-u.ac.jp/dspace/handle/iyokan/990

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Other Link： http://iyokan.lib.ehime-u.ac.jp/dspace/handle/iyokan/991

Language：Japanese   Publisher：Japanese Society for Engineering Education  

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

PID control schemes based on the classical control theory, have been widely used for various process control systems for a long time. However, it is difficult to determine the suitable parameters for the nonlinear systems. In this paper, a parameter estimation scheme for nonlinear systems is proposed by using a neural network. Furthermore, PID control method is employed to the nonlinear systems. These PID parameters are calculated by using the estimates. Finally, the effectiveness of the proposed scheme is numerically evaluated.

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