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Hiroshi-Okajima/README.md

English, 日本語JP

Hiroshi Okajima | 岡島 寛

Profile

Associate Professor at Kumamoto University, Japan (熊本大学). Research field: Control engineering, Control theory — 20 years of research experience.

無題

Blog Hub Articles (Comprehensive Guides)

These hub articles provide comprehensive overviews of each research area, linking to detailed tutorials, paper explanations, and MATLAB code.

Topic Blog Hub Article GitHub Repository
State Feedback Control State Feedback Control and State-Space Design: A Comprehensive Guide control_state_feedback
System Identification System Identification: From Data to Dynamical Models MATLAB_system_identification
State Observer State Observer and State Estimation: A Comprehensive Guide MATLAB_state_observer
Model Error Compensator Model Error Compensator (MEC): Enhance the Robustness of Existing Control Systems See MEC repositories below

1: Model Error Compensator (My main research topic)

"Model Error Compensator" is a method for adding robustness to existing control systems. A structure of "model error compensator" was proposed by us, and it has been applied to various control systems. The control objective of the model error compensator (MEC) is to minimize as much as possible the effect of the model error and the disturbance in the meaning of the input-output relation. This compensator has a simple form and is easy to apply to various types of existing control systems, such as non-linear systems, control systems with time delay, non-minimum phase systems, MIMO systems, and so on.

image

1-1 MEC (Polytopic uncertainty, PSO + LMI design)

1-2 MEC with sensor noise

1-3 MEC with PFC to overcome NMP zeros

1-4 MEC for nonlinear system

1-5 Signal limitation filter

1-6 Robust vehicle control with MEC

2: Quantized Control (Dynamic quantizer, Delta-sigma modulator)

Dynamic quantizer is a sophisticated signal processing component implemented as a linear difference equation that converts continuous-valued control signals into discrete-valued inputs for digital systems. Unlike static quantizers that operate instantaneously, dynamic quantizers maintain internal states and utilize temporal information to achieve optimal approximation of the desired continuous system behavior.

3: State Observer and State Estimation

State estimation from noisy or incomplete measurements. Our research covers Luenberger observers, Kalman filters, H-infinity filters, multi-rate observers for sensors at different sampling rates, and outlier-robust (MCV) observers.

4: Multi-rate System Control (Cyclic reformulation)

In practical control systems, sensors and actuators often operate at different sampling rates. Our research addresses the analysis and design of state observers, feedback controllers, Kalman filters, and system identification algorithms for multi-rate systems, formulated using cyclic reformulation and LMI optimization.

5: System Identification

System identification methods to obtain dynamical models from input-output data. Our research covers subspace identification (N4SID), cyclic reformulation for periodically time-varying (LPTV) systems, and multirate system identification. Educational materials on classical parametric methods (ARX, ARMAX, PEM) are also provided.

6: Vehicle Control

Application of control theory to vehicle dynamics, including direct yaw-moment control for electric vehicles, adaptive cruise control, and platoon driving of welfare vehicles.

Education Topics about Control Engineering

E1: Linear Matrix Inequality (LMI)

　Linear Matrix Inequality

E2: Control animation (MATLAB code → mp4)

E3: Transfer function based control

E4: State-space model based control

E5: Circuits

E6: Other topics

Popular repositories Loading

  1. Robust-control-MATLAB_MEC01 Robust-control-MATLAB_MEC01 Public

    model error compensator (matlab codes of journal article) robust control

    MATLAB 12 1

  2. MATLAB_animation MATLAB_animation Public

    matlab animation codes about control (crane control, state-feedback and pid-control)

    MATLAB 8 1

  3. Linear-matrix-inequality-and-control-MATLAB_fandamental_control Linear-matrix-inequality-and-control-MATLAB_fandamental_control Public

    Linear Matrix Inequality and Control (with youtube movie)

    MATLAB 7 1

  4. MATLAB_state_estimation MATLAB_state_estimation Public

    State estimation for output with outlier (journal article matlab code) observer, Kalman-filter, Control

    MATLAB 5 3

  5. MATLAB_fandamental_control-LiveScriptFiles- MATLAB_fandamental_control-LiveScriptFiles- Public

    control system education files (MATLAB codes)

    HTML 2

  6. MATLAB_MEC03_withPFC MATLAB_MEC03_withPFC Public

    control-systems

    2