Kiyotaka Shimizu

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This paper is concerned with control of nonholonomic systems. As is well known, symmetric affine system is unable to control with continuous time-invariant state feedback. In this paper we apply PI Control to a setpoint servo problem for the symmetric affine system. PI control possesses two adjustable parameters KP , KI , and in addition the so-called(More)
This paper is concerned with P·SPR·D control of affine nonlinear systems and Lagrangian systems which are passive system. P·SPR·D control consists of proportional(P) action + strict positive real(SPR) action + derivative(D) action. Such control can asymptotically stabilize the passive nonlinear systems with multi-input and(More)
This paper is concerned with set-point servo problem of linear time-delay systems. First, we formulate P·SPR·D control of linear MIMO time-delay systems and make stability analysis by applying Lyapunov's direct method and LMI technique. Next, we investigate high gain output feedback theorem for state time-delay systems being minimum phase.(More)
This paper is concerned with P·SPR·D control of affine nonlinear system and robot manipulators which are passive systems. P·SPR·D control consists of proportional(P) action + strict positive real(SPR) action + derivative(D) action. Such control can asymptotically stabilize the affine nonlinear system being of multi input and multi output. Stability analysis(More)
This paper concerns with optimizing gain matrices in static output feedback controller and PID controller. We first study on optimization of parameter matrix in general dynamical system. The gradient function of an objective functional with respect to the parameter matrix is derived and optimality condition is presented. Next, gain matrix optimization of(More)