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— This paper proposes a decentralized model predic-tive control method based on a dual decomposition technique. A model predictive control problem for a system with multiple subsystems is formulated as a convex optimization problem. In particular, we deal with the case where the control outputs of the subsystems have coupling constraints represented by(More)
We propose a high-speed size and orientation invariant eye tracking method, which can acquire numerical parameters to represent the size and orientation of the eye. In this paper, we discuss that high tolerance in human head movement and real-time processing that are needed for many applications, such as eye gaze tracking. The generality of the method is(More)
This paper proposes a simultaneous tuning method for PID controllers and dead-zone compensators based on particle swarm optimization. By the proposed algorithm , PID gains and dead-zone parameters are tuned online to minimize the error between the control output and the reference input. However, since ultrasonic motors intrinsically have a varying dead-zone(More)
This paper proposes an online type of controller parameter tuning method by modifying the standard fictitious reference iterative tuning method and by utilizing the so-called recursive least-squares (RLS) algorithm, which can cope with variation of plant characteristics adaptively. As used in many applications, the RLS algorithm with a forgetting factor is(More)
Optimal error feedback filters for A/D converters of remote sensors in networked control systems are studied. It is shown that if the transfer function from the quantization error to the output of interest has a minimum phase, then its inverse is the optimal error feedback filter in terms of any kind of norms of errors. For general LTI systems, the design(More)