Updated on 2026/03/26

写真a

 
IMURA JUNICHI
 
Organization
Members of the Board Executive Vice Presidents
Title
Executive Vice Presidents
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News & Topics
  • 分散制御システムの進化的設計を実現する数学的原理を発見 最先端制御理論でエネルギーインフラのスマート化に貢献

    2020/11/04

    Languages: Japanese

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    要点-複数の開発者が同時並行で制御アルゴリズムの組み込みや更新を行うための数学的原理を発見-エネルギーインフラなどの巨大なシステムに対する分散制御系の進化的設計を実現-機械学習アルゴリズムを組み込むことで高性能な制御アルゴリズムを学習可能概要東京工業大学工学院システム制御系の石崎孝幸准教授と井村順一

  • Divide and Conquer—Modular Controller Design Strategy Makes Upgrading Power Grids Easier

    2020/11/04

    Languages: English

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    Scientists at Tokyo Institute of Technology develop a novel approach for the modular design of controllers for large-scale network systems. Their stra

  • Symmetry is essential for power network synchronization

    2018/05/09

    Languages: English

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    A joint research team from Tokyo Tech and North Carolina State University has clarified the fundamental principles for achieving the synchronization of power generator groups1 in power networks, which is essential for the stable supply of electric power. Based on this principle, the team developed a method for constructing an aggregated model of a power network that can efficiently analyze and control the behavior of generator groups (including rotor phase angles and connection point voltages) with complex connection to a power grid.

  • 電力ネットワークの同期は対称性がカギ 再エネ普及時の安定供給につながる、世界初の理論解明

    2018/05/02

    Languages: Japanese

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    電力の安定供給に欠かせない、電力ネットワークの発電機群の同期現象を世界で初めて理論解明 ネットワークの対称性が発電機群を同期させることを証明し、電力ネットワークの集約モデルを構築。発電機群の振る舞いの効率的解析、制御系の最適設計が可能に再生可能エネルギーの大量導入にも耐えうる電力網設計への発展に期待

Degree

  • Doctor of Engineering ( Kyoto University )

Research Interests

  • System Biology

  • Nonlinear Control

  • ハイブリッドシステム

  • Optimal Control

  • 非線形制御

  • Hybrid Systems

  • 最適制御

  • システムバイオロジ

Research Areas

  • Manufacturing Technology (Mechanical Engineering, Electrical and Electronic Engineering, Chemical Engineering) / Control and system engineering

Education

  • Kyoto University   Graduate School, Division of Engineering

    - 1992

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  • Kyoto University

    - 1992

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    Country: Japan

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  • Kyoto University   Faculty of Engineering

    - 1988

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    Country: Japan

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Research History

  • Institute of Science Tokyo   Executive Vice President for Institute Strategy

    2024.10

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  • Tokyo Institute of Technology   Executive Vice President for Education

    2022.4 - 2024.9

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  • Tokyo Institute of Technology   Executive officer

    2021.10 - 2022.3

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  • Tokyo Institute of Technology   Vice President for Teaching and Learning

    2018.4 - 2022.3

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  • Tokyo Institute of Technology   School of Engineering   Professor

    2016.4 - 2024.9

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  • -:東京工業大学 大学院情報理工学研究科 教授

    2004.10 - 2016.3

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  • -:Tokyo Institute of Technology Professor

    2004.10 - 2016.3

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  • :東京工業大学 大学院情報理工学研究科 助教授

    2001 - 2004

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  • :Tokyo Institute of Technology Associate Professor

    2001 - 2004

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  • :Hiroshima University Associate Professor

    1996 - 2001

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  • :広島大学 工学部 助教授

    1996 - 2001

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  • :Kyoto University Research Associate

    1992 - 1996

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  • :京都大学 工学部 助手

    1992 - 1996

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Professional Memberships

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Papers

  • Resilient Distribution Network Planning Against Dynamic Malicious Power Injection Attacks

    Hampei Sasahara, Tatsuya Yamada, Jun-ichi Imura, Henrik Sandberg

    IEEE Transactions on Control of Network Systems   2026.3

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    Publishing type:Research paper (scientific journal)  

    DOI: 10.1109/TCNS.2025.3648474

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  • EKF-based system parameter estimation under high-dimensional low-sample-size data

    Zhenhui Xu, Hampei Sasahara, Jun-ichi Imura

    Nonlinear Theory and Its Applications, IEICE   2026

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    Publishing type:Research paper (scientific journal)  

    DOI: 10.1587/nolta.17.125

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  • Adaptive false data injection attack detection in load frequency control using recurrent neural networks

    Kisong Kim, Hampei Sasahara, Jun-ichi Imura

    SICE Journal of Control, Measurement, and System Integration   2025.12

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    Publishing type:Research paper (scientific journal)  

    DOI: 10.1080/18824889.2025.2597566

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  • Re-Stabilizing Large-Scale Network Systems Using High-Dimension Low-Sample-Size Data Analysis

    Xun Shen, Hampei Sasahara, Jun-ichi Imura, Makito Oku, Kazuyuki Aihara

    IEEE Transactions on Emerging Topics in Computational Intelligence   2025.4

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    Publishing type:Research paper (scientific journal)  

    DOI: 10.1109/TETCI.2024.3442824

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  • Integration of Dynamical Network Biomarkers, Control Theory and Drosophila Model Identifies Vasa/DDX4 as the Potential Therapeutic Targets for Metabolic Syndrome Reviewed

    Kazutaka Akagi, Ying-Jie Jin, Keiichi Koizumi, Makito Oku, Kaisei Ito, Xun Shen, Jun-ichi Imura, Kazuyuki Aihara, Shigeru Saito

    Cells   2025.3

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    Publishing type:Research paper (scientific journal)  

    DOI: 10.3390/cells14060415

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  • Ultra-early medical treatment-oriented system identification using High-Dimension Low-Sample-Size data

    Xun Shen, Naruto Shimada, Hampei Sasahara, Jun-ichi Imura

    IFAC Journal of Systems and Control   27   100245 - 100245   2024.3

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    Publishing type:Research paper (scientific journal)   Publisher:Elsevier BV  

    DOI: 10.1016/j.ifacsc.2024.100245

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  • Eco-Driving on Hilly Roads in a Mixed Traffic Environment: A Model Predictive Control Approach

    Bakibillah, A.S.M., Kamal, M.A.S., Imura, J.-I., Mukai, M., Yamada, K.

    Actuators   13 ( 4 )   2024

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    Publishing type:Research paper (scientific journal)  

    DOI: 10.3390/act13040144

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  • Optimal eco-driving scheme for reducing energy consumption and carbon emissions on curved roads

    Bakibillah, A.S.M., Kamal, M.A.S., Tan, C.P., Hayakawa, T., Imura, J.-I.

    Heliyon   10 ( 1 )   2024

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    Publishing type:Research paper (scientific journal)  

    DOI: 10.1016/j.heliyon.2023.e23586

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  • Cooperative Look-ahead Lane Change System for Improving Driving Intelligence of Automated Vehicles in Critical Scenarios

    Kamal, M.A.S., Bakibillah, A., Hayakawa, T., Yamada, K., Imura, J.

    IEEE Transactions on Intelligent Vehicles   2024

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    Publishing type:Research paper (scientific journal)  

    DOI: 10.1109/TIV.2024.3357983

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  • A Small-Data Solution to Data-Driven Lyapunov Equations: Data Reduction from O(n2) to O(n)

    Tsuji, K., Azuma, S.-I., Banno, I., Ariizumi, R., Asai, T., Imura, J.-I.

    IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences   E107.A ( 5 )   2024

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    Publishing type:Research paper (scientific journal)  

    DOI: 10.1587/transfun.2023MAP0010

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  • Equilibrium controllability analysis and input design of linear systems

    Takumi Iwata, Shun-ichi Azuma, Ryo Ariizumi, Toru Asai, Jun-ichi Imura

    SICE Journal of Control, Measurement, and System Integration   16 ( 1 )   338 - 348   2023.11

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    Publishing type:Research paper (scientific journal)   Publisher:Informa UK Limited  

    DOI: 10.1080/18824889.2023.2268815

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  • Design of input assignment and feedback gain for re-stabilizing undirected networks with High-Dimension Low-Sample-Size data

    Hitoshi Yasukata, Xun Shen, Hampei Sasahara, Jun-ichi Imura, Makito Oku, Kazuyuki Aihara

    INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL   2023.4

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

    DOI: 10.1002/rnc.6720

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  • Controllability Maximization of Network Systems: Gradient Computation Based on Offline Data

    Ikumi Banno, Shun-ichi Azuma, Ryo Ariizumi, Toru Asai, Jun-ichi Imura

    IFAC-PapersOnLine   56 ( 2 )   10138 - 10143   2023

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    Publishing type:Research paper (scientific journal)   Publisher:Elsevier BV  

    DOI: 10.1016/j.ifacol.2023.10.887

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  • Data Informativity for Lyapunov Equations

    Ikumi Banno, Shun-Ichi Azuma, Ryo Ariizumi, Toru Asai, Jun-Ichi Imura

    IEEE Control Systems Letters   7   2365 - 2370   2023

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    Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers (IEEE)  

    DOI: 10.1109/lcsys.2023.3286414

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  • A Small-data Solution to Data-driven Lyapunov Equations: Data Reduction from <i>O</i>(<i>n</i><sup>2</sup>) to <i>O</i>(<i>n</i>)

    Keitaro TSUJI, Shun-ichi AZUMA, Ikumi BANNO, Ryo ARIIZUMI, Toru ASAI, Jun-ichi IMURA

    IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences   2023

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    Publishing type:Research paper (scientific journal)   Publisher:Institute of Electronics, Information and Communications Engineers (IEICE)  

    DOI: 10.1587/transfun.2023map0010

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  • Model-Free Dominant Pole Placement for Restabilizing High-Dimensional Network Systems via Small-Sample-Size Data

    Xun Shen, Hampei Sasahara, Masahide Morishita, Jun-Ichi Imura, Makito Oku, Kazuyuki Aihara

    IEEE ACCESS   11   45572 - 45585   2023

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

    DOI: 10.1109/ACCESS.2023.3274530

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  • Distributed Design of Glocal Controllers via Hierarchical Model Decomposition

    Sasahara, H., Ishizaki, T., Imura, J.-I., Sandberg, H., Johansson, K.H.

    IEEE Transactions on Automatic Control   68 ( 10 )   2023

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    Publishing type:Research paper (scientific journal)  

    DOI: 10.1109/TAC.2023.3234919

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  • Data-Driven Re-stabilization of Gene Regulatory Network Towards Early Medical Treatment

    Xun Shen, Hampei Sasahara, Jun-ichi Imura, Makito Oku, Kazuyuki Aihara

    IFAC-PapersOnLine   56 ( 2 )   6200 - 6205   2023

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    Publishing type:Research paper (scientific journal)   Publisher:Elsevier BV  

    DOI: 10.1016/j.ifacol.2023.10.738

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  • Data-driven Sensitivity Analysis of Controllability Measure for Network Systems

    Ikumi Banno, Shun-ichi Azuma, Ryo Ariizumi, Toru Asai, Jun-ichi Imura

    2022 IEEE 61st Conference on Decision and Control (CDC)   2022.12

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

    DOI: 10.1109/cdc51059.2022.9992345

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  • Low-Sample-Size Data-Driven Re-stabilization of Gene Network Systems

    Xun Shen, Masahide Morishita, Imura Jun-ichi, Makito Oku, Kazuyuki Aihara

    IFAC PAPERSONLINE   55 ( 25 )   241 - 246   2022

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

    DOI: 10.1016/j.ifacol.2022.09.353

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  • Parameterization of All Output-Rectifying Retrofit Controllers

    Sasahara, H., Ishizaki, T., Imura, J.-I.

    IEEE Transactions on Automatic Control   67 ( 5 )   2022

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    Publishing type:Research paper (scientific journal)  

    DOI: 10.1109/TAC.2021.3082513

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  • Adaptive Cruise Control with Look-Ahead Anticipation for Driving on Freeways

    Kamal, M.A.S., Hashikura, K., Hayakawa, T., Yamada, K., Imura, J.-I.

    Applied Sciences (Switzerland)   12 ( 2 )   2022

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    Publishing type:Research paper (scientific journal)  

    DOI: 10.3390/app12020929

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  • Equilibrium Point Controllability and Data-Driven Analysis for Linear Systems

    Iwata Takumi, Azuma Shun-ichi, Ariizumi Ryo, Asai Toru, Imura Jun-ichi

    Proceedings of the Japan Joint Automatic Control Conference   65   667 - 668   2022

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    Language:Japanese   Publisher:The Japan Joint Automatic Control Conference  

    DOI: 10.11511/jacc.65.0_667

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  • Three-Stage Robust Unit Commitment Considering Decreasing Uncertainty in Wind Power Forecasting

    Cho, Y., Ishizaki, T., Imura, J.-I.

    IEEE Transactions on Industrial Informatics   18 ( 2 )   2022

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    Publishing type:Research paper (scientific journal)  

    DOI: 10.1109/TII.2021.3079364

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  • Data-driven Estimation and Maximization of Controllability Gramians

    Ikumi Banno, Shun-Ichi Azuma, Ryo Ariizumi, Toru Asai, Jun-Ichi Imura

    2021 60th IEEE Conference on Decision and Control (CDC)   2021.12

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

    DOI: 10.1109/cdc45484.2021.9683701

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  • Modularity in Design of Dynamical Network Systems: Retrofit Control Approach

    Takayuki Ishizaki, Hampei Sasahara, Masaki Inoue, Takahiro Kawaguchi, Jun-ichi Imura

    IEEE TRANSACTIONS ON AUTOMATIC CONTROL   66 ( 11 )   5205 - 5220   2021.11

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

    DOI: 10.1109/TAC.2020.3035631

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  • Bi-level coordinated merging of connected and automated vehicles at roundabouts

    A. S.M. Bakibillah, Md Abdus Samad Kamal, Chee Pin Tan, Susilawati Susilawati, Tomohisa Hayakawa, Jun-Ichi Imura

    Sensors   21 ( 19 )   2021.10

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

    DOI: 10.3390/s21196533

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  • Disconnection-Aware Attack Detection and Isolation With Separation-Based Detector Reconfiguration

    Hampei Sasahara, Takayuki Ishizaki, Jun-ichi Imura, Henrik Sandberg

    IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY   2021.10

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

    DOI: 10.1109/TCST.2021.3118213

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  • Data-driven Estimation of Finite-time Controllability Gramians

    Ikumi Banno, Shun-Ichi Azuma, Ryo Ariizumi, Toru Asai, Jun-Ichi Imura

    2021 60th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2021   666 - 670   2021.9

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  • Fast online reinforcement learning control using state-space dimensionality reduction

    Tomonori Sadamoto, Aranya Chakrabortty, Jun-Ichi Imura

    IEEE Transactions on Control of Network Systems   8 ( 1 )   342 - 353   2021.3

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers Inc.  

    DOI: 10.1109/TCNS.2020.3027780

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  • Fuzzy-tuned model predictive control for dynamic eco-driving on hilly roads

    A. S.M. Bakibillah, M. A.S. Kamal, Chee Pin Tan, Tomohisa Hayakawa, Jun-ichi Imura

    Applied Soft Computing   99   2021.2

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Elsevier Ltd  

    DOI: 10.1016/j.asoc.2020.106875

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  • Monotonicity Analysis of Day-Ahead Power Scheduling of Two Storage Batteries Based on PV Interval Prediction.

    Masakazu Koike, Takayuki Ishizaki, Nacim Ramdani, Jun-ichi Imura

    2021 60th IEEE Conference on Decision and Control (CDC)(CDC)   3513 - 3518   2021

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

    DOI: 10.1109/CDC45484.2021.9683395

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    Other Link: https://dblp.uni-trier.de/db/conf/cdc/cdc2021.html#KoikeIRI21

  • Two-Stage Robust Unit Commitment with Uncertain Demand Response.

    Youngchae Cho, Takayuki Ishizaki, Jun-ichi Imura

    2021 European Control Conference(ECC)   2104 - 2109   2021

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

    DOI: 10.23919/ECC54610.2021.9654866

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    Other Link: https://dblp.uni-trier.de/db/conf/eucc/eucc2021.html#ChoII21

  • Safe-update of bi-layered controller and its application to power systems

    Homma, T., Inoue, M., Imura, J.-I., Urata, K.

    SICE Journal of Control, Measurement, and System Integration   14 ( 2 )   2021

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    Publishing type:Research paper (scientific journal)  

    DOI: 10.1080/18824889.2021.1894899

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  • Monotonicity Analysis for Optimal Scheduling of Storage Batteries and Power Generators - Considering Ramp Limit of Thermal Power Plant - Considering R

    Masakazu Koike, Takayuki Ishizaki, Jun-Ichi Imura

    2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020   51 - 56   2020.9

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  • Block-Decentralized Damping Control of Power Systems using Retrofit Control Theory

    Takahiro Kawaguchi, Takayuki Ishizaki, Aranya Chakrabortty, Jun-Ichi Imura

    European Control Conference 2020, ECC 2020   1540 - 1545   2020.5

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  • Performance Improvement via Iterative Connection of Passive Systems

    Kengo Urata, Masaki Inoue, Takayuki Ishizaki, Jun-ichi Imura

    IEEE TRANSACTIONS ON AUTOMATIC CONTROL   65 ( 3 )   1325 - 1332   2020.3

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

    DOI: 10.1109/TAC.2019.2930806

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  • Optimal Scheduling of Storage Batteries and Power Generators Based on Interval Prediction of Photovoltaics - Monotonicity Analysis for State of Charge

    Masakazu Koike, Takayuki Ishizaki, Nacim Ramdani, Jun-Ichi Imura

    IEEE Control Systems Letters   4 ( 1 )   49 - 54   2020.1

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers Inc.  

    DOI: 10.1109/LCSYS.2019.2921953

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  • Disconnection-aware Attack Detection in Networked Control Systems

    Hampei Sasahara, Takayuki Ishizaki, Jun-ichi Imura, Henrik Sandberg

    IFAC PAPERSONLINE   53 ( 2 )   3515 - 3520   2020

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    DOI: 10.1016/j.ifacol.2020.12.1710

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  • Analysis of Profit Maximization Problem in Multiperiod Energy Markets with Uncertain Photovoltaics Power

    Tu, B., Ishizaki, T., Imura, J.-I.

    SICE Journal of Control, Measurement, and System Integration   13 ( 1 )   2020

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    Publishing type:Research paper (scientific journal)  

    DOI: 10.9746/jcmsi.13.9

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  • A look-ahead car following scheme for efficient driving on urban roads

    M. A.S. Kamal, K. Hashikura, T. Hayakawa, T. Ogitsu, K. Yamada, J. Imura

    IFAC-PapersOnLine   53 ( 2 )   13836 - 13841   2020

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

    DOI: 10.1016/j.ifacol.2020.12.894

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  • Finite-time regulation property of DNA feedback regulator

    Nakakuki, T., Imura, J.-I.

    Automatica   114   2020

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    Publishing type:Research paper (scientific journal)  

    DOI: 10.1016/j.automatica.2020.108826

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  • Event-Driven Stochastic Eco-Driving Strategy at Signalized Intersections from Self-Driving Data

    A. S.M. Bakibillah, Md. Abdus Samad Kamal, Chee Pin Tan, Tomohisa Hayakawa, Jun-Ichi Imura

    IEEE Transactions on Vehicular Technology   68 ( 9 )   8557 - 8569   2019.9

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers Inc.  

    DOI: 10.1109/TVT.2019.2931519

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  • Retrofit Control of Power Systems: Cooperation of Decentralized Controller and Global Controller

    Takahiro Kawaguchi, Takayuki Ishizaki, Jun-Ichi Imura

    2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2019   1061 - 1066   2019.9

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

    DOI: 10.23919/SICE.2019.8859823

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  • Retrofit control with approximate environment modeling

    Takayuki Ishizaki, Takahiro Kawaguchi, Hampei Sasahara, Jun-ichi Imura

    AUTOMATICA   107   442 - 453   2019.9

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    DOI: 10.1016/j.automatica.2019.06.010

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  • Box-Based Temporal Decomposition of Multi-Period Economic Dispatch for Two-Stage Robust Unit Commitment

    Youngchae Cho, Takayuki Ishizaki, Nacim Ramdan, Jun-ichi Imura

    IEEE TRANSACTIONS ON POWER SYSTEMS   34 ( 4 )   3109 - 3118   2019.7

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

    DOI: 10.1109/TPWRS.2019.2896349

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  • A Design Method for Plug-and-Play Modules of Photovoltaic Generators

    Anqi Qu, Tomonori Sadamoto, Jun-Ichi Imura

    2019 12th Asian Control Conference, ASCC 2019   1 - 6   2019.6

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  • Damping performance improvement for PV-integrated power grids via retrofit control

    Hampei Sasahara, Takayuki Ishizaki, Tomonori Sadamoto, Taisuke Masuta, Yuzuru Ueda, Hideharu Sugihara, Nobuyuki Yamaguchi, Jun-ichi Imura

    CONTROL ENGINEERING PRACTICE   84   92 - 101   2019.3

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

    DOI: 10.1016/j.conengprac.2018.11.004

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  • Eco-driving on hilly roads using model predictive control

    A. S.M. Bakibillah, M. A.S. Kamal, C. P. Tan, T. Hayakawa, J. Imura

    2018 Joint 7th International Conference on Informatics, Electronics and Vision and 2nd International Conference on Imaging, Vision and Pattern Recognition, ICIEV-IVPR 2018   476 - 480   2019.2

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    Publishing type:Research paper (international conference proceedings)  

    DOI: 10.1109/ICIEV.2018.8640987

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  • Disturbance Sensitivity Analysis of Evolving Network Systems from Viewpoint of Network Structure

    Kengo Urata, Takayuki Ishizaki, Jun-ichi Imura

    2019 IEEE 58TH CONFERENCE ON DECISION AND CONTROL (CDC)   752 - 757   2019

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  • Hybrid Method of Two-stage Stochastic and Robust Unit Commitment

    Youngchae Cho, Takayuki Ishizaki, Jun-ichi Imura

    2019 18TH EUROPEAN CONTROL CONFERENCE (ECC)   922 - 927   2019

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  • The price of connectedness in graph partitioning problems

    Nicolas Martin, Paolo Frasca, Takayuki Ishizaki, Jun-Ichi Imura, Carlos Canudas-de-Wit

    2019 18TH EUROPEAN CONTROL CONFERENCE (ECC)   2313 - 2318   2019

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  • Hierarchical Model Decomposition for Distributed Design of Glocal Controllers

    Hampei Sasahara, Takayuki Ishizaki, Jun-ichi Imura, Henrik Sandberg, Karl Henrik Johansson

    2019 IEEE 58TH CONFERENCE ON DECISION AND CONTROL (CDC)   3540 - 3545   2019

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  • Model Predictive Control Based Data-Driven Retrofit Controller for Network Systems

    Ilham Naharudinsyah, Takayuki Ishizaki, Takahiro Kawaguchi, Jun-ichi Imura

    2019 3RD IEEE CONFERENCE ON CONTROL TECHNOLOGY AND APPLICATIONS (IEEE CCTA 2019)   215 - 220   2019

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  • A Stochastic-Programming-Based Coupled Constraint Equilibrium Problem under PV Uncertainty in Day-Ahead Energy Market

    Bo Tu, Takayuki Ishizaki, Jun-ichi Imura

    2019 3RD IEEE CONFERENCE ON CONTROL TECHNOLOGY AND APPLICATIONS (IEEE CCTA 2019)   587 - 592   2019

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  • Risk-Aware Profit Maximization Problem in Multiperiod Energy Markets with Uncertain Photovoltaics Power

    Bo Tu, Takayuki Ishizaki, Jun-ichi Imura

    2019 12TH ASIAN CONTROL CONFERENCE (ASCC)   405 - 409   2019

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  • Day-ahead Strategic Marketing of Energy Prosumption: A Machine Learning Approach Based on Neural Networks

    Fumiya Watanabe, Takahiro Kawaguchi, Takayuki Ishizaki, Hideaki Takenaka, Takashi Y. Nakajima, Jun-Ichi Imura

    2019 18TH EUROPEAN CONTROL CONFERENCE (ECC)   3910 - 3915   2019

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  • Retrofit control: Localization of controller design and implementation

    Takayuki Ishizaki, Tomonori Sadamoto, Jun-ichi Imura, Henrik Sandberg, Karl Henrik Johansson

    AUTOMATICA   95   336 - 346   2018.9

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    DOI: 10.1016/j.automatica.2018.05.033

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  • Day-ahead allocation of planned power flow and real-time operation method for residential houses with photovoltaic and battery for maximum use of distributed batteries

    Jindan Cui, Takahiro Sasaki, Yuzuru Ueda, Masakazu Koike, Takayuki Ishizaki, Jun-ichi Imura

    JAPANESE JOURNAL OF APPLIED PHYSICS   57 ( 8 )   2018.8

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    DOI: 10.7567/JJAP.57.08RH03

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  • Optimal scheduling of battery storage systems and thermal power plants for supply-demand balance

    Masakazu Koik, Takayuki Ishizaki, Nacim Ramdani, Jun-ichi Imura

    CONTROL ENGINEERING PRACTICE   77   213 - 224   2018.8

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    DOI: 10.1016/j.conengprac.2018.05.008

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  • Road-Speed Profile for Enhanced Perception of Traffic Conditions in a Partially Connected Vehicle Environment

    Kamal, M.A.S., Hayakawa, T., Imura, J.-I.

    IEEE Transactions on Vehicular Technology   67 ( 8 )   6824 - 6837   2018.8

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    DOI: 10.1109/TVT.2018.2826067

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  • Linear combination of day-ahead charge/discharge scheduling toward multi objective analysis of energy management system

    Takahiro Sasaki, Jindan Cui, Yuzuru Ueda, Masakazu Koike, Takayuki Ishizaki, Jun-ichi Imura

    JAPANESE JOURNAL OF APPLIED PHYSICS   57 ( 8 )   2018.8

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    DOI: 10.7567/JJAP.57.08RH02

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  • Retrofit Control of Wind-Integrated Power Systems

    Tomonori Sadamoto, Aranya Chakrabortty, Takayuki Ishizaki, Jun-ichi Imura

    IEEE TRANSACTIONS ON POWER SYSTEMS   33 ( 3 )   2804 - 2815   2018.5

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    DOI: 10.1109/TPWRS.2017.2750411

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  • Graph-Theoretic Analysis of Power Systems

    Takayuki Ishizaki, Aranya Chakrabortt, Jun-Ichi Imura

    PROCEEDINGS OF THE IEEE   106 ( 5 )   931 - 952   2018.5

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    DOI: 10.1109/JPROC.2018.2812298

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  • Traffic optimization via road pricing for queuing and flow congestion

    Yusuke Kuboi, Jun-Ichi Imura, Tomohisa Hayakawa, Hideaki Tanaka, Yuki Mae

    IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC   2018-   1 - 6   2018.3

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    DOI: 10.1109/ITSC.2017.8317732

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  • Bidding system design for multiperiod electricity markets: Pricing of stored energy shiftability Reviewed

    Takayuki Ishizaki, Masakazu Koike, Nobuyuki Yamaguchi, Jun-Ichi Imura

    2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017   2018-   807 - 812   2018.1

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    DOI: 10.1109/CDC.2017.8263759

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  • Retrofit control with data-based modeling of unknown environments

    Kawaguchi Takahiro, Ishizaki Takayuki, Sasahara Hampei, Imura Jun-ichi

    Proceedings of the Japan Joint Automatic Control Conference   61   1313 - 1317   2018

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    DOI: 10.11511/jacc.61.0_1313

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  • Retrofit Control of Network Systems under Measurement Noise

    Hampei Sasahara, Takayuki Ishizaki, Ryotaro Onuki, Jun-ichi Imura

    IFAC PAPERSONLINE   51 ( 33 )   80 - 85   2018

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    DOI: 10.1016/j.ifacol.2018.12.097

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  • Synchronization and Aggregation of Nonlinear Power Systems with Consideration of Bus Network Structures

    Petar Mlinaric, Takayuki Ishizaki, Aranya Chakrabortty, Sara Grundel, Peter Benner, Jun-ichi Imura

    2018 EUROPEAN CONTROL CONFERENCE (ECC)   2266 - 2271   2018

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  • Robust Profit Maximization in Multiperiod Energy Markets with Interval Prediction of Photovoltaics

    Bo Tu, Takayuki Ishizaki, Jun-ichi Imura

    IFAC PAPERSONLINE   51 ( 28 )   628 - 633   2018

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    DOI: 10.1016/j.ifacol.2018.11.780

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  • Parameterization of All State-Feedback Retrofit Controllers

    Hampei Sasahara, Takayuki Ishizaki, Jun-ichi Imura

    2018 IEEE CONFERENCE ON DECISION AND CONTROL (CDC)   5880 - 5885   2018

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  • Machine Learning Approach to Day-ahead Scheduling for Multiperiod Energy Markets under Renewable Energy Generation Uncertainty

    Fumiya Watanabe, Takahiro Kawaguchi, Takayuki Ishizaki, Hideaki Takenaka, Takashi Y. Nakajima, Jun-ichi Imura

    2018 IEEE CONFERENCE ON DECISION AND CONTROL (CDC)   4020 - 4025   2018

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  • Robust index code to distribute digital images and digital contents together

    Kim, M., Lee, K., Gondow, K., Imura, J.-I.

    IEICE Transactions on Information and Systems   E101D ( 9 )   2018

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    DOI: 10.1587/transinf.2017PCP0004

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  • A Characterization of All Retrofit Controllers

    Hampei Sasahara, Takayuki Ishizaki, Masaki Inoue, Tomonori Sadamoto, Jun-ichi Imura

    2018 ANNUAL AMERICAN CONTROL CONFERENCE (ACC)   6194 - 6199   2018

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  • Retrofitting Based Power System Stabilizer Design of PV-Integrated Power Systems

    Tomonori Sadamoto, Takayuki Ishizaki, Jun-ichi Imura, Takuro Kato

    2018 IEEE CONFERENCE ON CONTROL TECHNOLOGY AND APPLICATIONS (CCTA)   40 - 45   2018

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  • Min-max-min Robust Optimization for Adaptivity-Constrained Economic Dispatch

    Youngchae Cho, Takayuki Ishizaki, Masakazu Koike, Nacim Ramdani, Jun-ichi Imura

    2018 EUROPEAN CONTROL CONFERENCE (ECC)   776 - 781   2018

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  • Average State Observers for Large-Scale Network Systems

    Tomonori Sadamoto, Takayuki Ishizaki, Jun-ichi Imura

    IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS   4 ( 4 )   761 - 769   2017.12

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    DOI: 10.1109/TCNS.2016.2550866

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  • Fast parallel calculation for optimal power demand control in multi-layer smart grids Reviewed

    Gou Nishida, Jun-Ichi Imura, Hideaki Ohtake

    1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017   2017-   1058 - 1063   2017.10

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    DOI: 10.1109/CCTA.2017.8062599

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  • Retrofit Control of Interconnected Linear Systems.

    Takayuki Ishizaki, Masakazu Koike, Jun-ichi Imura

    CoRR   abs/1703.05209   2017

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  • A Retrofitting-based Supplementary Controller Design for Enhancing Damping Performance of Wind Power Systems

    Tomonori Sadamoto, Aranya Chakrabortty, Takayuki Ishizaki, Jun-ichi Imura

    2017 AMERICAN CONTROL CONFERENCE (ACC)   2755 - 2760   2017

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  • Day-ahead Scheduling of Multiple Thermal Power Plants with Output Constraints Based on PV Interval Prediction

    Masakazu Koike, Takayuki Ishizaki, Nacim Ramdani, Jun-ichi Imura

    IFAC PAPERSONLINE   50 ( 1 )   245 - 250   2017

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    DOI: 10.1016/j.ifacol.2017.08.041

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  • Positive Quadratic System Modeling Based on Singular Perturbation

    OKAMOTO Yuji, IMURA Jun-ichi, OKADA-HATAKEYAMA Mariko

    Transactions of the Society of Instrument and Control Engineers   53 ( 3 )   251 - 259   2017

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    Our previous study proposed a positive quadratic system representation for molecular interaction in a cell, including a signal transduction pathway and a gene regulatory network, and also presented a method for estimating a positive invariant set depending on the initial state. As an extension towards wider applications of this approach, this paper proposes a system representation called here a singularly perturbed positive quadratic system, and shows that every positive rational system, which is used as a mathematical model expressing biological behavior, can be approximately represented by a quasi-steady state system of a singularly perturbed positive quadratic system. In addition, we prove that the singularly perturbed positive quadratic system preserves stability at an equilibrium point of the positive rational system.

    DOI: 10.9746/sicetr.53.251

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  • A Bounding Method for Solution of Economic Dispatch Problem with Uncertain PV Power Generation Reviewed

    Youngchae Cho, Takayuki Ishizaki, Masakazu Koike, Jun-ichi Imura

    2017 56TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE)   1220 - 1223   2017

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    DOI: 10.23919/SICE.2017.8105617

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  • A Distributed Scheme for Power Profile Market Clearing under High Battery Penetration

    Takayuki Ishizaki, Masakazu Koike, Nobuyuki Yamaguchi, Asami Ueda, Tu Bo, Jun-ichi Imura

    IFAC PAPERSONLINE   50 ( 1 )   165 - 170   2017

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    DOI: 10.1016/j.ifacol.2017.08.028

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  • Wind-thermal power system dispatch using MLSAD model and GSOICLW algorithm

    Li, Y.Z., Jiang, L., Wu, Q.H., Wang, P., Gooi, H.B., Li, K.C., Liu, Y.Q., Lu, P., Cao, M., Imura, J.

    Knowledge-Based Systems   116   2017

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    DOI: 10.1016/j.knosys.2016.10.028

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  • Distributed Design of Local Controllers for Transient Stabilization in Power Grids

    Hampei Sasahara, Takayuki Ishizaki, Tomonori Sadamoto, Jun-ichi Imura

    IFAC PAPERSONLINE   50 ( 1 )   5430 - 5435   2017

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    DOI: 10.1016/j.ifacol.2017.08.1078

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  • Glocal Control for Network Systems via Hierarchical State-Space Expansion

    Hampei Sasahara, Takayuki Ishizaki, Tomonori Sadamoto, Jun-ichi Imura, Henrik Sandberg, Karl Henrik Johansson

    2017 IEEE 56TH ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC)   2017

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  • Optimal Bidding Strategy for Multiperiod Electricity Market with Consideration of PV Prediction Uncertainty Reviewed

    Tu Bo, Takayuki Ishizaki, Masakazu Koike, Nobuyuki Yamaguchi, Jun-ichi Imura

    2017 56TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE)   293 - 298   2017

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    DOI: 10.23919/SICE.2017.8105613

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  • Interval quadratic programming for day-ahead dispatch of uncertain predicted demand

    Takayuki Ishizaki, Masakazu Koike, Nacim Ramdani, Yuzuru Ueda, Taisuke Masuta, Takashi Oozeki, Tomonori Sadamoto, Jun-ichi Imura

    AUTOMATICA   64   163 - 173   2016.2

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    DOI: 10.1016/j.automatica.2015.11.002

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  • Distributed Design of Distributed Control Systems: A Compensation Principle for Controller Retrofit.

    Takayuki Ishizaki, Tomonori Sadamoto, Jun-ichi Imura, Henrik Sandberg, Karl Henrik Johansson

    CoRR   abs/1611.04531   2016

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  • Next Generation of Systems and Control: Control Engineering and Control Science

    IMURA Jun-ichi

    Journal of The Society of Instrument and Control Engineers   55 ( 4 )   303 - 304   2016

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    DOI: 10.11499/sicejl.55.303

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  • Observer Design of Positive Quadratic Systems

    Yuji Okamoto, Jun-ichi Imura, Mariko Okada-Hatakeyama

    Proceedings of the 2016 European Control Conference (ECC’16)   843 - 848   2016

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    DOI: 10.1109/ECC.2016.7810394

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  • Retrofitting State Feedback Control of Networked Nonlinear Systems Based on Hierarchical Expansion

    Tomonori Sadamoto, Takayuki Ishizaki, Jun-ichi Imura, Henrik Sandberg, Karl Henrik Johansson

    2016 IEEE 55TH CONFERENCE ON DECISION AND CONTROL (CDC)   3432 - 3437   2016

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  • Distributed Temperature Regulator Design for an Air Conditioning System

    Takumi Ido, Takayuki Ishizaki, Jun-ichi Imura, Yuki Katsuyama, Masahiko Murai, Katsuya Yokokawa

    IFAC PAPERSONLINE   49 ( 22 )   73 - 78   2016

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    DOI: 10.1016/j.ifacol.2016.10.375

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  • Multi-time-resolved Control of Discrete-time Linear Systems Based on Markov Parameter Matching

    KATO Takuro, ISHIZAKI Takayuki, KOIKE Masakazu, IMURA Jun-ichi

    Transactions of the Society of Instrument and Control Engineers   52 ( 7 )   359 - 367   2016

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    In this paper, we propose a synthesis method of multi-time-resolved control systems for discrete-time linear systems. In this method, on the basis of a low-rank model stemming from the Wedderburn rank reduction, we derive a redundant state-space realization of systems that enables a systematic design of a dynamical compensator stabilizing the short-time behavior of systems. Owing to the fact that the low-rank model has the same reachable and observable subspaces as the original system, we can systematically design a multiresolved control system while explicitly considering the short-time and long-time behavior of systems. The efficiency of the multiresolved control is shown through an illustrative example of frequency control of power systems.

    DOI: 10.9746/sicetr.52.359

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  • Convex Gradient Controller Design for Incrementally Passive Systems with Quadratic Storage Functions Reviewed

    Takayuki Ishizaki, Asami Ueda, Jun-ichi Imura

    2016 IEEE 55TH CONFERENCE ON DECISION AND CONTROL (CDC)   1721 - 1726   2016

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  • Positive Quadratic System Representation of Molecular Interaction in a Cell

    OKAMOTO Yuji, IMURA Jun-ichi, OKADA-HATAKEYAMA Mariko

    Transactions of the Society of Instrument and Control Engineers   52 ( 7 )   368 - 375   2016

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    This paper proposes a new system representation called a positive quadratic system for analysis and synthesis of molecular interaction in a cell, which includes a signal transduction pathway and a gene expression transcriptional regulation. One of the features of the proposed model is that it can capture the quadratic property of molecular interaction as well as the positivity properties of the state variables in terms of a rather simple form. Based on this model, we derive a sufficient condition of the stability of the origin in the sense of Lyapunov, and present a method for estimating an invariant set depending on the initial state and a positive invariant set. We show that the proposed method is effective by numerical simulations of two fundamental biological models.

    DOI: 10.9746/sicetr.52.368

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  • Average State Kalman Filters for Large-scale Stochastic Networked Linear Systems

    WATANABE Fumiya, SADAMOTO Tomonori, ISHIZAKI Takayuki, IMURA Jun-ichi

    Transactions of the Society of Instrument and Control Engineers   52 ( 8 )   419 - 427   2016

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    In this paper, we propose a design method of average state Kalman filters for networked linear systems with stochastic noises. The average state Kalman filter is a low-dimensional estimator capturing the average behavior of systems from a macroscopic point of view. In general, it is nontrivial to find a set of states that captures the average behavior of systems. To overcome this difficulty, we devise a systematic design procedure of average state Kalman filters based on the notion of network clustering and a tractable representation of the estimation error system. Furthermore, we derive an estimation error bound for the proposed method in a theoretical way. The efficiency of the proposed method is shown by a power system example for smart grid applications.

    DOI: 10.9746/sicetr.52.419

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  • Clustered Model Reduction of Networked Dissipative Systems Reviewed

    Takayuki Ishizaki, Risong Ku, Jun-ichi Imura

    2016 AMERICAN CONTROL CONFERENCE (ACC)   3662 - 3667   2016

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  • Towards System Theory for Harmonized Power System Control Based on Photovoltaic Power Prediction—HARPS Challenge to Big System—

    IMURA Jun-ichi

    Journal of The Society of Instrument and Control Engineers   55 ( 7 )   566 - 572   2016

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    DOI: 10.11499/sicejl.55.566

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  • Eigenstructure Analysis from Symmetrical Graph Motives with Application to Aggregated Controller Design Reviewed

    Takayuki Ishizaki, Risong Ku, Jun-ichi Imura

    2016 IEEE 55TH CONFERENCE ON DECISION AND CONTROL (CDC)   5744 - 5749   2016

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  • L1 Gain of Positive Quadratic Systems

    Okamoto Y., Imura J., Okada-Hatakeyama M.

    Proceedings of the Japan Joint Automatic Control Conference   59   269 - 275   2016

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    A Positive quadratic system is a suitable to represent the molecular interaction in a cell. The positive quadratic system can represent signal transduction pathway and gene regulatory network. Furthermore, the system can approximately represent every positive rational system, which is used as a mathematical model expressing biological behavior. This paper continues upon this research and analyze the L1 gain of positive quadratic systems. We define the L1 gain of nonnegative systems and present the method finding the L1 gain of a positive quadratic system by means of co-positive definite matrices. Furthermore, we present a sufficient condition for a positive quadratic system to be bounded, if the L1 gain of the system exists.

    DOI: 10.11511/jacc.59.0_269

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  • Absolute instability of Lur'e systems and its application to oscillation analysis of uncertain genetic networks Reviewed

    Masaki Inoue, Jun-ichi Imura, Kenji Kashima, Masayasu Suzuki, Kazuyuki Aihara

    INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL   25 ( 18 )   3746 - 3762   2015.12

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    DOI: 10.1002/rnc.3294

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  • Positive quadratic system approximate representation of nonlinear systems

    Yuji Okamoto, Jun-Ichi Imura, Mariko Okada-Hatakeyama

    IFAC-PapersOnLine   28 ( 18 )   65 - 70   2015.11

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    DOI: 10.1016/j.ifacol.2015.11.012

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  • Clustered model reduction of positive directed networks Reviewed

    Takayuki Ishizaki, Kenji Kashima, Antoine Girard, Jun-ichi Imura, Luonan Chen, Kazuyuki Aihara

    AUTOMATICA   59   238 - 247   2015.9

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    DOI: 10.1016/j.automatica.2015.06.027

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  • Glocal (global/local) control synthesis for hierarchical networked systems

    Shinji Hara, Jun-ichi Imura, Koji Tsumura, Takayuki Ishizaki, Tomonori Sadamoto

    2015 IEEE Conference on Control Applications (CCA)   2015.9

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    DOI: 10.1109/cca.2015.7320618

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  • A vehicle-intersection coordination scheme for smooth flows of traffic without using traffic lights

    Md. Abdus Samad Kamal, Jun-Ichi Imura, Tomohisa Hayakawa, Akira Ohata, Kazuyuki Aihara

    IEEE Transactions on Intelligent Transportation Systems   16 ( 3 )   1136 - 1147   2015.6

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    DOI: 10.1109/TITS.2014.2354380

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  • A Computational Method for Robust Bifurcation Analysis and Its Application to Biomolecular Systems Reviewed

    Masaki Inoue, Hikaru Ikuta, Shuichi Adachi, Jun-Ichi Imura, Kazuyuki Aihara

    INTERNATIONAL JOURNAL OF BIFURCATION AND CHAOS   25 ( 7 )   2015.6

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    DOI: 10.1142/S021812741540012X

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  • Traffic Signal Control of a Road Network Using MILP in the MPC Framework

    Md. Abdus Samad Kamal, Jun-ichi Imura, Tomohisa Hayakawa, Akira Ohata, Kazuyuki Aihara

    International Journal of Intelligent Transportation Systems Research   13 ( 2 )   107 - 118   2015.5

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    DOI: 10.1007/s13177-014-0090-3

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  • Spatiotemporally Multiresolutional Optimization Toward Supply-Demand-Storage Balancing Under PV Prediction Uncertainty Reviewed

    Tomonori Sadamoto, Takayuki Ishizaki, Masakazu Koike, Yuzuru Ueda, Jun-ichi Imura

    IEEE TRANSACTIONS ON SMART GRID   6 ( 2 )   853 - 865   2015.3

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    DOI: 10.1109/TSG.2014.2377241

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  • Study on Fair Battery Control in Residential Sector Considering with Grid Operator's Request

    Kosuke Uchida, Eiki Arai, Masakazu Koike, Ikuma Muto, Tomonori Sadamoto, Takayuki Ishizaki, Yuzuru Ueda, Jun-ichi Imura

    2015 54TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE)   343 - 346   2015

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  • Day-Ahead Scheduling for Supply-Demand-Storage Balancing -Model Predictive Generation with Interval Prediction of Photovoltaics

    Yoshihiro Tagawa, Masakazu Koike, Takayuki Ishizaki, Nacim Ramdani, Takashi Oozeki, Joao Gari da Silva Fonseca Junior, Taisuke Masuta, Jun-ichi Imura

    2015 EUROPEAN CONTROL CONFERENCE (ECC)   247 - 252   2015

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  • Multiresolved Control of Discrete-Time Linear Systems Based on Redundant Realization via Wedderburn Rank Reduction

    Takayuki Ishizaki, Masakazu Koike, Takuro Kato, Jun-ichi Imura

    2015 54TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC)   4866 - 4871   2015

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  • Incentive-Based Multi-Objective Fractional Optimization for EV Navigation System with Successive Update Reviewed

    Shun Maeda, Tomohisa Hayakawa, Jun-ichi Imura, Hideaki Tanaka, Yuki Mae

    2015 IEEE 18TH INTERNATIONAL CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS   2594 - 2599   2015

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    DOI: 10.1109/ITSC.2015.417

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  • Model predictive control of directed-graph constrained systems Reviewed

    Kobayashi, K., Imura, J.-I., Matsushima, H.

    International Journal of Robust and Nonlinear Control   25 ( 1 )   142 - 162   2015

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    DOI: 10.1002/rnc.3078

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  • Nonlinear Spacing Policy Based Vehicle Platoon Control for Local String Stability and Global Traffic Flow Stability Reviewed

    Hasan Emrah Sungu, Masaki Inoue, Jun-ichi Imura

    2015 EUROPEAN CONTROL CONFERENCE (ECC)   3396 - 3401   2015

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  • Dissipativity-Preserving Model Reduction for Large-Scale Distributed Control Systems Reviewed

    Ishizaki, T., Sandberg, H., Kashima, K., Imura, J.-I., Aihara, K.

    IEEE Transactions on Automatic Control   60 ( 4 )   1023 - 1037   2015

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    DOI: 10.1109/TAC.2014.2370271

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  • Foreword

    Imura, J.-I., Oguchi, T.

    IFAC-PapersOnLine   28 ( 18 )   2015

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  • Robust bifurcation analysis based on optimization of degree of stability

    Kitajima, H., Yoshinaga, T., Imura, J.-I., Aihara, K.

    International Journal of Innovative Computing, Information and Control   11 ( 1 )   2015

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  • Day-Ahead Scheduling for Model Predictive Power Generation Based on Interval Prediction of Photovoltaics - Generalization to Multiple Generators

    Masakazu Koike, Yoshihiro Tagawa, Takayuki Ishizaki, Tomonori Sadamoto, Jun-ichi Imura

    2015 54TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE)   870 - 873   2015

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  • Clustered model reduction of interconnected second-order systems

    Takayuki Ishizaki, Jun-ichi Imura

    IEICE NONLINEAR THEORY AND ITS APPLICATIONS   6 ( 1 )   26 - 37   2015

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    DOI: 10.1587/nolta.6.26

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  • Hierarchical Distributed Design of Stabilizing Controllers for an Evolving Network System

    Tomonori Sadamoto, Takayuki Ishizaki, Jun-ichi Imura

    2015 54TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC)   3337 - 3342   2015

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  • Distributed Design of Locally Stabilizing Controllers for Large-Scale Networked Linear Systems

    Tomonori Sadamoto, Takayuki Ishizaki, Jun-ichi Imura, Bart Besselink, Henrik Sandberg, Karl Henrik Johansson

    2015 IEEE CONFERENCE ON CONTROL AND APPLICATIONS (CCA 2015)   1835 - 1840   2015

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  • Time-Shifted Request Scheduling for Supply-Demand-Storage Balancing Under Prediction Uncertainty of Photovoltaics Reviewed

    Masakazu Koike, Takayuki Ishizaki, Tomonori Sadamoto, Jun-ichi Imura

    2015 IEEE CONFERENCE ON CONTROL AND APPLICATIONS (CCA 2015)   1534 - 1539   2015

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    DOI: 10.1109/CCA.2015.7320828

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  • Controlling Chaos of Hybrid Systems by Variable Threshold Values Reviewed

    Daisuke Ito, Tetsushi Ueta, Takuji Kousaka, Jun'ichi Imura, Kazuyuki Aihara

    INTERNATIONAL JOURNAL OF BIFURCATION AND CHAOS   24 ( 10 )   2014.10

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    DOI: 10.1142/S0218127414501259

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  • Hierarchical distributed stabilization of power networks

    Takayuki Ishizaki, Tomonori Sadamoto, Jun-ichi Imura

    EUROPEAN PHYSICAL JOURNAL-SPECIAL TOPICS   223 ( 12 )   2461 - 2473   2014.10

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    DOI: 10.1140/epjst/e2014-02275-x

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  • Probabilistic evaluation of interconnectable capacity for wind power generation Reviewed

    Kenji Kashima, Masakazu Kato, Jun-ichi Imura, Kazuyuki Aihara

    EUROPEAN PHYSICAL JOURNAL-SPECIAL TOPICS   223 ( 12 )   2493 - 2501   2014.10

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    DOI: 10.1140/epjst/e2014-02276-9

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  • Hierarchical Decentralized Observer Design and Application to Power Networks Reviewed

    Koike Masakazu, Ishizaki Takayuki, Sadamoto Tomonori, Imura Jun-ichi

    Transactions of the Institute of Systems, Control and Information Engineers   27 ( 9 )   353 - 363   2014.9

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    In this paper, we propose a design method of hierarchical decentralized observers for networked linear systems. In this method, based on suitable state-space expansion of the network systems, we, first, find a high-dimensional dynamical compensator that can achieve any desirable performance for decentralized state estimation. Next, fully taking advantage of model reduction techniques, we extract a subspace that is essentially relevant to the decentralized state estimation, from the high-dimensional state-space of the dynamical compensator. This procedure successfully yields a lower-dimensional compensator that guarantees not only the stability of the estimation error but also a desirable estimation performance with respect to the system behavior for external input signals. The effectiveness of the proposed method is shown through an application to the state estimation of power networks.

    DOI: 10.5687/iscie.27.353

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  • Smart Driving of a Vehicle Using Model Predictive Control for Improving Traffic Flow Reviewed

    Md. Abdus Samad Kamal, Jun-ichi Imura, Tomohisa Hayakawa, Akira Ohata, Kazuyuki Aihara

    IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS   15 ( 2 )   878 - 888   2014.4

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    DOI: 10.1109/TITS.2013.2292500

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  • Stabilization of deterministic finite automata based on linear state equation representation

    Koichi Kobayashi, Jun-Ichi Imura

    2009 European Control Conference, ECC 2009   4368 - 4373   2014.3

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    DOI: 10.23919/ecc.2009.7075087

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  • Rigorous determination of maximum controlled invariant feasible sets

    Ravi Gondhalekar, Jun-Ichi Imura, Kenji Kashima

    2009 European Control Conference, ECC 2009   2821 - 2826   2014.3

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    DOI: 10.23919/ecc.2009.7074835

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  • Simultaneous optimization of slab permutation scheduling and heat controlling for a reheating furnace Reviewed

    Masayasu Suzuki, Kenji Katsuki, Jun-ichi Imura, Jun-ichi Nakagawa, Tetsuaki Kurokawa, Kazuyuki Aihara

    JOURNAL OF PROCESS CONTROL   24 ( 1 )   225 - 238   2014.1

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    DOI: 10.1016/j.jprocont.2013.10.007

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  • Model reduction and clusterization of large-scale bidirectional networks Reviewed

    Ishizaki, T., Kashima, K., Imura, J.-I., Aihara, K.

    IEEE Transactions on Automatic Control   59 ( 1 )   48 - 63   2014

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    DOI: 10.1109/TAC.2013.2275891

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  • Hierarchical Distributed Control for Networked Linear Systems

    Tomonori Sadamoto, Takayuki Ishizaki, Jun-ichi Imura

    2014 IEEE 53RD ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC)   2447 - 2452   2014

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  • Projective State Observers for Large-Scale Linear Systems

    Tomonori Sadamoto, Takayuki Ishizaki, Jun-ichi Imura

    2014 EUROPEAN CONTROL CONFERENCE (ECC)   2969 - 2974   2014

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  • Hierarchical Decentralized Observers for Networked Linear Systems Reviewed

    Takayuki Ishizaki, Masakazu Koike, Tomonori Sadamoto, Jun-ichi Imura

    2014 AMERICAN CONTROL CONFERENCE (ACC)   5718 - 5723   2014

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    DOI: 10.1109/ACC.2014.6858795

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  • Robust Stability and Instability of Nonlinear Feedback System with Uncertainty-Dependent Equilibrium Reviewed

    Masaki Inoue, Takayuki Arai, Jun-ichi Imura, Kenji Kashima, Kazuyuki Aihara

    2014 EUROPEAN CONTROL CONFERENCE (ECC)   1486 - 1491   2014

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  • Robustness Analysis of Genetic Circuits Constructed by Bottom-up Strategy Reviewed

    Masaki Inoue, Takayuki Arai, Jun-ichi Imura, Kenji Kashima, Kazuyuki Aihara

    IFAC PAPERSONLINE   47 ( 3 )   1736 - 1741   2014

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  • Model Predictive Control Based Generation Planning using PV Interval Prediction

    Tagawa Yoshihiro, Koike Masakazu, Ishizaki Takayuki, Ramdani Nacim, Oozeki Takashi, Fonseca Junior Joao Gari da Silva, Masuta Taisuke, Imura Jun-ichi

    Proceedings of the Japan Joint Automatic Control Conference   57   943 - 949   2014

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    DOI: 10.11511/jacc.57.0_943

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  • Saddle-node bifurcation and its robustness analysis: A mechanism for inducing pluripotency in stem cell. Reviewed

    Masaki Inoue, Jun-ichi Imura, Takayuki Arai, Kenji Kashima, Kazuyuki Aihara

    53rd IEEE Conference on Decision and Control, CDC 2014, Los Angeles, CA, USA, December 15-17, 2014   5973 - 5978   2014

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    DOI: 10.1109/CDC.2014.7040324

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  • Incentive Based Multi-Objective Optimization in Electric Vehicle Navigation including Battery Charging Reviewed

    Tomohisa Hayakawa, Kyohei Ishikawa, Jun-ichi Imura, Hideaki Tanaka, Masumi Toyoshima, Akihito Iwai

    IFAC PAPERSONLINE   47 ( 3 )   6332 - 6337   2014

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  • Supply-Demand-Storage Balancing Based on Moving Average Utility Power Requests to Demand Side

    Muto Ikuma, Ishizaki Takayuki, Sadamoto Tomonori, Koike Masakazu, Imura Jun-ichi

    Proceedings of the Japan Joint Automatic Control Conference   57   955 - 962   2014

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    DOI: 10.11511/jacc.57.0_955

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  • Diffusion Based Stopping Criterion for Distributed Optimization Reviewed

    Taylan Ayken, Jun-ichi Imura

    IFAC PAPERSONLINE   47 ( 3 )   10512 - 10517   2014

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  • Robust moving horizon H∞ control of discrete time-delayed systems with interval time-varying delays

    Tascikaraoglu, F.Y., Kucukdemiral, I.B., Imura, J.

    Mathematical Problems in Engineering   2014   2014

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    DOI: 10.1155/2014/462983

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  • Modeling and Stability Analysis of Chemical Reaction Systems in Cells

    Okamoto Yuji, Imura Jun-ichi, Okada Mariko

    Proceedings of the Japan Joint Automatic Control Conference   57   1134 - 1141   2014

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    DOI: 10.11511/jacc.57.0_1134

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  • Incentive based multi-objective optimization in electric vehicle navigation including battery charging

    Tomohisa Hayakawa, Kyohei Ishikawa, Jun-Ichi Imura, Hideaki Tanaka, Masumi Toyoshima, Akihito Iwai

    IFAC Proceedings Volumes (IFAC-PapersOnline)   19   6332 - 6337   2014

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    DOI: 10.3182/20140824-6-za-1003.02784

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  • Diffusion based stopping criterion for distributed optimization

    Taylan Ayken, Jun-Ichi Imura

    IFAC Proceedings Volumes (IFAC-PapersOnline)   19   10512 - 10517   2014

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    DOI: 10.3182/20140824-6-za-1003.02730

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  • Robustness analysis of genetic circuits onstructed by bottom-up strategy

    Masaki Inoue, Takayuki Arai, Jun-Ichi Imura, Kenji Kashima, Kazuyuki Aihara

    IFAC Proceedings Volumes (IFAC-PapersOnline)   19   1736 - 1741   2014

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    DOI: 10.3182/20140824-6-za-1003.00962

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  • Planning of optimal daily power generation tolerating prediction uncertainty of demand and photovoltaics

    Masakazu Koike, Takayuki Ishizaki, Yuzuru Ueda, Taisuke Masuta, Takashi Ozeki, Nacim Ramdani, Tomonori Sadamoto, Jun-Ichi Imura

    IFAC Proceedings Volumes (IFAC-PapersOnline)   19   3657 - 3662   2014

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    DOI: 10.3182/20140824-6-za-1003.00970

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  • Power Supply Scheduling Optimization from a Viewpoint of Spatio-Temporal Aggregation Reviewed

    Tomonori Sadamoto, Ikuma Muto, Takayuki Ishizaki, Masakazu Koike, Jun-ichi Imura

    IFAC PAPERSONLINE   47 ( 3 )   4571 - 4577   2014

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  • Power supply scheduling optimization from a viewpoint of spatio-temporal aggregation

    Tomonori Sadamoto, Ikuma Muto, Takayuki Ishizaki, Masakazu Koike, Jun-Ichi Imura

    IFAC Proceedings Volumes (IFAC-PapersOnline)   19   4571 - 4577   2014

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    DOI: 10.3182/20140824-6-za-1003.02223

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  • Planning of Optimal Daily Power Generation Tolerating Prediction Uncertainty of Demand and Photovoltaics Reviewed

    Masakazu Koike, Takayuki Ishizaki, Yuzuru Ueda, Taisuke Masuta, Takashi Ozeki, Nacim Ramdani, Tomonori Sadamoto, Jun-ichi Imura

    IFAC PAPERSONLINE   47 ( 3 )   3657 - 3662   2014

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  • Distributed parameter modeling and finite-frequency loop-shaping of electromagnetic molding machine

    Takayuki Ishizaki, Kenji Kashima, Jun-ichi Imura, Atsushi Katoh, Hiroshi Morita, Kazuyuki Aihara

    CONTROL ENGINEERING PRACTICE   21 ( 12 )   1735 - 1743   2013.12

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    DOI: 10.1016/j.conengprac.2013.08.003

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  • Analysis and stabilization for networked linear hyperbolic systems of rationally dependent conservation laws Reviewed

    Masayasu Suzuki, Jun-ichi Imura, Kazuyuki Aihara

    AUTOMATICA   49 ( 11 )   3210 - 3221   2013.11

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    DOI: 10.1016/j.automatica.2013.08.016

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  • On the convergence rate of diffusion in the bidirectional Erdos-Renyi networks: An H-2-norm perspective Reviewed

    Kenji Kashima, Yutaka Takahashi, Jun-ichi Imura

    PHYSICA A-STATISTICAL MECHANICS AND ITS APPLICATIONS   392 ( 21 )   5461 - 5472   2013.11

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    DOI: 10.1016/j.physa.2013.05.057

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  • Node Knock-out Based Structure Identification in Networks of Identical Multi-dimensional Subsystems Reviewed

    Masayasu Suzuki, Nobuki Takatsuki, Jun-ichi Imura, Kazuyuki Aihara

    2013 EUROPEAN CONTROL CONFERENCE (ECC)   2280 - 2285   2013.7

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  • Chaotic Boltzmann machines Reviewed

    Hideyuki Suzuki, Jun-Ichi Imura, Yoshihiko Horio, Kazuyuki Aihara

    Scientific Reports   3   1610   2013.4

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    DOI: 10.1038/srep01610

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  • Absolute Instability Conditions for Lur'e Systems

    INOUE Masaki, SUZUKI Masayasu, KASHIMA Kenji, IMURA Jun-ichi, AIHARA Kazuyuki

    Transactions of the Society of Instrument and Control Engineers   49 ( 3 )   402 - 407   2013.3

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    This paper is concerned with instability analysis of Lur'e systems. First, a definition of absolute instability is introduced. Then, linear matrix inequalities and equivalent frequency domain inequalities are derived for absolute instability. They are analogous to well-known circle criteria for absolute stability.

    DOI: 10.9746/sicetr.49.402

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  • Chaotic Ising-like dynamics in traffic signals Reviewed

    Hideyuki Suzuki, Jun-ichi Imura, Kazuyuki Aihara

    SCIENTIFIC REPORTS   3   1127   2013.1

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    DOI: 10.1038/srep01127

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  • Clustering-based H2-reduction for descriptor systems

    Valeriu Tocitu, Takayuki Ishizaki, Jun-Ichi Imura

    Proceedings of the SICE Annual Conference   120 - 121   2013

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  • A study on knock-out based network structure identification

    Masayasu Suzuki, Nobuki Takatsuki, Jun-Ichi Imura, Kazuyuki Aihara

    Proceedings of the SICE Annual Conference   122 - 123   2013

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  • Low-Dimensional Functional Observer Design for Linear Systems via Observer Reduction Approach

    Tomonori Sadamoto, Takayuki Ishizaki, Jun-ichi Imura

    2013 IEEE 52ND ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC)   776 - 781   2013

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  • An Instability Condition for Uncertain Systems toward Robust Bifurcation Analysis Reviewed

    Masaki Inoue, Jun-ichi Imura, Kenji Kashima, Takayuki Arai, Kazuyuki Aihara

    2013 EUROPEAN CONTROL CONFERENCE (ECC)   3270 - 3275   2013

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  • Knock-Out/Down-Based Structure Identification in Networks of Heterogeneous Subsystems Reviewed

    Masayasu Suzuki, Nobuki Takatsuki, Jun-ichi Imura, Kazuyuki Aihara

    2013 IEEE 52ND ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC)   1343 - 1348   2013

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    DOI: 10.1109/CDC.2013.6760069

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  • Singular Perturbation Approximation of Semistable Linear Systems Reviewed

    Takayuki Ishizaki, Henrik Sandberg, Karl Henrik Johansson, Kenji Kashima, Jun-ichi Imura, Kazuyuki Aihara

    2013 EUROPEAN CONTROL CONFERENCE (ECC)   4508 - 4513   2013

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  • Instability of Uncertain Large-Scale Networks Reviewed

    Masaki Inoue, Jun-ichi Imura, Kenji Kashima, Kazuyuki Aihara

    2013 9TH ASIAN CONTROL CONFERENCE (ASCC)   2013

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  • Robust Bifurcation Analysis of Systems with Dynamic Uncertainties:—Local Bifurcations Caused by Stability Change of Equilibrium Point Reviewed

    Inoue Masaki, Arai Takayuki, Imura Jun-ichi, Kashima Kenji, Aihara Kazuyuki

    Transactions of the Institute of Systems, Control and Information Engineers   26 ( 7 )   225 - 231   2013

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    In this paper, we consider bifurcation analysis of nonlinear uncertain dynamical systems. A concept of robust bifurcation analysis is proposed. To this end, we give robust stability and robust instability conditions for uncertain feedback systems. Then, we propose a novel method for robust bifurcation analysis of systems with dynamic uncertainties. Finally, we carry out bifurcation analysis of an uncertain gene regulatory network model as an example.

    DOI: 10.5687/iscie.26.225

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  • Structured Model Reduction of Interconnected Linear Systems Based on Singular Perturbation

    Takayuki Ishizaki, Henrik Sandberg, Karl Henrik Johansson, Kenji Kashima, Jun-ichi Imura, Kazuyuki Aihara

    2013 AMERICAN CONTROL CONFERENCE (ACC)   5524 - 5529   2013

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  • Robust bifurcation analysis based on the Nyquist stability criterion. Reviewed

    Masaki Inoue, Jun-ichi Imura, Kenji Kashima, Kazuyuki Aihara

    Proceedings of the 52nd IEEE Conference on Decision and Control, CDC 2013, December 10-13, 2013, Firenze, Italy   1768 - 1773   2013

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    DOI: 10.1109/CDC.2013.6760138

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  • Dissipativity-preserving model reduction based on generalized singular perturbation. Reviewed

    Takayuki Ishizaki, Henrik Sandberg, Kenji Kashima, Jun-ichi Imura, Kazuyuki Aihara

    Proceedings of the 52nd IEEE Conference on Decision and Control, CDC 2013, December 10-13, 2013, Firenze, Italy   5540 - 5545   2013

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    DOI: 10.1109/CDC.2013.6760762

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  • Instability criteria for Lur'e systems toward oscillation analysis of uncertain gene networks. Reviewed

    Masaki Inoue, Jun-ichi Imura, Kenji Kashima, Kazuyuki Aihara

    American Control Conference, ACC 2013, Washington, DC, USA, June 17-19, 2013   4080 - 4085   2013

  • Robust bifurcation analysis of systems with dynamic uncertainties Reviewed

    Inoue, M., Imura, J.-I., Kashima, K., Aihara, K.

    International Journal of Bifurcation and Chaos   23 ( 9 )   2013

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    DOI: 10.1142/S0218127413501575

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  • Deterministic finite automata representation for model predictive control of hybrid systems Reviewed

    Koichi Kobayashi, Jun-Ichi Imura

    Journal of Process Control   22 ( 9 )   1670 - 1680   2012.10

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    DOI: 10.1016/j.jprocont.2012.07.003

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  • Clustering of large-scale dynamical networks for glocal control Reviewed

    Jun-Ichi Imura, Kenji Kashima, Takayuki Ishizaki

    Developments in Control Theory Towards Glocal Control   173 - 181   2012.1

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    Language:English   Publishing type:Part of collection (book)   Publisher:Institution of Engineering and Technology  

    DOI: 10.1049/PBCE076E_ch17

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  • Model reduction of multi-input dynamical networks based on clusterwise controllability. Reviewed

    Takayuki Ishizaki, Kenji Kashima, Jun-ichi Imura, Kazuyuki Aihara

    American Control Conference, ACC 2012, Montreal, QC, Canada, June 27-29, 2012   2301 - 2306   2012

  • Discrete abstractions of nonlinear systems based on error propagation analysis

    Tazaki, Y., Imura, J.-I.

    IEEE Transactions on Automatic Control   57 ( 3 )   2012

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    DOI: 10.1109/TAC.2011.2161789

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  • Scanning the issue

    Tazaki, Y., Imura, J.-I.

    IEEE Transactions on Automatic Control   57 ( 3 )   2012

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    DOI: 10.1109/TAC.2012.2187948

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  • Model-free Unscented Kalman filter with the modified method of analogues Reviewed

    Masayasu Suzuki, Nobuki Takatsuki, Jun-Ichi Imura, Yoshito Hirata, Kazuyuki Aihara

    IFAC Proceedings Volumes (IFAC-PapersOnline)   45 ( 12 )   40 - 44   2012

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    DOI: 10.3182/20120620-3-MX-3012.00046

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  • Clustering-based ℍ2-state aggregation of positive networks and its application to reduction of chemical master equations

    Takayuki Ishizaki, Kenji Kashima, Antoine Girard, Jun-Ichi Imura, Luonan Chen, Kazuyuki Aihara

    Proceedings of the IEEE Conference on Decision and Control   4175 - 4180   2012

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    DOI: 10.1109/CDC.2012.6426793

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  • Energy saving controlling chaos Reviewed

    Daisuke Ito, Tetsushi Ueta, Jun'ichi Imura, Kazuyuki Aihara

    2012 IEEE INTERNATIONAL SYMPOSIUM ON CIRCUITS AND SYSTEMS (ISCAS 2012)   405 - 408   2012

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    DOI: 10.1109/ISCAS.2012.6272048

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  • Efficient Control of Vehicles in Congested Traffic Using Model Predictive Control Reviewed

    M. A. S. Kamal, J. Imura, A. Ohata, T. Hayakawa, K. Aihara

    2012 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA)   1522 - 1527   2012

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    DOI: 10.1109/CCA.2012.6402427

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  • Control theoretic approach to stationary iterative methods for large-scale Toeplitz-type equations Reviewed

    Kenji Kashima, Tomohito Oda, Jun-ichi Imura

    2012 AMERICAN CONTROL CONFERENCE (ACC)   1500 - 1506   2012

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  • Clustering-based H-2-State Aggregation of Positive Networks and Its Application to Reduction of Chemical Master Equations

    Takayuki Ishizaki, Kenji Kashima, Antoine Girard, Jun-ichi Imura, Luonan Chen, Kazuyuki Aihara

    2012 IEEE 51ST ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC)   4175 - 4180   2012

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  • Control Theoretic Approach to Iterative Methods for Large-scale Toeplitz-type Systems with Application to Magnetic Field Analysis Reviewed

    48 ( 7 )   441 - 449   2012

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  • Asynchronous Distributed Optimization of Smart Grid Reviewed

    Taylan Ayken, Jun-ichi Imura

    2012 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE)   2098 - 2102   2012

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  • Boundary feedback control of coupled hyperbolic linear PDEs systems with nonlinear boundary conditions Reviewed

    Masayasu Suzuki, Jun-Ichi Imura, Kazuyuki Aihara

    IFAC Proceedings Volumes (IFAC-PapersOnline)   18 ( 1 )   14464 - 14469   2011.8

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    DOI: 10.3182/20110828-6-IT-1002.03500

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  • Stabilization of Finite Automata with Application to Hybrid Systems Control

    Kobayashi Koichi, Imura Jun-ichi, Hiraishi Kunihiko

    Discrete Event Dynamic Systems   21 ( 4 )   519 - 545   2011.6

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    DOI: 10.1007/s10626-011-0110-2

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  • Ego noise cancellation of a robot using missing feature masks Reviewed

    Goekhan Ince, Kazuhiro Nakadai, Tobias Rodemann, Hiroshi Tsujino, Jun-ichi Imura

    APPLIED INTELLIGENCE   34 ( 3 )   360 - 371   2011.6

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    DOI: 10.1007/s10489-011-0285-0

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  • Controlling a Class of Hyperbolic Distributed Parameter Systems Producing Ideal Turbulence Reviewed

    Masayasu Suzuki, Jun-ichi Imura, Kazuyuki Aihara

    2011 AMERICAN CONTROL CONFERENCE   5103 - 5108   2011.6

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  • Oscillation analysis of linearly coupled piecewise affine systems: Application to spatio-temporal neuron dynamics Reviewed

    Kenji Kashima, Yasuyuki Kawamura, Jun-ichi Imura

    AUTOMATICA   47 ( 6 )   1249 - 1254   2011.6

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    DOI: 10.1016/j.automatica.2011.02.039

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  • Controllability and Observability of Networked Systems of Linear Hyperbolic Partial Differential Equations Reviewed

    Masayasu Suzuki, Jun-ichi Imura, Kazuyuki Aihara

    2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC)   1335 - 1340   2011

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    DOI: 10.1109/CDC.2011.6161198

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  • Hierarchical Decentralized Observer Design for Linearly Coupled Network Systems

    Takayuki Ishizaki, Yukihiro Sakai, Kenji Kashima, Jun-ichi Imura

    2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC)   7831 - 7836   2011

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  • Model Order Reduction for MIMO Linear Dynamical Networks via Reaction-Diffusion Transformation

    Takayuki Ishizaki, Kenji Kashima, Jun-ichi Imura, Kazuyuki Aihara

    2011 AMERICAN CONTROL CONFERENCE   5019 - 5024   2011

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  • Reaction-Diffusion Clustering of Single-Input Dynamical Networks Reviewed

    Takayuki Ishizaki, Kenji Kashima, Jun-ichi Imura, Kazuyuki Aihara

    2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC)   7837 - 7842   2011

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    DOI: 10.1109/CDC.2011.6160844

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  • Incremental Learning for Ego Noise Estimation of a Robot Reviewed

    Goekhan Ince, Kazuhiro Nakadai, Tobias Rodemann, Jun-ichi Imura, Keisuke Nakamura, Hirofumi Nakajima

    2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS   131 - 136   2011

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  • Modeling and real-time heating control of a reheating furnace using an advection equation

    Masayasu Suzuki, Kenji Katsuki, Jun-Ichi Imura, Jun-Ichi Nakagawa, Tetsuaki Kurokawa, Kazuyuki Aihara

    Proceedings of the SICE Annual Conference   842 - 848   2011

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  • Whole Body Motion Noise Cancellation of a Robot for Improved Automatic Speech Recognition Reviewed

    Goekhan Ince, Kazuhiro Nakadai, Tobias Rodemann, Hiroshi Tsujino, Jun-ichi Imura

    ADVANCED ROBOTICS   25 ( 11-12 )   1405 - 1426   2011

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    DOI: 10.1163/016918611X579448

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  • Assessment of Single-channel Ego Noise Estimation Methods Reviewed

    Goekhan Ince, Kazuhiro Nakadai, Tobias Rodemann, Jun-ichi Imura, Keisuke Nakamura, Hirofumi Nakajima

    2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS   106 - 111   2011

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  • Network clustering for SISO linear dynamical networks via reaction-diffusion transformation Reviewed

    Takayuki Ishizaki, Kenji Kashima, Jun-Ichi Imura, Kazuyuki Aihara

    IFAC Proceedings Volumes (IFAC-PapersOnline)   18 ( 1 )   5639 - 5644   2011

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    DOI: 10.3182/20110828-6-IT-1002.00791

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  • Piecewise affine systems approach to control of biological networks Reviewed

    Jun-ichi Imura, Kenji Kashima, Masami Kusano, Tsukasa Ikeda, Tomohiro Morohoshi

    PHILOSOPHICAL TRANSACTIONS OF THE ROYAL SOCIETY A-MATHEMATICAL PHYSICAL AND ENGINEERING SCIENCES   368 ( 1930 )   4977 - 4993   2010.11

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    DOI: 10.1098/rsta.2010.0176

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  • Polynomial-Time Algorithm for Controllability Test of a Class of Boolean Biological Networks

    Kobayashi Koichi, Imura Jun-ichi, Hiraishi Kunihiko

    EURASIP Journal on Bioinformatics and Systems Biology   2010   Article ID 210685   2010.7

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    DOI: 10.1155/2010/210685

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  • Least-restrictive move-blocking model predictive control Reviewed

    Ravi Gondhalekar, Jun-ichi Imura

    AUTOMATICA   46 ( 7 )   1234 - 1240   2010.7

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    DOI: 10.1016/j.automatica.2010.04.010

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  • LOCAL STABILITY ANALYSIS OF HETEROGENEOUS EQUILIBRIUM PATTERNS OBSERVED IN DELTA-NOTCH SIGNALLING INTERACTION Invited Reviewed

    Kenji Kashima, Jun-Ichi Imura

    JOURNAL OF THE CHINESE INSTITUTE OF ENGINEERS   33 ( 3 )   347 - 355   2010.4

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  • Lebesgue piecewise affine approximation of nonlinear systems Reviewed

    Shun-ichi Azuma, Jun-ichi Imura, Toshiharu Sugie

    NONLINEAR ANALYSIS-HYBRID SYSTEMS   4 ( 1 )   92 - 102   2010.2

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    DOI: 10.1016/j.nahs.2009.08.003

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  • Multi-talker Speech Recognition under Ego-motion Noise using Missing Feature Theory Reviewed

    Goekhan Ince, Kazuhiro Nakadai, Tobias Rodemann, Hiroshi Tsujino, Jun-ichi Imura

    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)   982 - 987   2010

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  • Multiresolution discrete abstraction for optimal control

    Yuichi Tazaki, Jun-Ichi Imura

    Proceedings of the IEEE Conference on Decision and Control   5905 - 5910   2010

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    DOI: 10.1109/CDC.2010.5717967

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  • Planar bipedal locomotion control based on state discretization

    Tazaki, Y., Imura, J.-i

    Robotics and Autonomous Systems   58 ( 5 )   2010

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    DOI: 10.1016/j.robot.2009.11.008

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  • Polynomial optimization approach to stability analysis of boundary controlled 2-dimensional fluid flow Reviewed

    Yukihiro Sakai, Hwayeong Yu, Kenji Kashima, Jun-ichi Imura

    SICE Journal of Control, Measurement, and System Integration   3 ( 1 )   20 - 26   2010

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    In this paper, stability of an incompressible 2D channel flow is investigated. This problem has many practical applications such as mixing fuel and air in combustion engines. However, since the flow dynamics is described by a nonlinear partial differential equation, its stability analysis is a challenging problem. Most of existing results obtained in analytical ways are conservative and less flexible. In this paper, we attempt to derive less conservative and easily checkable criteria for the problem via the sum of squares relaxation technique.

    DOI: 10.9746/jcmsi.3.20

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  • 単入出力動的ネットワークシステムにおける一次元反応拡散構造の抽出 Reviewed

    石崎孝幸, 加嶋健司, 井村順一

    計測自動制御学会論文誌   46 ( 12 )   774 - 782   2010

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    DOI: 10.9746/sicetr.46.774

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  • Reflection wave suppression in Frenkel-Kontrova model simulation –Analysis based on the GKYP lemma– Reviewed

    Takayuki Ishizaki, Kenji Kashima, Jun-ichi Imura

    SICE Journal of Control, Measurement, and System Integration   3 ( 3 )   172 - 177   2010

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    The Frenkel-Kontorova model is a nonlinear lattice model to represent extremely complicated behaviors such as a dislocation in crystal and DNA structures. This model is given as the dynamical system composed of infinitely many bonded particles. Thus, a spatially restricted model is used in numerical simulations of this model. However, a phenomenon called a reflection wave, which will occur at the boundary due to this finite approximations, is known to considerably degrade computational precision in the simulation. This paper thus proposes a method to analyze a property of this reflection wave via the Generalized Kalman-Yakubovich-Popov (GKYP) lemma.

    DOI: 10.9746/jcmsi.3.172

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  • Machine-based modeling of conveyor-type flowshops with application to scheduling and temperature control in slab reheating furnace Reviewed

    Susumu Fujii, Koji Urayama, Kenji Kashima, Jun-ichi Imura, Tetsuaki Kurokawa, Shuichi Adachi

    2010 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS   2059 - 2064   2010

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  • A Hybrid Framework for Ego Noise Cancellation of a Robot Reviewed

    Goekhan Ince, Kazuhiro Nakadai, Tobias Rodemann, Yuji Hasegawa, Hiroshi Tsujino, Jun-ichi Imura

    2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)   3623 - 3628   2010

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  • Simultaneous Optimization of Charging Scheduling and Heating Control in Reheating Furnace

    Fujii Susumu, Urayama Koji, Kashima Kenji, Imura Jun-ichi, Kurokawa Tetsuaki, Adachi Shuichi

    Tetsu-to-Hagane   96 ( 7 )   434 - 442   2010

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    This paper discusses a slab reheating furnace control problem for a hot strip mill, where permutation scheduling of slabs charged into a furnace and temperature control of slabs inside a furnace are simultaneously optimized in the conveyor-type model. The problem is solved within the framework of hybrid systems theory, in particular, model predictive control based on mixed logical dynamical model representation. We propose a novel modeling scheme of this process, which makes the computation time for deriving the solution remarkably smaller than the case of the usual modeling.

    DOI: 10.2355/tetsutohagane.96.434

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    Other Link: https://jlc.jst.go.jp/DN/JALC/00354193779?from=CiNii

  • Oscillation Analysis of Linearly Coupled Piecewise Affine Systems Reviewed

    Kenji Kashima, Yasuyuki Kawamura, Jun-ichi Imura

    HSSC 10: PROCEEDINGS OF THE 13TH ACM INTERNATIONAL CONFERENCE ON HYBRID SYSTEMS: COMPUTATION AND CONTROL   121 - 130   2010

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  • Distributed Parameter Modeling and Control of Electromagnetic Molding Machine

    Takayuki Ishizaki, Kenji Kashima, Jun-ichi Imura, Atushi Katoh, Hiroshi Morita

    2010 AMERICAN CONTROL CONFERENCE   3512 - 3517   2010

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  • Extraction of 1-Dimensional Reaction-Diffusion Structure in SISO Linear Dynamical Networks

    Takayuki Ishizaki, Kenji Kashima, Jun-ichi Imura

    49TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC)   5350 - 5355   2010

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    DOI: 10.1109/CDC.2010.5717356

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  • PI control system design for Electromagnetic Molding Machine based on Linear Programing

    Takayuki Ishizaki, Kenji Kashima, Jun-ichi Imura, Atushi Katoh, Hiroshi Morita

    2010 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS   2415 - 2420   2010

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  • A Robust Speech Recognition System against the Ego Noise of a Robot Reviewed

    Goekhan Ince, Kazuhiro Nakadai, Tobias Rodemann, Hiroshi Tsujino, Jun-ichi Imura

    11TH ANNUAL CONFERENCE OF THE INTERNATIONAL SPEECH COMMUNICATION ASSOCIATION 2010 (INTERSPEECH 2010), VOLS 3 AND 4   2070 - +   2010

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  • Robust Ego Noise Suppression of a Robot Reviewed

    Gokhan Ince, Kazuhiro Nakadai, Tobias Rodemann, Hiroshi Tsujino, Jun-Ichi Imura

    TRENDS IN APPLIED INTELLIGENT SYSTEMS, PT I, PROCEEDINGS   6096   62 - +   2010

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  • Model Order Reduction for Large-scale Cascade Systems via Analysis in Continuum Limit through Scale Transformation Reviewed

    ISHIZAKI Takayuki, KASHIMA Kenji, IMURA Jun-ichi

    46 ( 10 )   615 - 622   2010

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  • Ego Noise Suppression of a Robot Using Template Subtraction Reviewed

    Goekhan Ince, Kazuhiro Nakadai, Tobias Rodemann, Yuji Hasegawa, Hiroshi Tsujino, Jun-ichi Imura

    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS   199 - 204   2009

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  • MPC of 2D channel flow via staggered grid

    Sompach Kongviwattanakul, Kenji Kashima, Jun-Ichi Imura

    ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings   2144 - 2149   2009

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  • Stabilizing model predictive control of hybrid systems with discrete dynamics

    Koichi Kobayashi, Jun-Ichi Imura, Kunihiko Hiraishi

    ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings   4831 - 4836   2009

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  • Polynomial-Time Controllability Analysis of Boolean Networks Reviewed

    Koichi Kobayashi, Jun-ichi Imura, Kunihiko Hiraishi

    2009 AMERICAN CONTROL CONFERENCE, VOLS 1-9   1694 - +   2009

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    DOI: 10.1109/ACC.2009.5160280

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  • Observability analysis of Boolean networks with biological applications

    Koichi Kobayashi, Jun-Ichi Imura

    ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings   4393 - 4396   2009

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  • Global Feedback Stabilization of Quantum Noiseless Subsystems Reviewed

    Kazunori Nishio, Kenji Kashima, Jun-ichi Imura

    2009 AMERICAN CONTROL CONFERENCE, VOLS 1-9   1499 - 1504   2009

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  • Stability Analysis of 2-Dimensional Fluid Flow based on Sum of Squares Relaxation Reviewed

    Hwayeong Yu, Kenji Kashima, Jun-ichi Imura

    2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7   3190 - 3195   2008

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  • Multi-Resolved Dynamical System Theory for Large Scale Complex Systems Reviewed

    Shinji Hara, Jun-ichi Imura, Koji Tsumura

    2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7   2999 - +   2008

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  • Optimal Control of Linear Quantum Systems despite Feedback Delay Reviewed

    Kazunori Nishio, Kenji Kashima, Jun-ichi Imura

    47TH IEEE CONFERENCE ON DECISION AND CONTROL, 2008 (CDC 2008)   835 - 840   2008

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  • Strong feasibility in input-move-blocking model predictive control

    Ravi Gondhalekar, Jun-Ichi Imura

    IFAC Proceedings Volumes (IFAC-PapersOnline)   7 ( 1 )   816 - 821   2007

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    DOI: 10.3182/20070822-3-za-2920.00135

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  • Model Predictive Control of Directed-Graph type Hybrid Systems Reviewed

    Koichi Kobayashi, Jun-ichi Imura

    Proc. of the 46th IEEE Conference on Decision and Control   3196 - 3201   2007

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    DOI: 10.1109/CDC.2007.4434698

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  • Time-sequence based modeling of finite automata in model predictive control of hybrid systems Reviewed

    Koichi Kobayashi, Jun-Ichi Imura

    Proceedings of the American Control Conference   4186 - 4191   2007

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    DOI: 10.1109/ACC.2007.4282859

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  • Coarse speech recognition by audio-visual integration based on missing feature theory Reviewed

    Tomoaki Koiwa, Kazuhiro Nakadai, Jun-ichi Imura

    2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9   1757 - 1762   2007

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    DOI: 10.1109/IROS.2007.4399300

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  • Minimality of Finite Automata Representation in Hybrid Systems Control Reviewed

    Koichi Kobayashi, Jun-ichi Imura

    Proc. of the 10th International Conference on Hybrid Systems: Computation and Control   343 - 356   2007

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  • Recursive feasibility guarantees in move-blocking MPC Reviewed

    Ravi Gondhalekar, Jun-Ichi Imura

    PROCEEDINGS OF THE 46TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14   4524 - 4529   2007

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  • Minimal Representation of Finite Automata for Hybrid Systems Control Reviewed

    Koichi Kobayashi, Jun-ichi Imura

    Proc. of the 45th IEEE Conference on Decision and Control   930 - 935   2006

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  • Non-linear prediction horizon time-discretization for model predictive control of linear sampled-data systems Reviewed

    Ravi Gondhalekar, Jun-ichi Imura

    PROCEEDINGS OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, VOLS 1-4   326 - +   2006

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  • Efficient modeling of piecewise affine systems in model predictive control Reviewed

    Koichi Kobayashi, Jun-ichi Imura

    2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13   3233 - +   2006

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  • Lebesgue piecewise affine approximation of nonlinear systems and its application to hybrid system modeling of biosystems Reviewed

    Shun-ichi Azuma, Jun-ichi Imura, Toshiharu Sugie

    PROCEEDINGS OF THE 45TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14   2128 - +   2006

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  • System representation for logical dynamics via a descriptor form

    Koichi Kobayashi, Jun-Ichi Imura

    Proceedings of the SICE Annual Conference   2041 - 2044   2005

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  • A hybrid system approach to tension control in hot rolling

    Kazuya Asano, Kazuro Tsuda, Jun-Ichi Imura, Akira Kojima, Shiro Masuda

    IFAC Proceedings Volumes (IFAC-PapersOnline)   16   31 - 36   2005

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    DOI: 10.3182/20050703-6-cz-1902.01684

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  • Probabilistic controllability analysis of hybrid systems and its application to luminescence bacterium vibrio fischeri

    Eriko Yanagisawa, Shun-Ichi Azuma, Jun-Ichi Imura

    Proceedings of the SICE Annual Conference   3449 - 3453   2005

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  • Polynomial-time Probabilistic observability analysis of sampled-data piecewise affine systems Reviewed

    Shun-ichi Azuma, Jun-ichi Imura

    2005 44TH IEEE CONFERENCE ON DECISION AND CONTROL & EUROPEAN CONTROL CONFERENCE, VOLS 1-8   6644 - 6649   2005

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  • Hybrid system modeling and model predictive control of a hot strip mill tension/looper system

    Imura, J.-I., Kojima, A., Masuda, S., Tsuda, K., Asano, K.

    Tetsu-To-Hagane/Journal of the Iron and Steel Institute of Japan   90 ( 11 )   2004

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  • Stabilization with well-posedness of a class of switch-driven piecewise affine systems

    Jun-Ichi Imura, Toshikazu Shimizu, Masami Saeki

    IFAC Proceedings Volumes (IFAC-PapersOnline)   15 ( 1 )   61 - 66   2002

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    DOI: 10.3182/20020721-6-es-1901.00498

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  • Determinning Time Correspondence Among Plural Sample Trajectories of Skilled Motion

    YOSHIKAWA Tsuneo, IMURA Jun-ichi, TAKASAKI Shinya

    Transactions of the Society of Instrument and Control Engineers   34 ( 7 )   850 - 856   1998

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    Learning by showing is one of effective methods when robots acquire human skill of actions. Especially if plural sample of human same actions are given, it will be more advantageous to get the skills. To develop such a skill acquisition approach by plural showing, in this paper, as a first step, we present a method to find a time point of a trajectory on human action corresponding to each time point of the other trajectories. In addition, we apply our algorithm to the case of a Japanese kendama action to verify the effectiveness of our approach.

    DOI: 10.9746/sicetr1965.34.850

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  • An Improved Approximation Method of the Solution of Hamilton-Jacobi Inequalities

    IMURA Jun-ichi, KODAMA Tatsuro, SAMPEI Mitsuji, SAEKI Masami

    Transactions of the Society of Instrument and Control Engineers   34 ( 9 )   1170 - 1177   1998

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    In this paper, we propose an improved approximation scheme of the solution of the Hamilton-Jacobi inequalities, which fully exploits the conventional approximation methods. We also show several numerical examples including the practical case of stabilization of an inverted pendulum to verify the effectiveness of our approach.

    DOI: 10.9746/sicetr1965.34.1170

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  • Nonholonomic Control of 3-D. O. F. Manipulator with a Free Joint

    KOBAYASHI Keigo, IMURA Jun-ichi, YOSHIKAWA Tsuneo

    Transactions of the Society of Instrument and Control Engineers   33 ( 8 )   799 - 804   1997.8

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    This paper is concerned with point to point control of a 3 link planar manipulator where the first two joints are actuated and the third revoluted joint is unactuated. This system is a special case of under-actuated manipulators that have acceleration nonholonomic constraints. First, we show that this system is converted to seconed order chained form by coordinates and feedback transformation. Next we propose a control law that stabilizes this chained system with exponential convergence from any initial point to any desired point.

    DOI: 10.9746/sicetr1965.33.799

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  • Exponential Stabilization of Nonholonomic Chained Systems with Specified Transient Response

    IMURA Jun-ichi, KOBAYASHI Keigo, YOSHIKAWA Tsuneo

    Transactions of the Society of Instrument and Control Engineers   33 ( 5 )   375 - 383   1997.5

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    In this paper, we propose a control method for nonholonomic systems expressed by the chained form, where the exponential convergence to the desired final state is guaranteed and the desired transient response is achieved. Next, we propose a trajectory generation method for the chained system, which gives a systematic procedure to find a reference trajectory that passes several given points at each specified time and exponentially converges to the origin. Finally, our method is applied to control of a 4-wheeled car. In this case, to express all the state of the 4-wheeled car by the chained form, it is required to use several coordinate frames interchangeably. Thus the above method is extended to the case where several coordinate frames are needed. In addition, a simple simulation result is shown to verify the effectiveness of our method.

    DOI: 10.9746/sicetr1965.33.375

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  • Parametrization of all stabilizing controllers of nonlinear systems Reviewed

    J Imura, T Yoshikawa

    SYSTEMS & CONTROL LETTERS   29 ( 4 )   207 - 213   1997.1

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  • Characterization of the strict bounded real condition of nonlinear systems

    Imura, J.-I., Sugie, T., Yoshikawa, T.

    IEEE Transactions on Automatic Control   42 ( 10 )   1997

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    DOI: 10.1109/9.633839

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  • Robust Control of Master-Slave Systems Considering Uncertainties of Environment and Operator

    YOSHIKAWA Tsuneo, YOKOKOHJI Yasuyoshi, HOSOTANI Norio, IMURA Jun-ichi

    JRSJ   14 ( 6 )   836 - 845   1996.9

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    In this paper, we propose two design methods for robust control of master-slave systems, where one method gives a controller to guarantee the robust stability and the robust performance for all passive environments and operators, and the other guarantees the robustness for all environments and operators specified by the gain condition even if the environment is not passive. In both proposed methods, the dynamics of operator and environment is formulated as some kind of structured uncertainties included in the system, and the control problem of master-slave systems is reduced to a problem in terms of μ synthesis. In addition, we confirm the validity of the two proposed methods by some simulation results and discuss the applicable classes of each design method.

    DOI: 10.7210/jrsj.14.836

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  • A Hamilton-Jacobi inequality approach to the strict H<inf>∞</inf> control problem of nonlinear systems

    Imura, J.-I., Sugie, T., Yoshikawa, T.

    Automatica   32 ( 4 )   1996

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    DOI: 10.1016/0005-1098(95)00182-4

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  • Characterization of some gain conditions via the Hamilton-Jacobi inequality

    Imura, J.-I., Yoshikawa, T.

    Systems and Control Letters   28 ( 5 )   1996

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    DOI: 10.1016/0167-6911(96)00036-9

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  • Special Issue on New Topics in Control Theory. Nonlinear H.INF. Control. Nonlinear Extension of H.INF. Control of Linear Systems.:Nonlinear Extension of H Control of Linear Systems

    IMURA Jun-ichi

    Journal of The Society of Instrument and Control Engineers   34 ( 3 )   188 - 195   1995

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    DOI: 10.11499/sicejl1962.34.188

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  • ROBUST-CONTROL OF ROBOT MANIPULATORS BASED ON JOINT TORQUE SENSOR INFORMATION Reviewed International journal

    Jun-ichi Imura, Toshiharu Sugie, Yasuyoshi Yokokohji, Tsuneo Yoshikawa

    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH   13 ( 5 )   434 - 442   1994.10

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  • Adaptive Robust Control of Robot Manipulators—Theory and Experiment

    Imura, J.-I., Yoshikawa, T.

    IEEE Transactions on Robotics and Automation   10 ( 5 )   1994

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    DOI: 10.1109/70.326574

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  • H_∞ Control with Exact Linearization and its Application to Magnetic Levitation Systems

    SUGIE Toshiharu, SHIMIZU Kazunori, IMURA Jun-ichi

    Transactions of the Institute of Systems, Control and Information Engineers   6 ( 1 )   57 - 63   1993.1

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    Language:Japanese   Publisher:THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)  

    This paper is concerned with robust controller design for a class of nonlinear systems. First, taking account of the nonlinearity of the systems, we propose a controller design method which consists of H robust control and exact linearization via nonlinear state feedback. The latter one is designed to yield the linear system which is exactly equal to the linear approximation model of the plant around an equilibrium point. Second, applying the proposed method to a simple magnetic levitation system, we illustrate the validity of our method by experiments.

    DOI: 10.5687/iscie.6.57

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  • ROBUST STABILIZATION OF NONLINEAR-SYSTEMS BY H(INFINITY) STATE-FEEDBACK Reviewed

    J IMURA, H MAEDA, T SUGIE, T YOSHIKAWA

    PROCEEDINGS OF THE 32ND IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4   1650 - 1651   1993

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  • Experiments of an Adaptive Robust Control Method Using a Direct-Drive Arm

    IMURA Junichi, SUGIE Toshiharu, YOSHIKAWA Tsuneo

    Transactions of the Society of Instrument and Control Engineers   28 ( 8 )   1016 - 1018   1992

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    In the previous work, we proposed an adaptive robust control scheme for robot manipulators. In this paper, our scheme is applied to a two d. o. f. DD-arm, and the validity of our scheme is shown from the experimental viewpoint

    DOI: 10.9746/sicetr1965.28.1016

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  • GLOBAL ROBUST STABILIZATION OF NONLINEAR CASCADED SYSTEMS Reviewed

    J IMURA, T SUGIE, T YOSHIKAWA

    PROCEEDINGS OF THE 31ST IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4   3031 - 3036   1992

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  • Robust Control Based on Joint Torque Sensor Information for Robot Manipulators

    IMURA Junichi, SUGIE Toshiharu, YOKOKOHJI Yasuyoshi, YOSHIKAWA Tsuneo

    Transactions of the Society of Instrument and Control Engineers   27 ( 6 )   693 - 699   1991

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    This papar is concerned with a robust control for robot manipulators in the case where joint torque sensors are available. First, we derive a dynamic model of the robot manipulator with joint torque sensors, in which the total nonlinear multivariable structure is explicitly described. This model gives a good indication that we can construct the control systems of robot manipulators with joint torque sensors using the same method as in the conventional case without the sensors. Second, based on this model, we propose a robust trajectory tracking control scheme which achieves the specified tracking accuracy in the presence of the modeling error including motor system, where joint torque sensor information is fully exploited to compensate the uncertainty of link and load parameters. Furthermore, an illustrative simulation result is given to show the effectiveness of the proposed control method.

    DOI: 10.9746/sicetr1965.27.693

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  • Adaptive Robust Control for Robot Manipulators

    IMURA Junichi, SUGIE Toshiharu, YOSHIKAWA Tsuneo

    Transactions of the Society of Instrument and Control Engineers   27 ( 3 )   314 - 319   1991

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    Recently various adaptive robust control methods have been proposed for robot manipulators with unknown parameters or disturbances, which adjust input gain adaptively and make the system robust. But they are complicated in design, because they do not make good use of the robot dynamics.<br>In this paper an adaptive robust control scheme for robot manipulators is proposed based on dynamic control methods, which can be easily constructed using effective expressions of dynamic models of robot manipulators and has a good prospect on the determination of the input gain. This method can also achieve the specified tracking error bound after a finite transition time. Simulation results are given to illustrate the effectiveness of the proposed method.

    DOI: 10.9746/sicetr1965.27.314

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  • Hierachical robust control for robot manipulators.

    YOSHIKAWA Tsuneo, SUGIE Toshiharu, IMURA Junichi

    JRSJ   8 ( 5 )   563 - 572   1990

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    In the past several years, various continuous-time robust control methods have been proposed for robot manipulators. Most of them consist of linearization by state feedback and robust compensation by switching gain. In the digital implementation of these methods, the computation time required for linearization should be taken into consideration. On the other hand, robust compensation should be implemented at a short sampling period to achieve the specified tracking error bound. However, there is little consideration of these points in the previous researches. Consequently, the systems often lead to chattering and the specified tracking error bound can't be achieved.<BR>In this paper we propose a scheme for a hierarchical robust control system for robot manipulators which is composed of an upper level loop and a lower level loop. In the upper level loop, the input for linearizing compensation, the desired trajectory and the switching gain are computed at a low sampling frequency. In the lower level loop, the switching input are generated at a high sampling frequency. This scheme will make the computation for robust compensation very fast. The performance of this hierarchical system is analyzed in consideration of the sampling period of an upper level loop and the modeling error.

    DOI: 10.7210/jrsj.8.5_563

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Books

  • 機械工学便覧デザイン編β6 制御システム

    日本機械学会  2006 

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  • Well-posedness of a class of switch-driven piecewise affine systems

    Control and Modeling of Complex Systems: Cybernetics in the 21st Century, Birkhauser  2002 

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  • Well-posedness of a class of switch-driven piecewise affine systems

    Control and Modeling of Complex Systems: Cybernetics in the 21st Century, Birkhauser  2002 

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  • システム制御のための安定論

    コロナ社  2000 

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  • 現代制御論

    昭晃堂  1994 

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MISC

  • Look-Ahead Driving Schemes for Efficient Control of Automated Vehicles on Urban Roads

    Kamal Md Abdus Samad, Hashikura Kotaro, Hayakawa Tomohisa, Yamada Kou, Imura Jun-ichi

    IEEE Transactions on Vehicular Technology   71 ( 2 )   2022

  • Integrated Design of Attack Detection and Containment for Networked Control Systems

    笹原帆平, 石崎孝幸, 井村順一, SANDBERG H.

    計測自動制御学会制御部門マルチシンポジウム(CD-ROM)   8th   2021

  • Control of Vehicular Traffic at an Intersection Using a Cyber-Physical Multiagent Framework

    Kamal Md Abdus Samad, Tan Chee Pin, Hayakawa Tomohisa, Azuma Shun-Ichi, Imura Jun-Ichi

    IEEE Transactions on Industrial Informatics   17 ( 9 )   2021

  • Day-ahead energy market as adjustable robust optimization: Spatio-temporal pricing of dispatchable generators, storage batteries, and uncertain renewable resources

    Takayuki Ishizaki, Masakazu Koike, Nobuyuki Yamaguchi, Yuzuru Ueda, Jun-ichi Imura

    ENERGY ECONOMICS   91   2020.9

  • 研究用太陽光発電出力推定・予測データのオープンデータ化—Open datasets of PV power estimation and forecast for research use

    大竹 秀明, 大関 崇, 山口 順之, 井村 順一

    エネルギー・資源学会研究発表会講演論文集   39   63 - 65   2020.7

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  • Automatic Generation Control of Power Systems: Passivity Analysis Based on a Finite Frequency Model Set

    藤本八雲, 石崎孝幸, 井村順一

    計測自動制御学会制御部門マルチシンポジウム(CD-ROM)   7th   2020

  • System Identification of Power Systems with Reduced-order Aggregate Model

    川口貴弘, 石崎孝幸, 井村順一

    計測自動制御学会制御部門マルチシンポジウム(CD-ROM)   7th   2020

  • Day-ahead Scheduling Method for Electricity Markets Using Neural Networks -Transaction Strategy under Uncertainty of Renewable Energy Generation-

    渡邉郁弥, 川口貴弘, 石崎孝幸, 竹中栄晶, 中島孝, 井村順一

    計測自動制御学会論文集   56 ( 2 )   2020

  • Early Detection of a Traffic Flow Breakdown in the Freeway Based on Dynamical Network Markers

    Kamal Md Abdus Samad, Oku Makito, Hayakawa Tomohisa, Imura Jun-ichi, Aihara Kazuyuki

    International Journal of Intelligent Transportation Systems Research   18 ( 3 )   2020

  • Development and Evaluation of an Adaptive Traffic Signal Control Scheme Under a Mixed-Automated Traffic Scenario

    Kamal Md Abdus Samad, Hayakawa Tomohisa, Imura Jun-ichi

    IEEE Transactions on Intelligent Transportation Systems   21 ( 2 )   2020

  • Dynamic Modeling, Stability, and Control of Power Systems With Distributed Energy Resources

    Tomonori Sadamoto, Aranya Chakrabortty, Takayuki Ishizaki, Jun-ichi Imura

    IEEE CONTROL SYSTEMS MAGAZINE   39 ( 2 )   34 - 65   2019.4

  • Disturbance Sensitivity Analysis of Network Systems with Subsystem Evolution

    浦田賢吾, 石崎孝幸, 井村順一

    計測自動制御学会制御部門マルチシンポジウム(CD-ROM)   6th   2019

  • Monotonicity Analysis of Optimal Operation Schedule for Multiple Storage Batteries and Thermal Power Plants using Interval Prediction

    堤鶴, 小池雅和, 石崎孝幸, 井村順一

    自動制御連合講演会(CD-ROM)   62nd   2019

  • Clustering of Commercial Electricity Demands and Modeling of Their Temperature Responses

    石塚諒, 渡邉郁弥, 川口貴弘, 石崎孝幸, 井村順一, 佐々木崇宏, 植田譲

    計測自動制御学会制御部門マルチシンポジウム(CD-ROM)   6th   2019

  • Retrofit Control of Power System with Data-based Approximate Model

    川口貴弘, 石崎孝幸, 井村順一

    計測自動制御学会制御部門マルチシンポジウム(CD-ROM)   6th   2019

  • 安定的な再生可能エネルギーの電力供給を実現

    チョ ヨンチェ, 石崎孝幸, 井村順一

    クリーンエネルギー   28 ( 8 )   2019

  • Quantitative Analysis of Controller Design Localizability

    浦田賢吾, 石崎孝幸, 井村順一

    計測自動制御学会論文集   55 ( 3 )   2019

  • 気温応答性を考慮した業務用電力需要データセットの作成

    石塚諒, 渡邉郁弥, 川口貴弘, 石崎孝幸, 井村順一, 佐々木崇宏, 植田譲

    電気学会全国大会講演論文集(CD-ROM)   2019   2019

  • Machine Learning Approach to Day-ahead Scheduling for Multi-period Energy Markets

    渡邉郁弥, 川口貴弘, 石崎孝幸, 竹中栄晶, 中島孝, 井村順一

    計測自動制御学会論文集   55 ( 10 )   2019

  • Transient Response Improvement for Interconnected Linear Systems: A Low-Dimensional Controller Retrofit Approach

    Takayuki Ishizaki, Masakazu Koike, Jun-ichi Imura

    IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS   5 ( 4 )   1796 - 1808   2018.12

  • A Characterization of All Retrofit Controllers

    62   6p   2018.5

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  • PVと蓄電池が設置された住宅群のアグリゲーションにおける予測誤差と蓄電池容量決定に関する一検討—Battery sizing for prediction-error compensation with aggregation of residential PVs and batteries—新エネルギ-・環境研究会・太陽光発電の長期安定利用技術(低コスト化・長寿命化技術,保守技術,PV出力推定・予測技術,蓄電池・電力貯蔵との組合せ運用技術,等)

    佐々木 崇宏, 崔 錦丹, 植田 譲, 小池 雅和, 石崎 孝幸, 井村 順一, 大関 崇

    電気学会研究会資料. FTE = The papers of Technical Meeting on "Frontier Technology and Engineering", IEE Japan / 電気学会新エネルギー・環境研究会 [編]   2018 ( 1-10 )   19 - 24   2018.2

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  • 風力発電大量導入時の安定な電力供給を実現するプラグイン型制御

    定本知徳, 石崎孝幸, 井村順一

    OHM   105 ( 3 )   2018

  • 不均一な交通状況での多次元マクロスコピック基本図の提案

    石原隆宏, 石崎孝幸, 井村順一

    自動制御連合講演会(CD-ROM)   61st   2018

  • 電力スポット市場のための機械学習に基づく前日スケジューリング

    渡邉郁弥, 川口貴弘, 石崎孝幸, 井村順一

    自動制御連合講演会(CD-ROM)   61st   2018

  • Compensation Structure and Duality of Retrofit Controllers in State-Space Representation

    笹原帆平, 石崎孝幸, 井上正樹, 井村順一

    計測自動制御学会制御部門マルチシンポジウム(CD-ROM)   5th   2018

  • Quantitative Analysis of Controller Design Localizability

    浦田賢吾, 石崎孝幸, 井村順一

    計測自動制御学会制御部門マルチシンポジウム(CD-ROM)   5th   2018

  • Battery sizing for prediction-error compensation with aggregation of residential PVs and batteries

    佐々木崇宏, CUI Jindan, 植田譲, 小池雅和, 石崎孝幸, 井村順一, 大関崇

    電気学会研究会資料   ( FTE-18-001-010 )   2018

  • Distributed Design of Local Controllers for Transient Stabilization in Power Systems

    53 ( 11 )   608 - 617   2017.11

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  • ビル空調に対する分散協調PI制御の適用検証

    勝山裕輝, 田丸慎悟, 村井雅彦, 横川勝也, 井土拓海, 石崎孝幸, 井村順一

    電気学会全国大会講演論文集(CD-ROM)   2017   2017

  • 受動コントローラの増設による系統の周波数制御性能向上

    浦田賢吾, 井上正樹, 石崎孝幸, 井村順一

    自動制御連合講演会(CD-ROM)   60th   2017

  • Kalman Filters for Smart Grids

    定本知徳, 石崎孝幸, 井村順一

    計測と制御   56 ( 9 )   2017

  • リアルタイムプライシングと蓄電池付ADRによる需給調整力創出の可能性検証

    廣部智也, JINDAN Cui, 植田譲, 小池雅和, 石崎孝幸, 井村順一

    電気学会全国大会講演論文集(CD-ROM)   2017   2017

  • Optimal Operation Plan of Storage Batteries and Power Generators Based on Interval Prediction of Photovoltaics

    小池雅和, 石崎孝幸, 井村順一

    計測自動制御学会制御部門マルチシンポジウム(CD-ROM)   4th   2017

  • 区間予測を利用した複数火力機の発電計画問題-充放電効率を考慮した問題への拡張-

    小池雅和, 石崎孝幸, 井村順一

    自動制御連合講演会(CD-ROM)   59th   2016

  • 空調システムに対する分散型コントローラの設計

    井土拓海, 石崎孝幸, 井村順一, 勝山裕輝, 田丸慎悟, 村井雅彦, 横川勝也

    自動制御連合講演会(CD-ROM)   59th   2016

  • Weak Resilience of Networked Control Systems

    Tomonori Sadamoto, Henrik Sandberg, Bart Besselink, Takayuki Ishizaki, Jun-ichi Imura, Karl Henrik Johansson

    2016 EUROPEAN CONTROL CONFERENCE (ECC)   977 - 982   2016

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  • 生物モデルにおけるポジティブ2次システム—Positive Quadratic Systems in Biological Models

    岡本 有司, 井村 順一, 岡田 眞里子

    システム制御情報学会研究発表講演会講演論文集   59   4p   2015.5

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    Language:Japanese   Publisher:京都 : システム制御情報学会  

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    Other Link: https://ndlsearch.ndl.go.jp/books/R000000004-I026415656

  • 均一ネットワークシステムの逐次クラスタリングに基づいたモデル低次元化

    KU R., 石崎孝幸, 井村順一

    自動制御連合講演会(CD-ROM)   58th   2015

  • 区間解析に基づく蓄電池充放電計画の信頼性と経済性の基礎的評価

    益田泰輔, 田川芳洋, 小池雅和, 石崎孝幸, 井村順一, DA SILVER FONSECA Joao Gari,Jr, 大関崇, 村田晃伸

    電気学会全国大会講演論文集(CD-ROM)   2015   2015

  • グローカルな観点による拡大可能なネットワークシステムの制御

    定本知徳, 石崎孝幸, 井村順一

    計測自動制御学会制御部門マルチシンポジウム(CD-ROM)   2nd   2015

  • Evaluation of Battery Charge/discharge Schedule based on Interval Analysis by Power System Simulation

    益田泰輔, 田川芳洋, 小池雅和, 石崎孝幸, 井村順一, FONSECA JUNIOR Joao Gari, 大関崇, 村田晃伸

    電気学会電力技術研究会資料   PE-15 ( 9-13.16-24 )   2015

  • Mathematical Theory for Modelling Complex Systems and Its Transdisciplinary Applications in Science and Technology

    AIHARA Kazuyuki, IMURA Jun-ichi, HORIO Yoshihiko, SUZUKI Hideyuki, HORAI Shunsuke

    IEICE ESS Fundamentals Review   8 ( 4 )   218 - 228   2015

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    DOI: 10.1587/essfr.8.218

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  • Network-Wide Optimization of Traffic Signals Using Mixed Integer Programming

    Journal of robotics and mechatronics   26 ( 5 )   607 - 615   2014.10

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  • Robust Stability and Instability of Uncertain Nonlinear Systems with Uncertainty-dependent Equilibrium

    50 ( 5 )   387 - 394   2014.5

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  • Knock-out Structure Identification of Linear Networks

    50 ( 2 )   118 - 124   2014.2

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  • 区間2次計画問題の単調性解析と火力機調整力最小化問題への応用

    小池雅和, 石崎孝幸, 定本知徳, 井村順一

    計測自動制御学会制御部門マルチシンポジウム(CD-ROM)   1st   2014

  • Low-dimensional Functional Observer Design for Large-scale Linear Systems

    定本知徳, 石崎孝幸, 井村順一, 石崎孝幸, 井村順一

    計測自動制御学会論文集   50 ( 6 )   2014

  • Battery charge cycle planning based on uncertain photovoltaic power prediction towards minimization of reserve generating capacity

    Masakazu Koike, Takayuki Ishizaki, Yuzuru Ueda, Taisuke Masuta, Takashi Ozeki, Tomonori Sadamoto, Jun-Ichi Imura

    IEEJ Transactions on Power and Energy   134 ( 6 )   9 - 557   2014

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    Language:English   Publisher:Institute of Electrical Engineers of Japan  

    DOI: 10.1541/ieejpes.134.545

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  • 大量導入された太陽光発電を含む電力ネットワークの階層型電力配分制御

    武藤生磨, 井村順一, 植田譲, 石崎孝幸

    計測自動制御学会制御部門大会(CD-ROM)   13th   2013

  • ポジティブネットワークシステムに対する低次元化アルゴリズムの数学的に等価な改良

    高田航大, 石崎孝幸, 井村順一

    計測自動制御学会制御部門大会(CD-ROM)   13th   2013

  • パラメータ依存性をもつ2次計画問題の解析と電力システムへの応用

    小池雅和, 石崎孝幸, 定本知徳, 井村順一

    自動制御連合講演会(CD-ROM)   56th   2013

  • Model Reduction of Dynamical Networks Based on Cluster Controllability

    ISHIZAKI Takayuki, KASHIMA Kenji, IMURA Jun-ichi, AIHARA Kazuyuki

    計測自動制御学会論文集 = Transactions of the Society of Instrument and Control Engineers   48 ( 10 )   589 - 598   2012.10

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  • クラスタ化に基づくpositiveネットワークのH2-状態集約化と化学マスター方程式の低次元化への応用

    石崎孝幸, 加嶋健司, DONGHA Cheong, GIRARD Antoine, 井村順一, 合原一幸

    計測自動制御学会制御部門大会(CD-ROM)   12th   2012

  • Controlling chaos by a switching threshold

    ITO Daisuke, UETA Tetsushi, IMURA Jun'ichi, AIHARA Kazuyuki

    IEICE technical report   111 ( 106 )   193 - 198   2011.6

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    In this study, we consider the piecewise smooth(PWS) system that is one of the dynamical systems. One of features of PWS systems is to have a switching threshold. A switching threshold is not involved to the differential equation. However, the switching threshold have an effect on the behavior of the PWS system widely. PWS systems have chaos dynamics and UPOs as the continuous systems. They show complex behavior. Our purpose is the controlling the chaos dynamics of PWS system to UPOs by using the pole assignment with a switching threshold. We show some controlling results for PWS systems and basin boundary diagrams.

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  • Bifurcation Phenomena of Piecewise Affine System including Hysteresis Properties

    KINOSHITA Kazutoshi, UETA Tetsushi, KAWAKAMI Hiroshi, IMURA Jun-ichi, AIHARA Kazuyuki

    IEICE technical report   111 ( 62 )   61 - 64   2011.5

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    We study bifurcation phenomena of the discrete time piecewise Affine systems with hysteresis. Although these systems are categorized as a hybrid systems, not much bifurcation analyses have been done. We firstly investigate the Lozi map with hysteresis and compute its bifurcation sets. As a result, a lot of border-collision bifurcations and corresponding multi-stable periodic areas are found.

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  • Design of chaos unscented Kalman filter with locally linear prediction

    Takatsuki Nobuki, Suzuki Masayasu, Imura Jun-ichi, Hirata Yoshito, Aihara Kazuyuki

    Proceedings of the Japan Joint Automatic Control Conference   54 ( 0 )   371 - 371   2011

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    It is well known that the state estimation of nonlinear systems with noise isefficiently performed by unscented Kalman filters.However, they assume that the dynamics of the system is known in advance.Hence, this paper focuses on the state estimation problem ofunknown chaotic dynamical systems having the recurrent property,and proposes an unscented Kalman filter methodfor such systems by exploiting the local linear prediction developedin the field of nonlinear time series analysis. Effectiveness of this methodis shown by numerical simulations.

    DOI: 10.11511/jacc.54.0.371.0

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  • On delayed feedback control for switched dynamical systems

    NAKANISHI Takaya, ITO Daisuke, UETA Tetsushi, IMURA Jun'ichi, AIHARA Kazuyuki

    IEICE technical report   110 ( 165 )   111 - 116   2010.7

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    The delayed feedback control is an effective method of controlling chaos since the control can be achieved by providing only the period of the unstable periodic orbit embedded in a chaotic attractor. To adopt this method to impulsive chaotic system, we notice that a small mismatch of the state and the memorized orbit info results a very large amplitude impulse in control ability. In this paper we try to rectify this control input wave, and obtain reasonable control effects.

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  • Bifurcation and Characteristic in Coupled Nagumo-Sato Models

    KINOSHITA Kazutoshi, UETA Tetsushi, IMURA Jun-ichi, AIHARA Kazuyuki

    IEICE technical report   110 ( 165 )   117 - 122   2010.7

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    The Nagumo-Sato model is one of methematical neuron models described by a piecewise linear difference equation. It system, a flow as a solution of a difference equation is suddenly switched to another difference equation by getting across the system border. In this research, we investigate the bifurcations of diffusively-coupled Nagumo-Sato models, and we compute the bifurcation diagram by using a shooting method. In spite of the discontinuities inside the discrete-time system, our mathematical method can solve bifurcation problems. A period-locking regions edged by border-collision bifurcation sets are found, and chaotic regions are distinguished by a tangent bifurcation. We discuss on changing bifurcation structures with parameter variations.

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  • 状態集約化に基づき特異摂動近似された動的ネットワークシステムの特性解析

    牟田裕一朗, 石崎孝幸, 加嶋健司, 井村順一

    制御理論シンポジウム資料   39th   2010

  • 大規模線形ネットワーク系の分散状態推定のためのシステム分解

    坂井幸大, 石崎孝幸, 加嶋健司, 井村順一, 合原一幸

    制御理論シンポジウム資料   39th   2010

  • A study on stabilization and synchronization of ideal turbulence

    Suzuki Masayasu, Sakamoto Noboru, Imura Jun-ichi, Aihara Kazuyuki

    Proceedings of the Japan Joint Automatic Control Conference   53 ( 0 )   147 - 147   2010

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    非線形境界条件をもつある分布定数系は,時間のみならず空間的にも非常に入り組んだ複雑な様相(理想乱流)をみせることがある.本発表では,特性曲線法を用いて求積した偏微分方程式の一般解を非線形境界条件に代入するという手順によって内部状態の振る舞いを解析できる理想乱流発生系を紹介し,その解析手法がそれらの系に対する平衡解・周期解の安定化や1組の同一システムの同期化のための制御系設計に利用できることを示す.

    DOI: 10.11511/jacc.53.0.147.0

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  • Controlled invariant feasibility - A general approach to enforcing strong feasibility in MPC applied to move-blocking

    Ravi Gondhalekar, Jun-ichi Imura, Kenji Kashima

    AUTOMATICA   45 ( 12 )   2869 - 2875   2009.12

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  • STATE WAYPOINT APPROACH TO CONTINUOUS-TIME NONLINEAR OPTIMAL CONTROL PROBLEMS

    Mohamadhadi Honarvarmahjoobin, Yuichi Tazaki, Jun-ichi Imura

    ASIAN JOURNAL OF CONTROL   11 ( 6 )   669 - 676   2009.11

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  • Polynomial-Time Algorithm for Controllability Test of Boolean Networks

    KOBAYASHI Koichi, IMURA Jun-ichi, HIRAISHI Kunihiko

    IEICE technical report   109 ( 165 )   13 - 18   2009.7

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    This paper proposes a polynomial-time algorithm to determine if a Boolean network with control nodes and controlled nodes is controllable. Although the proposed algorithm is based on a sufficient condition for controllability, it is easily computable and as a result, is applicable to a wider class of large-scale systems.

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  • Effects of time delay in feedback control of linear quantum systems

    K. Nishio, K. Kashima, J. Imura

    PHYSICAL REVIEW A   79 ( 6 )   2009.6

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  • Distributed Parameter Modeling and Control of Electromagnetic Molding Machine

    ISHIZAKI Takayuki, KASHIMA Kenji, IMURA Jun-ichi, KATOH Atushi, MORITA Hiroshi

    Transactions of the Society of Instrument and Control Engineers   45 ( 10 )   502 - 511   2009

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    In this paper, we propose a mathematical model for an electromagnet placed inside a molding machine and design a PI controller for this system. The eddy currents inside the electromagnet are a spatially-distributed phenomenon that is difficult to capture by a using finite-dimensional system. First based on our proposed spatially-discretized model, we investigate how this phenomenon makes the system difficult to control and analyze an essential mechanism of the system by using a partial differential equation obtained as a limit of the spatially-discretized model. Second, we propose a new loop shaping procedure that utilizes the GKYP lemma for this system.

    DOI: 10.9746/sicetr.45.502

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  • Global Feedback Stabilization of Quantum Noiseless Subsystem

    NISHIO Kazunori, KASHIMA Kenji, IMURA Jun-ichi

    45 ( 9 )   459 - 468   2009

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  • Exact Cost Performance Analysis of Piecewise Affine Systems

    Ravi Gondhalekar, Jun-ichi Imura

    IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES   E91A ( 11 )   3253 - 3260   2008.11

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  • Controllability analysis of gene regulatory networks by Boolean network models

    21   261 - 265   2008.4

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  • Controllability analysis of biosystems based on piecewise-affine systems approach

    Shun-ichi Azuma, Eriko Yanagisawa, Jun-ichi Imura

    IEEE TRANSACTIONS ON AUTOMATIC CONTROL   53 ( 1 )   139 - 152   2008.1

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  • Discrete Abstractions of Linear Systems Based on State Quantization and Its Application to Optimal Control

    TAZAKI Yuichi, IMURA Jun-ichi

    Transactions of the Society of Instrument and Control Engineers   44 ( 10 )   786/792 - 792   2008

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    Optimal control and reachability analysis of continuous-state systems often require computational algorithms with high complexity. The use of discrete-state abstractions of continous-state systems reduces such problems to path-planning problems on directed graphs with a finite number of nodes, which can be computed efficiently. In this paper, we propose a method to design discrete abstractions of stabilizable discrete-time linear systems based on the notion of approximate bisimulation. Moreover, we show that a suboptimal solution to optimal control problems with a known bound on performance deterioration is obtained by making use of discrete abstraction.

    DOI: 10.9746/ve.sicetr1965.44.786

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  • ハイブリッドシステムの制御 - VII 応用研究の展望

    児島晃, 井村順一

    システム/制御/情報   52 ( 5 )   181/188   2008

  • ハイブリッドシステムの制御:判断・運動の制御から遺伝子ネットワークの制御まで

    井村順一

    SICE中国支部学術講演会チュートリアル講演   10/15   2008

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  • モデル予測制御の基礎から最前線まで -ハイブリッドシステムの制御を中心に-

    井村順一

    SICEセミナー   1/14   2008

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  • Semi-optimal Control for Obstacle Avoidance under Observation Information Constraints

    SAITO Mamoru, TAZAKI Yuichi, IMURA Jun-ichi

    44 ( 11 )   911/918 - 918   2008

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  • Polynomial-time probabilistic controllability analysis of discrete-time piecewise affine systems

    Shun-Ichi Azuma, Jun-Ichi Imura

    IEEE TRANSACTIONS ON AUTOMATIC CONTROL   52 ( 11 )   2029 - 2046   2007.11

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  • Polynomial-time probabilistic observability analysis of sampled-data piecewise affine systems

    Shun-ichi Azuma, Jun-Ichi Imura

    SYSTEMS & CONTROL LETTERS   56 ( 11-12 )   685 - 694   2007.11

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  • Polynomial-time probabilistic observability analysis of sampled-data piecewise affine systems

    Shun-ichi Azuma, Jun-ichi Imura

    Systems and Control Letters   56 ( 11-12 )   685 - 694   2007.11

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  • Controllability measure of piecewise affine systems and its applications to the luminescence bacterium

    Daijiroh Sugiyama, Jun-ichi Imura

    IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES   E90A ( 11 )   2472 - 2477   2007.11

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  • Time-sequence Based Modeling of Finite Automata in Hybrid Systems Control

    KOBAYASHI Koichi, IMURA Jun-ichi

    Transactions of the Society of Instrument and Control Engineers   43 ( 9 )   798/805 - 805   2007

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    In the model predictive control (MPC) of hybrid systems, the problem of reducing the online computational complexity for generating a control input is one of the main issues. Thus focusing on how concisely a model of discrete dynamics is expressed, the authors have recently proposed a minimal representation of a finite automaton, which is given as a linear state equation with the smallest number of free binary variables (called here binary input variables). This representation enables us to reduce the computational time for solving the MPC problem of hybrid systems. This paper proposes a more effective modeling method for the MPC problem. The main idea is to derive an initial-mode-dependent model by using the above minimal representation, which expresses only mode trajectories for a given initial mode to save the number of binary input variables. The effectiveness of the proposed method is shown by numerical examples.

    DOI: 10.9746/ve.sicetr1965.43.798

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  • Polynomial-Time Probabilistic Controllability Analysis of Discrete-Time Piecewise Affine Systems

    Shunichi Azuma, Jun-ichi Imura

    IEEE Trans. on Automatic Control   52 ( 11 )   2029/2046   2007

  • Model Predictive Control of Continuous-time Piecewise Affine Systems and Its Precomputation-based Implementation

    TAZAKI Yuichi, IMURA Jun-ichi

    Transactions of the Society of Instrument and Control Engineers   43 ( 6 )   500/505 - 505   2007

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    This paper deals with model predictive control of continuous-time piecewise affine (CTPWA) systems. First, the finite-horizon optimal control problem of CTPWA systems is reduced, with certain suboptimality, to the optimization problem of mode sequences and intermediate state sequences. Next, an implementation method based on a precomputation technique is proposed. In the offline phase, this method computes, for every mode sequence, the set of feasible initial states and a lower bound of the cost function associated with it. Then at each sampling time in the online phase, the controller determines the optimal mode sequence and the optimal intermediate state sequence over a prediction horizon, taking advantage of the precomputed information. By effectively distributing the computation over the offline phase and the online phase, real-time control is achieved, striking a good balance between the amount of precomputed data and the online computation time. The effectiveness of the proposed method has been evaluated with a simple exapmle of CTPWA systems by numerical simulations.

    DOI: 10.9746/ve.sicetr1965.43.500

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  • Performance Measures in Model Predictive Control with Non-Linear Prediction Horizon Time-Discretization

    Ravi Gondhalekar, Jun-ichi Imura

    Transactions of the Society of Instrument and Control Engineers   43 ( 10 )   883/891 - 891   2007

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    Model predictive sampled-data control of constrained, linear, time-invariant, continuous-time plants is considered. The time-discretization of the prediction horizon may be non-linear, in order to reduce the computational complexity of online MPC methods by lowering the number of optimization variables for a given prediction horizon length. The main contribution of this paper is to propose two closed-loop performance measures in order to evaluate the salient performance properties of non-linearly time-discretized prediction horizons. A numerical motivating example comparing two prediction horizon time-discretizations with an order of magnitude difference in the number of optimization variables is discussed, and subsequently the results of a sensitivity analysis of the two proposed performance measures with respect to the prediction horizon time-discretization are presented. The use of non-linearly time-discretized prediction horizons is also shown to be relevant for complexity reduction in offline MPC strategies.

    DOI: 10.9746/ve.sicetr1965.43.883

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  • Performance Measures in Model Predictive Control with Non-linear Prediction Horizon Time-discretization

    GONDHALEKAR Ravi, IMURA Jun-ichi

    Transactions of the Society of Instrument and Control Engineers   43 ( 10 )   883/891 - 891   2007

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    Model predictive sampled-data control of constrained, linear, time-invariant, continuous-time plants is considered. The time-discretization of the prediction horizon may be non-linear, in order to reduce the computational complexity of online MPC methods by lowering the number of optimization variables for a given prediction horizon length. The main contribution of this paper is to propose two closed-loop performance measures in order to evaluate the salient performance properties of non-linearly time-discretized prediction horizons. A numerical motivating example comparing two prediction horizon time-discretizations with an order of magnitude difference in the number of optimization variables is discussed, and subsequently the results of a sensitivity analysis of the two proposed performance measures with respect to the prediction horizon time-discretization are presented. The use of non-linearly time-discretized prediction horizons is also shown to be relevant for complexity reduction in offline MPC strategies.

    DOI: 10.9746/ve.sicetr1965.43.883

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  • Duality Approach to Minimum-variance End-point Error Model of Voluntary Movement

    SHIRANE Kazuto, IMURA Jun-ichi

    Transactions of the Society of Instrument and Control Engineers   43 ( 7 )   552/561 - 561   2007

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    In this paper, a dual problem of the motor control model based on the signal-dependent noise hypothesis is addressed. First, the motor control model including signal-dependent noise is reduced to an optimal control problem whose cost function contains a time-varying weight. Then an estimation problem under the time-varying output noise model is introduced as the dual problem of the motor control model mentioned above, and it is proven that this time-varying noise can be interpreted as a signal-dependent output noise. Finally it is shown by experimental results that the model of the estimation based on the signal-dependent noise does not qualitatively contradict to the estimation performed by human beings on some situations.

    DOI: 10.9746/ve.sicetr1965.43.552

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  • Minimal Representation of Finite Automata in Hybrid Systems Control

    KOBAYASHI Koichi, IMURA Jun-ichi

    Transactions of the Society of Instrument and Control Engineers   43 ( 5 )   383/390 - 390   2007

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    This paper discusses a new approach to representing a finite automaton as a combination of a linear state equation with a smaller set of free binary variables (i. e., input variables) and binary inequalities, in order to reduce the computational time for solving the model predictive control problem of a class of hybrid systems. In particular, this paper is devoted to proving that a system representation derived by our proposed method is minimal in the sense that the number of its binary input variables is minimal among system models over all linear equivalence transformations that preserve the binary property of free (input) variables.

    DOI: 10.9746/ve.sicetr1965.43.383

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  • ハイブリッドシステムの制御-Ⅰ総論

    井村順一, 東俊一

    システム/制御/情報   51 ( 5 )   230/237   2007

  • ハイブリッドシステムの制御 -Ⅱモデリング

    井村順一

    システム/制御/情報   51 ( 7 )   306/312   2007

  • Synthesis of optimal controllers for piecewise affine systems with sampled-data switching

    S Azuma, J Imura

    AUTOMATICA   42 ( 5 )   697 - 710   2006.5

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  • ハイブリッドシステムとして捉える人間行動モデル

    鈴木達也, 井村順一

    計測と制御   45 ( 12 )   1055 - 1061   2006

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

    DOI: 10.11499/sicejl1962.45.1055

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  • Polynomial-Time Randomized Algorithm for Controllability Analysis of Piecewise Affine Systems Reviewed

    Shun-ichi Azuma, Jun-ichi Imura

    5th IFAC Symposium on Robust Control Design   .   2006

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  • Simultaneous optimization of continuous control inputs and discrete state way-points

    IMURA J.

    9th International Workshop on Hybrid Systems : Computation and Control (HSCC'06)   2006

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  • Synthesis of Optimal Controllers for Piecewise Affine Systems with Sampled-Data Switching

    S. Azuma, J. Imura

    Automatica   42 ( 5 )   697 - 710   2006

  • Probabilistic Approach to Controllable State Set Problem of Hybrid Systems and Its Application to Luminescence Bacterium Reviewed

    Shun-ichi Azuma, Eriko Yanagisawa, Jun-ichi Imura

    17th International Symposium on Mathematical Theory of Networks and Systems, pp. 375--380   .   2006

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  • Integrated Optimal Design of Hierarchical Control Systems and Its Application to Slab Heating Control for Reheating Furnaces

    KOBAYASHI Koichi, IMURA Jun-ichi

    Transactions of the Society of Instrument and Control Engineers   42 ( 7 )   783/790 - 790   2006

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    This paper proposes an integrated optimal design of a two-level hierarchical system, which is constructed by a discrete-time high-level system such as a production-scheduling system and a continuous-time low-level control system. First, an integrated optimal design problem is formulated using a cost function composed of continuoustime and discrete-time cost functions, and an optimal control input of this problem based on the finite-time optimal control problem is derived. Next, the difference in performance between the proposed and the standard design methods is given explicitly. Finally, the effectiveness of the proposed method is shown by numerical examples on the slab heating control for reheating furnaces.

    DOI: 10.9746/sicetr1965.42.783

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  • Control of Hybrid Systems and its Application to Gene Regulatory Network

    S. Azuma, J. Imura

    1 - 26   2006

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  • Graph Based Model Predictive Control of a Planar Bipedal Robot

    TAZAKI Yuichi, IMURA Jun-ichi

    JRSJ   24 ( 5 )   663 - 671   2006

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    Language:Japanese   Publisher:The Robotics Society of Japan  

    In this paper, a new control method for a planar bipedal robot, which we call here Graph-based Model Predictive Control, is proposed. This method consists of two phases: the graph construction phase and the realtime control phase. In the graph construction phase, a directed graph on the state space of the control target is constructed off line. In the realtime control phase, the controller drives the state of the control target so as to make it move through graph nodes connected by directed edges. By tracing directed edges, a model predictive control is achieved in some sense. Moreover, since the directed graph is constructed in advance, the realtime computational cost is dramatically reduced compared with the ordinary MPC. In addition, by constructing multiple directed graphs based on different cost functions, one can design multiple motions and switching trajectories among them in a uniform way. The proposed method is applied to the speed changing control problem of a bipedal walker on a 2-dimensional plane and its effectiveness is verified by numerical simulation.

    DOI: 10.7210/jrsj.24.663

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  • Modeling of Discrete Dynamics in Model Predictive Control of Hybrid Systems

    KOBAYASHI Koichi, IMURA Jun-ichi

    Transactions of the Society of Instrument and Control Engineers   42 ( 7 )   799 - 805   2006

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    This paper proposes a new approach to reducing the computational time for solving the model predictive control problem of a class of hybrid systems, by representing a finite automaton with a smaller number of binary variables. First, the technical issue in the modeling on the field of real numbers is pointed out, and an implicit system expression on the binary field GF(2) is presented. Next, a systematic method to transform this system model into the state equation on the field of real numbers by way of the state equation on GF(2) is proposed, which thus enables us to reduce the original control problem into the mixed integer quadratic problem with a smaller number of binary variables. Finally, the effectiveness of the proposed method is shown by numerical examples.

    DOI: 10.9746/sicetr1965.42.799

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  • ハイブリッドシステムの制御の基礎と実用化

    井村順一

    第1回エンジン・パワートレイン先端制御理論講演会資料   17 - 22   2006

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  • ハイブリッド制御 -モデリングから制御系設計まで-

    井村順一

    新日本製鉄 応用工学コース「高度制御技術」講座,代々木研修センター   1 - 38   2006

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  • Control of Hybrid Systems and its Application to Gene Regulatory Network

    S. Azuma, J. Imura

    1 - 26   2006

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  • A Difference Based Efficient Approximate Algorithm for Model Predictive Control of Input Constrained Linear Systems

    SAITOU Yutaka, IMURA Jun-ichi

    Transactions of the Society of Instrument and Control Engineers   41 ( 7 )   729 - 738   2005

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    Publisher:The Society of Instrument and Control Engineers  

    This paper proposes a novel efficient algorithm for model predictive control (MPC) of discrete-time linear systems subject to input constraints. As is well known, the MPC problem is reduced into the problem of calculating the solution trajectory of the discrete-time linear complementarity (D-LC) systems. Based on this fact, the algorithm fully exploits the information on the solution of the problem at the previous time step, as like the difference technique used in the calculation of the solution trajectory of the dynamical system. Efficiency of the proposed algorithm is shown by a numerical example.

    DOI: 10.9746/sicetr1965.41.729

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  • Real-Time Optimal Control of Hybrid Systems

    IMURA Jun-ichi

    Journal of The Society of Instrument and Control Engineers   44 ( 7 )   464 - 470   2005

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

    DOI: 10.11499/sicejl1962.44.464

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  • A Study of the Energy-Saving Effect of Foot Shape on Planar Passive Bipedal Walking

    TAZAKI Yuichi, IMURA Jun-ichi

    JRSJ   23 ( 1 )   131 - 138   2005

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    Language:Japanese   Publisher:The Robotics Society of Japan  

    This paper studies an influence of the foot shape on energy-efficiency of passive dynamic walking of a bipedal robot. Two types of bipedal robots are compared in terms of variation of kinetic energy under locomotion. One has point-feet, and another has linear feet. Under the simplification of the robot models, it is proven that the robot with linear feet presents larger walking speed in steady walking compared to the point-footed robot. Is is also verified by numerical simulations that the above claim holds for the case of the original (unsimplified) model. A design method of foot shape is proposed.

    DOI: 10.7210/jrsj.23.131

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  • Optimal control of sampled-data piecewise affine systems

    Jun-Ichi Imura

    Automatica   40 ( 4 )   661 - 669   2004.4

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  • Optimal control of sampled-data piecewise affine systems

    JI Imura

    AUTOMATICA   40 ( 4 )   661 - 669   2004.4

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  • Robust Control-From Fundamentals to Frontiers-#9 : Dissipativity Theory of Nonlinear Systems

    IMURA Jun-ichi

    Journal of The Society of Instrument and Control Engineers   43 ( 3 )   275/282 - 282   2004

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

    DOI: 10.11499/sicejl1962.43.275

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  • An efficient algorithm for optimal control of hybrid dynamical systems utilizing mode transition rule

    M Ishikawa, T Seki, J Imura, S Hara

    2004 43RD IEEE CONFERENCE ON DECISION AND CONTROL (CDC), VOLS 1-5   1866 - 1871   2004

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  • A new probabilistic approach on controllability /reachability analysis of hybrid systems

    S. Azuma, J. Imura

    483/488   2004

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  • 階層型制御系の統合/分離最適設計

    小林 井村

    計測自動制御学会第33回制御理論シンポジウム   371/376   2004

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  • A Probabilitic Approach on Controllability/Reachability Analysis of Hybrid Systems

    S. Azuma, J. Imura

    Proc. of IEEE Conference on Decision and Control   485/490   2004

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  • ハイブリッドシステムの解析と制御

    井村順一

    SICEセミナー-実践的な制御系設計-   1/18   2004

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  • 拘束システムのモデル予測制御のための差分型高速解法

    齋藤 井村

    計測自動制御学会第33回制御理論シンポジウム   85/90   2004

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  • An M-matrix based Efficient Algorithm for Model Predictive Control of Input Constrained Linear Systems

    SAITOU Yutaka, IMURA Jun-ichi

    Transactions of the Society of Instrument and Control Engineers   40 ( 9 )   906/914 - 914   2004

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    This paper discusses an on-line approach to Model Predictive Control (MPC) of input constrained linear systems. First, it is shown that an example of MPC with one-side input constraints is reduced into the Linear Complementarity (LC) problem with an M-matrix, which can be more efficiently solved by the existing special algorithm than the other general algorithms such as the Lemke method. However, in the case of both-side input constraints, which is more practical from the control engineering points of view, it can not be reduced into the LC problem with an M-matrix. Thus, next, a new algorithm for the case of both-side input constraints is proposed in this paper. The effectiveness of the proposed algorithm is shown by a numerical simulation.

    DOI: 10.9746/sicetr1965.40.906

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  • 人間の認識から判断・運動における情報処理ーハイブリッドシステムの視点からの工学的実現を目指して

    井村順一

    日本機械学会機械力学・計測制御部門講演会ワークショップ (D&D2004)   23/29   2004

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  • 熱延仕上ミル張力・ルーパ系のハイブリッドシステムモデルと モデル予測制御

    井村 児島, 増田, 津田 浅野

    鉄と鋼   90 ( 11 )   67/74 - 74   2004

  • Obserbility and mode-sequence estimatability of piecewise linear systems

    K. Shirane, J. Imura

    Proc. of 10th IFAC/IFORS/IMACS/IFIP Symposium on Large Scale System:Theory and Applications   548/553   2004

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  • Observability and Mode Sequence Estimation Property of Piecewise Linear Systems

    SHIRANE Kazuto, IMURA Jun-ichi

    Transactions of the Society of Instrument and Control Engineers   40 ( 8 )   834/841 - 841   2004

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    This paper discusses from the algebraic points of view the relationship among the four properties of discretetime piecewise linear systems, that is, observability, determinability, mode estimatability, and mode-sequence estimatability. First, necessary and sufficient conditions for the system to be determinable, and to be modesequence estimatable are derived. Next, the observability property is characterized in terms of those conditions. Finally, the relationship between the observability property of the original system and the well-posedness property of the time-reversed system is discussed.

    DOI: 10.9746/sicetr1965.40.834

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  • A Probabilitic Approach on Controllability/Reachability Analysis of Hybrid Systems

    S. Azuma, J. Imura

    Proc. of IEEE Conference on Decision and Control   485/490   2004

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  • An M-matrix based efficient algorithm for model predictive control of input constrained linear systems

    Y. Saito, J. Imura

    Proc. of 10th IFAC/IFORS/IMACS/IFIP Symposium on Large Scale systems: Theory and Applications   777/782   2004

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  • Approximate continuous-time optimal control in obstacle avoidance by time/space discretization of non-convex state constraints

    H.L. Hagenaars, J. Imura, H. Nijmeijer

    Proc. of IEEE Conference on Control Application   878/883   2004

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  • Probabilistic controllability analysis of sampled-data /discrete-time piecewise affine systems

    S. Azuma, J. Imura

    Proc. of American Control Conference   2528/2533   2004

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  • Obserbility and mode-sequence estimatability of piecewise linear systems

    K. Shirane, J. Imura

    Proc. of 10th IFAC/IFORS/IMACS/IFIP Symposium on Large Scale System:Theory and Applications   548/553   2004

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  • 障害物回避における運動生成と判断のための離散近似高速アルゴリズム

    井村 兼近

    日本機械学会ロボティクス・メカトロニクス講演会’04資料   2P2-L1-73   2004

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  • Probabilistic Controllability Analysis of Sampled-Data/Discrete-Time Piecewise Affine Systems

    AZUMA Shun-ichi, IMURA Jun-ichi

    Transactions of the Society of Instrument and Control Engineers   40 ( 7 )   703/712 - 712   2004

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    This paper proposes a new approach to solve the controllability (reachability) problem of sampled-data/discrete-time piecewise affine systems. First, an algebraic characterization for the system to be controllable (reachable) is derived. Next, based on this characterization, an approach to determine if the system is controllable (reachable) in a probabilistic sense is proposed based on a randomized algorithm. Finally, it is shown by numerical examples that the proposed approach is useful.

    DOI: 10.9746/sicetr1965.40.703

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  • A new probabilistic approach on controllability /reachability analysis of hybrid systems

    S. Azuma, J. Imura

    483/488   2004

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  • ハイブリッドモデルに基づくキャッチングコンピュータゲームに おける判断の同定

    菅野 井村

    日本機械学会ロボティクス・メカトロニクス講演会'04 資料   2P2-L1-72   2004

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  • 非凸状態領域における運動と判断の同時最適化

    井村順一

    第4回計測自動制御学会制御部門大会資料   477/482   2004

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  • 離散時間線形補性システムの高速解法とモデル予測制御への適用

    齋藤 井村

    第4回計測自動制御学会制御部門大会資料   69/74   2004

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  • ロボットがインベーダーゲームをするには?~運動と判断のリアルタイム最適化を目指して~

    井村順一

    システム制御情報学会ハイブリッドシステム研究交流会シンポジウム   69/74   2004

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  • Robust Control-Form Fundamentals to Frontiers-#10 : Nonlinear H_∞ Control

    IMURA Jun-ichi

    Journal of The Society of Instrument and Control Engineers   43 ( 4 )   367/374 - 374   2004

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

    DOI: 10.11499/sicejl1962.43.367

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  • Robust Control-From Fundamentals to Frontiers-#8 : Stability Theory of Nonlinear Systems

    IMURA Jun-ichi

    Journal of The Society of Instrument and Control Engineers   43 ( 2 )   178/185 - 185   2004

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

    DOI: 10.11499/sicejl1962.43.178

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  • Well-posedness analysis of switch-driven piecewise affine systems

    J Imura

    IEEE TRANSACTIONS ON AUTOMATIC CONTROL   48 ( 11 )   1926 - 1935   2003.11

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  • Optimal control of sampled-data piecewise affine systems and its application to CPU processing control

    S. Azuma, J. Imura

    Proceedings of IEEE Conference on Decision and Control   2003

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  • モード遷移情報を用いたハイブリッドシステムに対するモデル予測制御問題の数値解法

    関 井村, 石川

    計測自動制御学会 第3回制御部門大会資料   79/84   2003

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  • 区分的線形システムの可観測性とモード推定可能性

    白根 井村

    第32回制御理論シンポジウム   205/210   2003

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  • 平面二足歩行における足の省エネルギ効果の考察

    田崎 井村

    第21回日本ロボット学会学術講演会   1G18   2003

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  • Controllability of sampled-data piecewise affine systems

    S. Azuma, J. Imura

    Proceedings of IFAC Conference on Analysis and Design of Hybrid Systems   129/134   2003

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  • 入力拘束システムのモデル予測制御に対するM行列を用いた高速解法

    齋藤 井村

    第32回制御理論シンポジウム   169/174   2003

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  • Energy preserving control of a hopping robot based on hybrid port-controlled Hamiltonian modeling

    M Ishikawa, A Neki, J Imura, S Hara

    CCA 2003: PROCEEDINGS OF 2003 IEEE CONFERENCE ON CONTROL APPLICATIONS, VOLS 1 AND 2   1136 - 1141   2003

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  • Optimal Continuous-Time Control of Sampled-Data Piecewise Affine Systems

    Jun-ichi Imura

    Proceedings of American Control Conference   5317/5322   2003

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  • Discussion on: Switched Integrator Control Schemes for Integrating Plants

    Jun-ichi Imura

    European Journal of Control   9 ( 6 )   2003

  • Optimal control of sampled-data piecewise affine systems and its application to CPU processing control

    S. Azuma, J. Imura

    Proceedings of IEEE Conference on Decision and Control   2003

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  • サンプル値/離散時間区分的アファインシステムの確率的可制御性解析

    東 井村

    第32回制御理論シンポジウム   277/282   2003

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  • Discussion on: "Switched integrator control schemes for integrating plants"

    Lygeros, J., Imura, J.-I.

    European Journal of Control   9 ( 6 )   2003

  • Dvelopment of a Simulator of a Class of Piecewise Affine Systems^*

    KUNIKANE Tsuyoshi, IMURA Jun-ichi, SAEKI Masami

    Transactions of the Institute of Systems, Control and Information Engineers   16 ( 5 )   218/225 - 225   2003

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    Language:Japanese   Publisher:THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)  

    This paper treats the simulation problem of multi-modal piecewise affine systems with binary-switches. First, it is pointed out by numerical examples that some problems on the event detection occur in the existing simulators when a solution of the system crosses an intersection of multiple switching hyperplanes. Next, a new simulation algorithm is proposed under the switch-based transition rule.

    DOI: 10.5687/iscie.16.218

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  • 幅優先探索を用いた障害物回避問題の高速アルゴリズムの開発

    兼近 井村

    第46回自動制御連合講演会   FA2-10-5   2003

  • ハイブリッドシステムの制御における未解決問題

    井村順一

    計測と制御   42 ( 2 )   113/119 - 119   2003

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

    DOI: 10.11499/sicejl1962.42.113

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  • Controllability of Sampled-Data Piecewise Affine Systems

    AZUMA Shun-ichi, IMURA Jun-ichi

    Transactions of the Society of Instrument and Control Engineers   39 ( 5 )   469/478 - 478   2003

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    This paper discusses the controllability problem for a class of continuous-time piecewise affine (PWA) systems with the sampled-data autonomous switching, which we call here the sampled-data PWA systems. First, the four concepts of controllability are introduced based on the aspects of the continuous/discrete state and of the continuous/discrete time, and some inclusion relations among them are discussed. Next, easily checkable, (necessary and) sufficient conditions for the system to be controllable are derived.

    DOI: 10.9746/sicetr1965.39.469

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  • サンプル値区分敵アファインシステムの最適制御とCPUの高速・省電力化制御への応用

    東 井村

    第16回 回路とシステム(軽井沢)ワークショップ論文集   243/248   2003

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  • ハイブリッドシステムの制御ー今世紀の新しいシステム理論を目指して

    井村順一

    計測と制御   42 ( 4 )   308/309   2003

  • 区分的アファインシステムのモード推定

    白根 井村

    計測自動制御学会 第3回制御部門大会資料   253/256 - 256   2003

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  • モード遷移拘束を有するサンプル値区分的アファインシステムの最適制御

    東 井村

    計測自動制御学会 第3回制御部門大会資料   73/78   2003

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  • Well-Posedness Analysis of Switch-Driven Piecewise Affine Systems

    Imura, J.-I.

    IEEE Transactions on Automatic Control   48 ( 11 )   1926/1935   2003

  • Optimal Continuous-Time Control of Sampled-Data Piecewise Affine Systems

    Jun-ichi Imura

    Proceedings of American Control Conference   5317/5322   2003

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  • Controllability of sampled-data piecewise affine systems

    S. Azuma, J. Imura

    Proceedings of IFAC Conference on Analysis and Design of Hybrid Systems   129/134   2003

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  • Classification and stabilizability analysis of bimodal piecewise affine systems

    J Imura

    INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL   12 ( 10 )   897 - 926   2002.8

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  • Classification and stabilizability analysis of bimodal piecewise affine systems

    Jun-Ichi Imura

    International Journal of Robust and Nonlinear Control   12 ( 10 )   897 - 926   2002.8

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    DOI: 10.1002/rnc.672

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  • Optimal sampled-data control of a class of piecewise affine systems

    J Imura, M Yosetani

    SICE 2002: PROCEEDINGS OF THE 41ST SICE ANNUAL CONFERENCE, VOLS 1-5   1159 - 1164   2002

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  • Optimal Control of Sampled-data Piecewise Affine Systems

    Jun-ichi Imura

    99 - 104   2002

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  • Optimal sampled-data control of a class of piecewise affine systems

    J. Imura, M. Yosetani

    CD-ROM Proceedings of SICE'02   MP07-4   2002

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  • Stabilization with well-posedness of a class of switch-driven hybrid systems

    J. Imura, K, Shimizu M. Saeki

    CD-ROM Proceedings of IFAC'02   1056/1061   2002

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  • ハイブリッドシステムのwell-posedness解析と制御

    井村順一

    SICE機械システム制御シンポジウム講演論文集   33 - 37   2002

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  • Stabilization of a Class of 2-Switch-Driven Hybrid Systems

    IMURA Junichi, SHIMIZU Kazutoshi, SAEKI Masami

    Transactions of the Institute of Systems, Control and Information Engineers   15 ( 3 )   126 - 133   2002

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    Language:Japanese   Publisher:THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)  

    We consider the two cases to address the stabilization problem of a class of multi-modal hybrid systems with binary-switches. In one case it is reduced to the stabilization problem similar to that for the class of usual continuous linear systems under some condition. In the other case, an approach to find a dynamic state feedback controller that renders the closed loop system well-posed as well as globally asymptotically stable at the equiribrium state is proposed.

    DOI: 10.5687/iscie.15.126

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  • 区分的線形システムをwell-posednessにする補償器の設計

    白根 井村

    第2回計測自動制御学会部門大会資料   127 - 132   2002

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  • Optimal Control of Sampled-Data Piecewise Affine Systems

    IMURA J.

    99 - 104   2002

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  • サンプル値区分的アファインシステムの可制御性

    東 井村

    第31回計測自動制御学会制御理論シンポジウム資料   185 - 190   2002

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  • ハイブリッドダイナミカルシステム論 -連続システムからのアプローチ-

    井村順一

    制御部門大会前日のワークショップ   15 - 36   2001

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  • Stabilization with well-posedness of a class of switch-driven hybrid systems

    J.Imura T, Shimizu M. Saeki

    65 - 70   2001

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  • ハイブリッドシステムの制御理論構築を目指して -well-posedness解析からの出発-

    井村順一

    第1回計測自動制御学会制御部門大会特別講演   2001

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  • スイッチ駆動ハイブリッドシステムシミュレータの開発

    国兼剛, 井村順一, 佐伯正美

    第10回計測自動制御学会中国支部学術講演会論文集   2001

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  • Well-posedness and stabilization of switch-driven hybrid systems with its application to landing systems

    Jun-ichi Imura

    Proc. of TiTech COE/Super Mechano-Systems Symposium 2001   2001

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  • Well-posedness analysis of switch-driven hybrid systems

    Jun-ichi Imura

    Proceedings of American Control Conference   862 - 867   2001

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  • Stabilization with well-posedness of a class of switch-driven hybrid systems

    J.Imura T, Shimizu M. Saeki

    65 - 70   2001

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  • Well-posedness of switch-driven hybrid systems with external inputs

    Jun-ichi Imura

    Proceedings of the 5th IFAC Symposium on Nonlinear Control Systems   1521 - 1526   2001

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  • Flight control design of a twin rotor helicopter model via 2 step linearization

    Masami Saeki, Yasunori Wada, Jun-ichi Imura, Yoshinobu Sakaue

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   67 ( 656 )   1038 - 1045   2001

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  • Well-posedness and stabilization of switch-driven hybrid systems with its application to landing systems

    Jun-ichi Imura

    Proc. of TiTech COE/Super Mechano-Systems Symposium 2001   2001

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  • Well-posedness analysis of switch-driven hybrid systems

    JI Imura

    PROCEEDINGS OF THE 2001 AMERICAN CONTROL CONFERENCE, VOLS 1-6   862 - 867   2001

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  • Control System Design for Backward Steering of a Tractor-Trailer Vehicle

    SAEKI Masami, KOBAYASHI Taizan, IMURA Jun-ichi, KIMURA Junso

    Transactions of the Society of Instrument and Control Engineers   37 ( 8 )   748 - 753   2001

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    Backward steering of a tractor-trailer vehicle needs more special techniques than that of a non-trailer vehicle. In this paper, we propose a design method of a man-machine system which enables a driver to steer a tractor-trailer vehicle backward as if he steers a non-trailer vehicle backward. The system only improves the dynamics by nonlinear feedback control, and the backward driving is left to the driver. Since the position of the vehicle is not used for the feedback, the system can be easily implemented for the car driven by wire.

    DOI: 10.9746/sicetr1965.37.748

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  • ふぁいる:システムのwell-posedness

    井村順一

    計測と制御   40 ( 6 )   474   2001

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  • Well-posedness of switch-driven hybrid systems with external inputs

    IMURA J.

    Proc. of Nonlinear Control Systems, 2001   1521 - 1526   2001

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  • Characterization of well-posedness of piecewise-linear systems

    J Imura, A van der Schaft

    IEEE TRANSACTIONS ON AUTOMATIC CONTROL   45 ( 9 )   1600 - 1619   2000.9

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  • Classification and stabilizability analysis of bimodal piecewise affine systems

    J Imura

    PROCEEDINGS OF THE 39TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5   1409 - 1414   2000

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  • Feedback well-posedness and stabilizability of bimodal piecewise affine systems

    Jun-ichi Imura

    CD-ROM Proceedings of International Symposium on Mathematical Theory of Network and systems (MTNS2000)   CS72-4   2000

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  • Experiments of Twin-Rotor Helicopter model using Exact Linearization via Dynamic State Feedback

    Junichi Imura, Koji Ieki, Masami Saeki, Yasunori Wada

    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   66 ( 648 )   2630 - 2637   2000

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  • Classification and Stabilizability analysis of bimodal piecewise affine systems

    Jun-ichi Imura

    Proceedings of the 39th IEEE Conference on Decision and Control   1409 - 1414   2000

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  • ハイブリッドシステムの制御-いかに捉えるか?-

    井村順一

    第44回システム制御情報学会研究発表講演会チュートリアル講演   9 - 16   2000

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  • 非線形H_∞制御-線形系のH_∞制御は非線形系にどこまで拡張可能か

    井村順一

    計測と制御   35 ( 3 )   333 - 339   1999

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  • Controllability of a 4-D.O.F. Planar Manipulator with Two Unactuated Joints

    KOBAYASHI Keigo, IMURA Jun-ich, YOSHIKAWA Tsuneo

    JRSJ   17 ( 6 )   811 - 817   1999

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    Language:Japanese   Publisher:The Robotics Society of Japan  

    In this paper, we prove that a 4-D.O.F planar manipulator which consists of two actuated joints and two unactuated joints is completely controllable, namely, there exists an input to drive the system from any given initial state to any state in finite time. The proof exploits the mechanical properties of the planar systems.

    DOI: 10.7210/jrsj.17.811

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    Other Link: https://jlc.jst.go.jp/DN/JALC/00062357876?from=CiNii

  • Controllability of Planar Manipulators with One Unactuated Joint

    KOBAYASHI Keigo, IMURA Jun - ichi, YOSHIKAWA Tsuneo

    JRSJ   17 ( 8 )   1167 - 1172   1999

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    Language:Japanese   Publisher:The Robotics Society of Japan  

    In this paper, we prove that the planar manipulator which consists of one actuated joints and one unactuated joints is completely controllable, namely, there exists an admissible path between any given initial state and any state. We also prove the planar manipulators with n actuated joints and one unactuated joints are complete controllable if and only if the first joint is acutated one.<BR>The proof exploits the mechanical properties of the planar systems.

    DOI: 10.7210/jrsj.17.1167

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    Other Link: https://jlc.jst.go.jp/DN/JALC/00057610566?from=CiNii

  • Well-posedness of a class of piecewise linear systems with no jumps

    J Imura, A van der Schaft

    HYBRID SYSTEMS: COMPUTATION AND CONTROL   1569   123 - 136   1999

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    Language:English  

    Web of Science

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  • Flight control design of twin rotor helicopter model by 2 step exact linearization

    Jun-ichi Imura

    Proceedings of the IEEE International Conference on Control Applications   146 - 151   1999

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  • Mathematics in Control Theory: 7. Ordinary Differential Equations. From Stability and Mechanical System Points of View.

    IMURA Jun-ichi

    Journal of The Society of Instrument and Control Engineers   38 ( 11 )   715 - 720   1999

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

    DOI: 10.11499/sicejl1962.38.715

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  • ハイブリッドシステムの制御理論構築を目指して - 如何に捉えるか? -

    井村順一

    システム/制御/情報   43 ( 12 )   651 - 659   1999

  • Model of Nonholonomic Systems with Velocity Constraints-Representation by Connection

    IMURA Junichi

    Systems, control and information   42 ( 2 )   55 - 62   1998.2

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    Language:Japanese   Publisher:Institute of Systems, Control and Information Engineers  

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  • Internal Stability and L_2 Gain of Nonlinear Systems - Derivation of Bounded Real Condition -

    IMURA Junichi, SUGIE Toshiharu, YOSHIKAWA Tsuneo

    29 ( 6 )   659 - 667   1993.6

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    Language:Japanese  

    CiNii Books

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  • Bounded real lemma of nonlinear systems and its application to H_∞ state feedback control

    IMURA J.

    Proc. of the 32 nd Conference on Decision and Control   190 - 195   1993

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  • Global Robust Stabilization for a Class of Nonlinear Systems with Mismatched Uncertainties

    IMURA Junichi, SUGIE Toshiharu, YOSHIKAWA Tsuneo

    計測自動制御学会論文集   28 ( 8 )   947 - 955   1992.8

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    Language:Japanese   Publisher:計測自動制御学会  

    In the past several years, various robust control methods have been developed for nonlinear systems with uncertainties. However, most of them treat the uncertainties with matching condition or the special case of mismatched uncertainties. Though it is fundamental to know when we can robustly stabilize the nonlinear systems in the presence of general mismatched uncertainties, this fundamental problem has not been solved yet.<br>In this paper, a sufficient condition of global robust stabilization via state feedback is derived for a class of nonlinear systems with general mismatched uncertainties, which generalizes the former results on asymptotically stabilization for cascade systems without uncertainties. Next, it is shown that this sufficient condition can be simplified for a certain class of nonlinear systems. Moreover, we show that the obtained condition is effective in the global robust stabilization of a class of input-output linearizable systems.

    DOI: 10.9746/sicetr1965.28.947

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  • 加速度情報を用いたマニピュレータのロバスト制御

    井村

    計測自動制御学会論文集   27 ( 5 )   577 - 584   1991

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Presentations

  • Simultaneous Optimization on Motion and Decision of Piecewise Affine Systems Under Non-Convex State

    Workshop on Nonlinear and Hybrid Control,The 21st Century COE Program,Tokyo  2005 

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  • Polynomial-time probabilistic obsevability analysis of sampled-data piecewise affine systems

    Joint 44th IEEE Conference on Decision and Control and European Control Conference  2005 

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  • Stabilizing Model Predictive Control of Hybrid Systems with Discrete Dynamics

    ICROS-SICE International Joint Conference 2009  2009 

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  • Observability Analysis of Boolean Networks with Biological Applications

    ICROS-SICE International Joint Conference 2009  2009 

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  • MPC of 2D Channel Flow via Staggered Grid

    ICROS-SICE Int’l Joint Conf. 2009 (ICCAS-SICE 2009)  2009 

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  • Rigorous Determination of Maximum Controlled Invariant Feasible Sets

    2009 European Control Conf. (ECC)  2009 

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  • Hybrid- Model Based Controllability Analysis of Biological Systems Toward Pharmaceutical Developments

    2009 

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  • Control of hybrid systems: a new framework for control of complex systems

    Sapporo Winter School  2009 

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  • Case studies on Hybrid Systems

    ICROS-SICE International Joint Conference  2009 

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  • Introduction to Hybrid Systems Control

    ICROS-SICE International Joint Conference  2009 

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  • Ego Noise Suppression of a Robot Using Template Subtraction

    2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  2009 

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  • Stabilization of Deterministic Finite Automata Based on Linear State Equation Representation

    European Control Conference 2009,  2009 

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  • Discrete-state abstractions of nonlinear systems using multi-resolution quantizer,

    R. Majumdar and B. Tabuada (Eds.), Springer, Lecture Notes in Computer Science 5469  2009 

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  • Discrete-state abstractions of nonlinear systems using multi-resolution quantizer,

    R. Majumdar and B. Tabuada (Eds.), Springer, Lecture Notes in Computer Science 5469  2009 

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  • Polynomial-Time Controllability Analysis of Boolean Networks

    2009 American Control Conference  2009 

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  • Stabilization of Deterministic Finite Automata Based on Linear State Equation Representation

    European Control Conference 2009,  2009 

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  • Bisimilar Finite Abstractions of Interconnected Systems

    2008 

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  • Reflection wave suppresion in Frenkel-Kontrova model simulation

    2008 

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  • ブーリアンネットワークモデルによる遺伝子発現ネットワークの可制御性解析

    第21回回路とシステム軽井沢ワークショップ  2008 

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  • Bisimilar Finite Abstractions of Interconnected Systems

    Hybrid Systems: Computation and Control, Lecture Notes in Computer Science 4981  2008 

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  • Least Restrictive Move-Blocking Model Predictive Control

    IFAC World Congress  2008 

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  • Finite Abstractions of Discrete-time Linear Systems and Its Application to Optimal Control

    IFAC World Congress  2008 

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  • Performance and Stability Analysis of PWA Systems by Piecing together PWQ Functions

    IFAC World Congress  2008 

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  • Approximately Bisimilar Finite-state Modeling of Interconnected Systems

    SICE annual conference  2008 

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  • Multi-resolved Dynamical System Theory for Large-Scale Complex Systems

    SICE annual conference  2008 

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  • Stabliltiy Analysis of 2-Dimensional Fluid Flow Based on Sum of Squares Relaxation

    SICE annual conference  2008 

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  • 量子系のノイズレスサブシステムの制御について

    計測自動制御学会第8回制御部門大会  2008 

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  • Performance and Stability Analysis of PWA Systems by Piecing together PWQ Functions

    IFAC World Congress  2008 

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  • Least Restrictive Move-Blocking Model Predictive Control

    IFAC World Congress  2008 

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  • Multi-resolved Dynamical System Theory for Large-Scale Complex Systems

    SICE annual conference  2008 

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  • Finite Abstractions of Discrete-time Linear Systems and Its Application to Optimal Control

    IFAC World Congress  2008 

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  • Approximately Bisimilar Finite-state Modeling of Interconnected Systems

    SICE annual conference  2008 

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  • Feedback control of noiseless subsystems

    The Principles and Applications of Control in Quantum Systems (PRACSYS 2008)  2008 

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    Presentation type:Poster presentation  

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  • Stabliltiy Analysis of 2-Dimensional Fluid Flow Based on Sum of Squares Relaxation

    SICE annual conference  2008 

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  • Optimal control of linear quantum systems despite feedback delay

    2008 

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    Presentation type:Poster presentation  

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  • Feedback control of noiseless subsystems

    9th Conference on Quantum Communication, Measurement and Computing  2008 

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    Presentation type:Poster presentation  

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  • Optimal control of linear quantum systems despite feedback delay

    47th. IEEE Confernece on Decision and Control  2008 

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  • Stabliltiy Analysis of 2-Dimensional Fluid Flow Based on Sum of Squares Relaxation

    2008 

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  • 電磁型締め装置のモデリングと制御Ⅱ-GKYP補題によるPI制御系の設計-

    WB34  2009 

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  • Hybrid- Model Based Controllability Analysis of Biological Systems Toward Pharmaceutical Developments

    2009 

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  • Introduction to Hybrid Systems Control

    ICROS-SICE International Joint Conference  2009 

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  • 鋼材加熱炉の装入スケジューリングと燃焼制御の同時最適化

    日本鉄鋼協会弟157回春季講演大会  2009 

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  • 相互結合された区分的線形システムの発振条件

    第38回制御理論シンポジウム資料  2009 

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  • Case studies on Hybrid Systems

    ICROS-SICE International Joint Conference  2009 

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  • Ego Noise Suppression of a Robot Using Template Subtraction

    2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  2009 

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  • 多分解離散抽象化を用いた最適制御の近似解法

    計測自動制御学会システム・情報部門学術講演会  2009 

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  • 多解像度量子化器による非線形システムの離散抽象化

    第52回自動制御連合講演会  2009 

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  • Bisimilar Finite Abstractions of Interconnected Systems

    Hybrid Systems: Computation and Control, Lecture Notes in Computer Science 4981  2008 

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  • Bisimilar Finite Abstractions of Interconnected Systems

    2008 

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  • Observability Analysis of Boolean Networks with Biological Applications

    ICROS-SICE International Joint Conference 2009  2009 

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  • Polynomial-Time Controllability Analysis of Boolean Networks

    2009 American Control Conference  2009 

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  • Rigorous Determination of Maximum Controlled Invariant Feasible Sets

    2009 European Control Conf. (ECC)  2009 

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  • Stabilizing Model Predictive Control of Hybrid Systems with Discrete Dynamics

    ICROS-SICE International Joint Conference 2009  2009 

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  • 制御 Lyapunov 関数を用いたハイブリッドシステムの安定化

    計測自動制御学会第9回制御部門大会  2009 

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  • MPC of 2D Channel Flow via Staggered Grid

    ICROS-SICE Int’l Joint Conf. 2009 (ICCAS-SICE 2009)  2009 

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  • ハイブリッド制御における有限オートマトンモデルの関連性

    計測自動制御学会第45回離散事象システム研究会  2009 

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  • モデル予測制御における近似解法と離散ダイナミクスモデリング

    第52回自動制御連合講演会  2009 

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  • ブーリアンネットワークにおける可制御性判定のための多項式時間アルゴリズム

    電子情報通信学会技術研究報告  2009 

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  • Control of hybrid systems: a new framework for control of complex systems

    Sapporo Winter School  2009 

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  • ブーリアンネットワークモデルによる遺伝子発現ネットワークの可観測性解析

    計測自動制御学会第8回制御部門大会  2009 

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  • Feedback control of noiseless subsystems

    9th Conference on Quantum Communication, Measurement and Computing  2008 

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    Presentation type:Poster presentation  

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  • Feedback control of noiseless subsystems

    The Principles and Applications of Control in Quantum Systems (PRACSYS 2008)  2008 

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    Presentation type:Poster presentation  

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  • Optimal control of linear quantum systems despite feedback delay

    2008 

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    Presentation type:Poster presentation  

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  • Strong feasibility in input-move-blocking model predictive control

    Proc. of IFAC symposium on nonlinear control systems (NOLCOS'07)  2007 

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  • Exact cost performance evaluation of model predictive control laws and piecewise affine systems

    2007 

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  • 離散時間線形システムの有限状態近似

    計測自動制御学会制御部門制御理論シンポジウム  2007 

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  • 情報方程式表現に基づく有限オートマンの可安定性

    計測自動制御学会制御部門制御理論シンポジウム  2007 

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  • 知覚情報量制約下での非凸状態領域におけるウンドンと意思決定の同時最適化

    計測自動制御学会制御部門制御理論シンポジウム  2007 

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  • Probabilistic controllability analysis of biosystems based on piecewise affine systems approach

    2007 

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  • ハイブリッドシステムの制御と混合整数計画問題

    2007 

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  • Recursive Feasibility Guarantees in Move-Blocking MPC

    Proc. of IEEE Conference on Decision and Control  2007 

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  • Coarse Speech Recognition by Audio-Visual Integration based on Missing Feature Theory

    Proc. of 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems  2007 

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  • Model Predictive Control of Directed-Graph type Hybrid Systems

    Proc. of IEEE Conference on Decision and Control  2007 

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  • Probabilistic controllability analysis of biosystems based on piecewise affine systems approach

    2007 

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  • Exact cost performance evaluation of model predictive control laws and piecewise affine systems

    2007 

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  • Recursive Feasibility Guarantees in Move-Blocking MPC

    Proc. of IEEE Conference on Decision and Control  2007 

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  • Coarse Speech Recognition by Audio-Visual Integration based on Missing Feature Theory

    Proc. of 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems  2007 

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  • Time-Sequence Based Modeling of Finite Automata in Model Predictive control of Hybrid Systems

    Proc.of American Control Confrence  2007 

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  • Model Predictive Control of Directed-Graph type Hybrid Systems

    Proc. of IEEE Conference on Decision and Control  2007 

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  • Controlled Invariant Feasibility: Guaranteeing Constraint Satisfaction in Input

    2007 

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  • Minimalilty of Finite Automata Representation in Hybrid Systems Control

    Proc.of Internatioal confrence on Hybrid System:Computation and Control (HSCC'07)  2007 

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  • Performance Measures in Model Predictive Control with Non-Linear Prediction Horizon Time-Discretization

    Proc.of European Control Conference  2007 

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  • モデル予測制御における有限オートマトンの時系列ベーストリアルタイムモデリング

    計測自動制御学会第7回制御部門大会資料  2007 

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  • Stabliltiy Analysis of 2-Dimensional Fluid Flow Based on Sum of Squares Relaxation

    2008 

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  • 量子系のノイズレスサブシステムの制御について

    計測自動制御学会第8回制御部門大会論文集  2008 

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  • Optimal control of linear quantum systems despite feedback delay

    47th. IEEE Confernece on Decision and Control  2008 

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  • Frenkel-Kontorovaモデルのシミュレーションにおける反射波の抑制

    第52回システム制御情報学会研究発表講演会  2008 

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  • ブーリアンネットワークモデルによる遺伝子発現ネットワークの可観測性解析

    計測自動制御学会第8回制御部門大会論文集  2008 

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  • Minimalilty of Finite Automata Representation in Hybrid Systems Control

    Proc.of Internatioal confrence on Hybrid System:Computation and Control (HSCC'07)  2007 

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  • Time-Sequence Based Modeling of Finite Automata in Model Predictive control of Hybrid Systems

    Proc.of American Control Confrence  2007 

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  • Performance Measures in Model Predictive Control with Non-Linear Prediction Horizon Time-Discretization

    Proc.of European Control Conference  2007 

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  • Controlled Invariant Feasibility: Guaranteeing Constraint Satisfaction in Input

    2007 

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  • Strong feasibility in input-move-blocking model predictive control

    Proc. of IFAC symposium on nonlinear control systems (NOLCOS'07)  2007 

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  • Non-Linear Prediction Horizon Resolution for Model Predictive Control of Sampled-Data Systems

    2006 

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  • ハイブリッド制御における有限オートマトンの最小表現

    計測自動制御学会第6回制御部門大会資料  2006 

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  • 人間の注視メカニズムにおけるノイズの信号依存性

    計測自動制御学会第6回制御部門大会資料  2006 

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  • 連続時間型区分的アファインシステムのモデル予測制御に対する準オフライン解法

    計測自動制御学会第6回制御部門大会資料  2006 

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  • Lebesgue Piecewise Affine Approximation of Nonlinear Systems and Its Application to Multi-Resolution Modeling of Biosystems

    2006 

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  • 多分解能動的システム理論の構築に向けて

    計測自動制御学会第6回制御部門大会資料  2006 

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  • 有限オートマトンのモデル予測制御における時系列ベーストモデリング

    計測自動制御学会第35回制御理論シンポジウム資料  2006 

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  • バイオシステムの可制御性解析 -可制御性グラミアンからのアプローチ-

    計測自動制御学会第35回制御理論シンポジウム資料  2006 

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  • Non-Linear Prediction Horizon Time-Discretization for Model Predictive Control of Constrained Linear Sampled-Data Systems

    2006 

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  • 計測・通信の分解能・SN比と制御性能

    第1回横幹連合総合シンポジウム  2006 

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  • 多分解能の視点からのマルチスケールシステム

    自動制御連合講演会  2006 

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  • Non-Linear Prediction Horizon Time-Discretization for Model Predictive Control of Linear Sampled-Data Systems

    Proceedings of the 2006 IEEE International Conference on Control Applications  2006 

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  • Efficient Modeling of Piecewise Affine Systems in Model Predictive Control

    Proceedings of the SICE-ICASE International Joint Conference  2006 

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  • Probabilistic Controllability Analysis of Piecewise Affine systems

    Proceedings of International Symposium on Nonlinear Theory and its Applications  2006 

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  • Model Predictive Control for Continuous-time Piecewise Affine Systems Based on Mode Controllability

    Proceedings of the 2006 IEEE International Conference on Control Applications  2006 

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  • Optimal Control of Hybrid Systems including Discrete Input Sequence Constraints

    The 2nd POSTECH - Tokyo Tech. - KNU Joint Workshop on Mechanical Engineering  2006 

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  • Prediction Horizon Optimization for MPC with Limited Computational Time

    The 2nd POSTECH - Tokyo Tech. - KNU Joint Workshop on Mechanical Engineering  2006 

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  • Duality of Minimum-Variance End-Point Error Model of Voluntary Movement

    Proceedings of the 17th International Symposium on Mathematical Theory of Networks and Systems  2006 

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  • Probabilistic Controllability Analysis of Gene Regulatory Networks

    The 2nd POSTECH - Tokyo Tech. - KNU Joint Workshop on Mechanical Engineering  2006 

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  • A Randomized Algorithm for Polynomial-Time Controllability Analysis of Piecewise Affine Systems

    5th IFAC Symposium on Robust Control Design  2006 

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  • Minimal Representation of Finite Automata for Hybrid Systems Control

    Proceedings of the 45th IEEE Conference on Decision and Control  2006 

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  • Lebesgue Piecewise Affine Approximation of Nonlinear Systems and its Application to Hybrid System Modeling of Biosystems

    Proceedings of the 45th IEEE Conference on Decision and Control  2006 

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  • A Randomized Algorithm for Polynomial-Time Controllability Analysis of Piecewise Affine Systems

    5th IFAC Symposium on Robust Control Design  2006 

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  • Duality of Minimum-Variance End-Point Error Model of Voluntary Movement

    Proceedings of the 17th International Symposium on Mathematical Theory of Networks and Systems  2006 

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  • Minimal Representation of Finite Automata for Hybrid Systems Control

    Proceedings of the 45th IEEE Conference on Decision and Control  2006 

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  • Lebesgue Piecewise Affine Approximation of Nonlinear Systems and its Application to Hybrid System Modeling of Biosystems

    Proceedings of the 45th IEEE Conference on Decision and Control  2006 

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  • Lebesgue Piecewise Affine Approximation of Nonlinear Systems and Its Application to Multi-Resolution Modeling of Biosystems

    2006 

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  • Non-Linear Prediction Horizon Resolution for Model Predictive Control of Sampled-Data Systems

    2006 

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  • Simultaneous Optimization of Continuous Control Inputs and Discrete State Waypoints

    LNCS 3927 Springer-Verlag  2006 

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  • Non-Linear Prediction Horizon Time-Discretization for Model Predictive Control of Constrained Linear Sampled-Data Systems

    2006 

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  • Graph-based Model Predictive Control of a Planar Bipedal Walker

    Proceedings of the 17th International Symposium on Mathematical Theory of Networks and Systems  2006 

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  • Modeling of Discrete Dynamics for Computational Time Reduction of Model Predictive Control

    Proceedings of the 17th International Symposium on Mathematical Theory of Networks and Systems  2006 

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  • Probabilistic Approach to Controllable State Set Problem of Hybrid Systems and its Application to Luminescence Bacterium

    Proceedings of the 17th International Symposium on Mathematical Theory of Networks and Systems  2006 

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  • Graph-based Model Predictive Control of a Planar Bipedal Walker

    Proceedings of the 17th International Symposium on Mathematical Theory of Networks and Systems  2006 

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  • Simultaneous Optimization of Continuous Control Inputs and Discrete State Waypoints

    LNCS 3927 Springer-Verlag  2006 

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  • Modeling of Discrete Dynamics for Computational Time Reduction of Model Predictive Control

    Proceedings of the 17th International Symposium on Mathematical Theory of Networks and Systems  2006 

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  • Probabilistic Approach to Controllable State Set Problem of Hybrid Systems and its Application to Luminescence Bacterium

    Proceedings of the 17th International Symposium on Mathematical Theory of Networks and Systems  2006 

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  • Non-Linear Prediction Horizon Time-Discretization for Model Predictive Control of Linear Sampled-Data Systems

    Proceedings of the 2006 IEEE International Conference on Control Applications  2006 

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  • Efficient Modeling of Piecewise Affine Systems in Model Predictive Control

    Proceedings of the SICE-ICASE International Joint Conference  2006 

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  • Probabilistic Controllability Analysis of Piecewise Affine systems

    Proceedings of International Symposium on Nonlinear Theory and its Applications  2006 

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  • Model Predictive Control for Continuous-time Piecewise Affine Systems Based on Mode Controllability

    Proceedings of the 2006 IEEE International Conference on Control Applications  2006 

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  • Optimal Control of Hybrid Systems including Discrete Input Sequence Constraints

    The 2nd POSTECH - Tokyo Tech. - KNU Joint Workshop on Mechanical Engineering  2006 

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  • Prediction Horizon Optimization for MPC with Limited Computational Time

    The 2nd POSTECH - Tokyo Tech. - KNU Joint Workshop on Mechanical Engineering  2006 

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  • Probabilistic Controllability Analysis of Gene Regulatory Networks

    The 2nd POSTECH - Tokyo Tech. - KNU Joint Workshop on Mechanical Engineering  2006 

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  • A difference based efficient approximate algorithm for model predictive control of input constrained linear systems

    IFAC World Congress  2005 

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  • Probabilistic controllability analysis of hybrid systems and its application to luminescence bacterium Vibrio fischeri

    SICE annual conference  2005 

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  • ディスクリプタ形式による論理ダイナミクスのシステム表現と そのハイブリッドシステムの制御への応用

    第5回計測自動制御学会制御部門大会  2005 

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  • A Hybrid system approach to tension control in hot rolling

    IFAC World Congress  2005 

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  • 制御の視点からの多分解能動的システム

    第1回横幹連合コンファレンス  2005 

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  • Controllability analysis for gene regulation networks and its application to luminescence bacterium

    Intenational Conf. on Algebraic Biology  2005 

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  • 命題論理からなる離散ダイナミクスの状態方程式表現

    第34回制御理論シンポジウム  2005 

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  • Polynomial-time probabilistic observability analysis of sampled-data piecewise

    第34回制御理論シンポジウム  2005 

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  • ハイブリッドシステムの制御の現状

    第34回制御理論シンポジウム  2005 

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  • 区分的アファインシステムのグラフ型モデル予測制御

    第34回制御理論シンポジウム  2005 

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  • 非凸状態拘束付き最適制御のための幾何学的近似解法

    第34回制御理論シンポジウム  2005 

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  • 認識と運動制御の統合化設計への展開

    SICE計測部門第22回センシングフォーラム  2005 

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  • 人間の状態推定メカニズムにおけるノイズの信号依存性

    第34回制御理論シンポジウム  2005 

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  • System representation for logical dynamics via a descriptor form

    SICE annual conference  2005 

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  • 平面2足歩行ロボットのグラフ型モデル予測制御

    第23回日本ロボット学会学術講演会  2005 

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  • Polynomial-time probabilistic obsevability analysis of sampled-data piecewise affine systems

    Joint 44th IEEE Conference on Decision and Control and European Control Conference  2005 

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  • 視覚音声認識における口形素グループの検討

    第7回計測自動制御学会システムインテグレーション部門講演会  2006 

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  • Polynomial-time probabilistic observability analysis of sampled-data piecewise

    第34回制御理論シンポジウム  2005 

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  • Controllability analysis for gene regulation networks and its application to luminescence bacterium

    Intenational Conf. on Algebraic Biology  2005 

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  • Probabilistic controllability analysis of hybrid systems and its application to luminescence bacterium Vibrio fischeri

    SICE annual conference  2005 

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  • System representation for logical dynamics via a descriptor form

    SICE annual conference  2005 

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  • A difference based efficient approximate algorithm for model predictive control of input constrained linear systems

    IFAC World Congress  2005 

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  • Polynomial-Time Probabilistic Algorithm for Controllability /Reachability Analysis of Hybrid Sytems

    第18回 回路とシステム軽井沢ワークショップ  2005 

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  • A Hybrid system approach to tension control in hot rolling

    IFAC World Congress  2005 

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  • Well-posedness of a class of dynamically interconnected systems

    Proceedings of the 38th IEEE Conference on Decision and Control  1999 

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  • DynaGraph法による平面2足歩行ロボットのモデル予測制御

    第5回計測自動制御学会制御部門大会  2005 

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  • 随意運動の終点誤差分散最小モデルの双対性に関する考察

    第5回計測自動制御学会制御部門大会  2005 

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  • 熱延仕上ミル張力・ルーパ系のハイブリッドシステムモデルとモデル予測制御

    日本鉄鋼協会149回春季講演大会討論会  2005 

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  • Polynomial-Time Probabilistic Algorithm for Controllability /Reachability Analysis of Hybrid Sytems

    第18回 回路とシステム軽井沢ワークショップ  2005 

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  • Well-posedness of a class of dynamically interconnected systems

    Proceedings of the 38th IEEE Conference on Decision and Control  1999 

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  • Simultaneous Optimization on Motion and Decision of Piecewise Affine Systems Under Non-Convex State

    Workshop on Nonlinear and Hybrid Control,The 21st Century COE Program,Tokyo  2005 

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Awards

  • IEEE Control Systems Magazine Outstanding Paper Award

    2020   IEEE  

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  • SICE Fellow

    2015   Society of Instrument and Control Engineers  

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  • 計測自動制御学会論文賞・武田賞

    2007  

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    Country:Japan

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  • 計測自動制御学会論文賞

    2005  

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    Country:Japan

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  • 日本鉄鋼協会計測・制御・システム研究賞

    2005  

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    Country:Japan

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  • 計測自動制御学会制御部門パイオニア賞

    2001  

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    Country:Japan

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  • システム制御情報学会論文賞(砂原賞)

    1998  

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    Country:Japan

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  • Asian Control Conference Young Author Prize

    1994  

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  • Asian Control Conference Young Author Prize

    1994  

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  • 計測自動制御学会論文賞(武田賞)

    1994  

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    Country:Japan

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  • システム制御情報学会椹木記念奨励賞

    1991  

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    Country:Japan

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  • システム制御情報学会椹木記念論文賞

    1991  

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    Country:Japan

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  • 計測自動制御学会学術奨励賞

    1991  

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    Country:Japan

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Research Projects

  • Glocal Traffic Control of Next Generation Transportation Systems

    Grant number:18H03774  2018.4 - 2022.3

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research (A)

    Imura Jun-ichi

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    Grant amount:\44200000 ( Direct Cost: \34000000 、 Indirect Cost:\10200000 )

    In recent years, various control technologies such as inter-vehicle communication and automatic driving technologies have been studied intensively. However, there is no systematic theory to optimally design the entire road traffic system from individual behavior to overall behavior. This study focuses on three types of control inputs (vehicle speed control, traffic signal control, and route selection control) and develops a glocal (global/local) traffic flow control method to systematically design these inputs from a glocal perspective. Specifically, we have derived a hierarchical traffic flow network model for glocal control and have developed a design method for glocal control systems based on this model. We also have developed a road traffic flow simulator platform for glocal control system design.

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  • Foundamental Principle for control of super-scaled complex network systems

    Grant number:26249062  2014.4 - 2018.3

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research (A)

    Imura Jun-ichi, ISHIZAKI Takayuki, INOUE Masaki, SUZUKI Masayasu, KAMAL Md. Abdus Samad

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    Grant amount:\41080000 ( Direct Cost: \31600000 、 Indirect Cost:\9480000 )

    This project has developed a mathematical modeling method for control of large-scale complex network systems. In particular, a modeling method called here clustered model reduction has been extended to a wider class of network systems. Based on this findings, the project has focused on two research topics, i.e., topics on modeling of traffic networks and biological networks, and developed a new modeling method and an estimation method focusing on interaction of subsystems.

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  • Basic theory for knock-down structure identification of network systems

    Grant number:26820164  2014.4 - 2018.3

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Young Scientists (B)

    Suzuki Masayasu, HIRATA Mitsuo, IMURA Jun-ichi, IGARASHI Kenta, USUI Shunsuke, AIHARA Kazuyuki

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    Grant amount:\4030000 ( Direct Cost: \3100000 、 Indirect Cost:\930000 )

    While interest in analysis/control for large-scale network systems is increasing, developing identification methods of network structure is required. Most of the existing methods however assume that all of the states of the subsystems are available, which includes a problem on financial/technical viability. In this research, we proposed a structure identification method for networks that have a relatively smaller number of actuators/sensors than that of the subsystems, where we employed the idea of knock-down procedure in gene engineering. In addition, for the realization of nonlinear network identification, nonlinear time-series analysis methods were discussed.

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  • Bottom-up design of bio-molecular circuits based on structure-robust analysis

    Grant number:26630195  2014.4 - 2016.3

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Challenging Exploratory Research

    Imura Jun-ichi, INOUE Masaki, AIHARA Kazuyuki, SUZUKI Masayasu

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    Grant amount:\3900000 ( Direct Cost: \3000000 、 Indirect Cost:\900000 )

    In this research project, we aim to propose a new design strategy of a large-scale bio-molecular circuit which has desired functions. To this end, the following two problems are addressed. 1) For interconnected nonlinear dynamical systems, a computational method of evaluating the robustness of the structural property was proposed. The method is applied to design problem of a bio-molecular switch that models the decision maker of cell fate. 2) We found a special class of dynamical systems that reinforce the robustness via their interconnection. The class is generalized to model a bio-molecular system that expresses the differentiation of a stem cell. It is mathematically shown that the robustness of a function derived from the differentiation is reinforced via bottom-up construction. The robustness reinforcement is illustrated in numerical experiments as well.

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  • Design and Implementation of Chemical Reaction Circuits for Molecular Robots with Intelligence

    Grant number:24104003  2012.6 - 2017.3

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research on Innovative Areas (Research in a proposed research area)

    Kobayashi Satoshi, Yokomori Takashi, Imura Junichi, Hayami Ken, Yannick Rondelez

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    Grant amount:\190320000 ( Direct Cost: \146400000 、 Indirect Cost:\43920000 )

    In this research project, we presented a design methodology of chemical reaction circuits using DNA for molecular robots with intelligence, and chemically implemented a prototype of a molecular robot in collaboration with other teams in "Molecular Robotics" project. Main results include: the development of high speed computing devices equipped with light responsive artificial nucleotides, implementation of an example of chemical reaction circuit which can adopt effectively to changes of environment, and the development of a high performance 1000-fold amplifier which resolved concentration gap problem between devices in molecular robots, and greatly contributed to the implementation of a prototype of molecular robot. We also developed a design theory of "reactive" chemical reaction circuits and theory of distributed computing, both of which are adequate for molecular robots.

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  • Real-Time Optimization Algorithms and Their Applications for Control of Large-Scale Nonlinear Spatiotemporal Patterns

    Grant number:24360165  2012.4 - 2015.3

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research (B)

    Ohtsuka Toshiyuki, KASHIMA Kenji, HASHIMOTO Tomoaki, IMURA Junichi, KIMURA Keiji, MATSUO Akiko

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    Grant amount:\13910000 ( Direct Cost: \10700000 、 Indirect Cost:\3210000 )

    Fast algorithms for solving nonlinear optimal control problems were investigated to optimally control large-scale and complicated systems, and their applications to various fields were examined. Achievements in this research include, for example, development of efficient optimization algorithms for control of large-scale systems, systematic tuning methods of control responses, and a tool for automatic coding of the algorithms. The algorithms have been validated in various applications such as control of distributions of temperature and velocity in thermal fluid systems, suppression of quality dispersion in a steel making process, water quality control in advanced sewage treatment facilities, demand control in smart grids, control of power generation and attitude oscillation in floating off-shore wind turbines, and so on.

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  • Developments of Design Theory for Control Systems open to Environments

    Grant number:22656094  2010 - 2011

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Challenging Exploratory Research

    IMURA Jun-ichi, KASHIMA Kenji

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    Grant amount:\3580000 ( Direct Cost: \3100000 、 Indirect Cost:\480000 )

    The purpose of this research is to develop a control design theory on the "open" control system, where the closed loop system is opened to the environment and the target and/or policy are adapted according to the environment. More specifically, the modeling problem on the environment is formulated as the problem of partially discretizing it, and is reduced into a kind of hybrid control problem. This allows us to complement various functions of the conventional control system, i. e., the control system closed to the environment.

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  • Stochastic control of Levy driven processes with application to mathematical finance

    Grant number:21686039  2009 - 2012

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Young Scientists (A)

    KASHIMA Kenji, KAWAI Reiichiro, IMURA Jun-ichi

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    Grant amount:\16120000 ( Direct Cost: \12400000 、 Indirect Cost:\3720000 )

    We proposed an optimization approach to weak approximation of Levy-driven stochastic differential equations, which is a general form of many practical applications. We employ a mathematical programming framework to obtain numerically upper and lower bound estimates of the target. An advantage of our approach is that we do need no sample path generation. The effectiveness was verified through an application to mathematical finance. We also investigated analysis/design of stochastic control systems from various aspects, such as robustness of consensus dynamics overlarge-scale complex networks under stochastic noise.

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  • Modeling, Analysis, and Control for Gene networks

    Grant number:20360189  2008 - 2010

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research (B)

    IMURA Jun-Ichi, IKEDA Tsukasa, KASHIMA Kenji, MOROHOSHI Tomohiro

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    Grant amount:\18590000 ( Direct Cost: \14300000 、 Indirect Cost:\4290000 )

    In this research project, we have developed a basis on the control theory for gene regulatory networks including modeling (PWA approximation, model reduction etc), scale-free stability analysis for large-scale network systems, and the control synthesis such as optimal control problem, based on experimental aspects of the quorum sensing system of the bacterium Pseudomonas aeruginosa.as well as our previous works on analysis/control synthesis of hybrid dynamical systems.

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  • 多分解能動的システムのモデル化と解析

    Grant number:19656104  2007 - 2008

    日本学術振興会  科学研究費助成事業  萌芽研究

    原 辰次, 井村 順一, 児島 晃, 津村 幸治

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    Grant amount:\3300000 ( Direct Cost: \3300000 )

    本研究の目的は,複雑で多様なシステムに対する制御系設計を実現するために「分解能」に着目にした新しい制御理論に向けた基礎理論を構築することにある.特に本研究では,時間,空間,レベル,周波数等異なる性質の分解能に着目した多分解能動的システムのモデル化とその解析に焦点を当てる.
    本年度は,主に「多分解能動的システムのモデル化」に焦点を当てて研究を実施した.また,SICE Annual Conference 2009において,オアーガナイズドセッション「Multi-Resolved Dynamical System(MRDS)」を企画した.主たる成果は,以下の通りである.
    1.階層化動的システムの表現と大規模系の近似モデリング:階層化動的マルチエージェントシステムの比較的一般的な表現を提案し,階層間接続行列の役割を明らかにした.また,気象モデルなどの大規模複雑系の,階層構造に着目した近似モデルの導出法を与えた.2.階層化動的システムの基本解析:同一ダイナミクスを持つ非常に多くの動的要素が結合された大規模系を対象に,その階層化表現を提案し,安定性など基本特性の解析を行った.さらにマルチロボットによる巡回追従型の協調捕獲の解析・設計や遺伝子制御ネットワークの解析への適用を通じてその有効性を確認した.3.モデル予測制御の性能解析の多分解能的アプローチ:モデル予測制御の閉ループ系である区分的アファインシステムの制御性能や安定性を解析する手段として,時間を遡って解を発展させることで状態空間を各時間ステッブごとに多分解能化し,制御性能値やリアプノフ関数を求める手法を提案した.4.状態設定,離散時間系の制御法:前年度導かれた有限時間線形系の特異値分解法を発展させ,制御系の状態設定,補償入力の設計問題を扱う分解表現を導いた.また,結果の一部が離散時間系においても有用であることを示した.5.ネットワーク構造と性能特性:複雑な構造を有するネットワークド制御系を対象とし,ネットワークの構造および通信容量とシステム全体の特性について解析した.

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  • 遺伝子発現ネットワークの可制御性解析

    Grant number:18656120  2006 - 2007

    日本学術振興会  科学研究費助成事業  萌芽研究

    井村 順一, 加嶋 健司

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    Grant amount:\3400000 ( Direct Cost: \3400000 )

    19年度は,本研究課題の最終年度として,遺伝子ネットワークのための可制御性解析を定式化し,その解法を与えることを中心に研究を進めてきた.まず,遺伝子ネットワーク特有の問題を整理し,遺伝子ネットワークの可制御性問題としては,その非線形性や得られる解の用途から,可制御状態集合問題が重要であることを指摘し,その定式化を行った.つぎに,その解法として,遺伝子ネットワークの可制御性解析結果をどのように使用するかという観点から,区分的アファイン系での近似,確率的なアプローチの導入,射影空間を用いた低次元化,モード切替制約の導入など様々なアイデアを用いて,区分的アファイン系で与えられるバイオシステムの可制御性解析手法を提案した.この手法を緑膿菌の感染症発症抑制問題に適用し,本手法の有効性を確認した,さらに,区分的アファイン系の可制御性グラミアンを定義し,その計算手法を開発した.これにより,遺伝子ネットワークのどの部分に入力を配置するとよいかが決定できるようになる。最後に、遺伝子ネットワークの制御問題に対して,評価関数を入力量として,最適な入力軌道を求める問題を非線形系のモデル予測制御問題として定式化し,緑膿菌に対して実際に制御入力を混合整数計画問題に帰着して求めた.これにより,どの入力は位置のもとでどのような制御入力を加えればよいかを決定する一連の手法が開発できた.最後に,本研究課題に対する研究成果を総括し,また,今後の課題を検討した.

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  • Practical control design method of hybrid systems

    Grant number:17360196  2005 - 2007

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research (B)

    IMURA Jun-ichi

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    Grant amount:\16410000 ( Direct Cost: \15300000 、 Indirect Cost:\1110000 )

    Recently in the control community, much attention has been paid on research topics on hybrid systems, which are composed of continuous dynamics and discrete dynamics, and many results have been obtained so far toward to developments on systematic design methods for some kind of intelligent control systems. However, there are few practical applications because several crucial issues are still open. Thus in this research project, four topics on modeling, efficient analysis, real-time optimization, and applications have been studied. First, a new modeling on discrete dynamics has been developed, which allows us to solve the optimal control problem in an efficient way. Next, a probabilistic controllability analysis of hybrid systems has been proposed, which can be applied to a large-scale class of systems. Third, an efficient solver to mixed logical programming problems has been developed based on the precalculation. Finally, an application to walking robot has been executed to verify the efficiency of the proposed algorithm.

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  • 複雑システムを制御する多分解能動的システム理論の創成

    Grant number:17636007  2005

    日本学術振興会  科学研究費助成事業  基盤研究(C)

    原 辰次, 井村 順一, 児島 晃, 鷹羽 清嗣, 津村 幸治, 増田 士朗

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    Grant amount:\3100000 ( Direct Cost: \3100000 )

    本企画調査では,一様でない複雑動的システムを解析・制御するための多分解能(マルチレゾルーション)に基づく,新しいシステム制御理論の構築に向けた準備段階として,制御分野に限らず,多分解能に関連する様々な研究分野について広く調査し,多分解能に基づく制御問題を分類,整理した.具体的な調査内容は以下のとおりである.
    1.研究代表者および分担者による計6回の会議(第1回2005年5月24日,第2回6月17日-18日,第3回8月2日-3日,第4回8月19日-20日,第5回9月25日-26日,第6回3月10日-11日)を開催した.会議では研究分担者がおのおのの担当分野の研究調査報告を行うとともに,バイオ,ナノ,信号・画像処理,ファイナンスの分野の研究者に講演を依頼し,多分解能動的システムの応用事例に関して調査を行った.
    2.下記の2つのオーガナイズドセッションにおいて,多分解能に関連する様々な研究分野の研究者に発表を依頼し,多分解能動的システム論の構築に向けた情報収集を行った.
    ・第22回センシングフォーラム計測部門大会(9月29,30日)にて,オーガナイズドセッション「計測と制御の接点を探る」を企画し,センサ分解能と制御性能の観点からの発表を中心に,計測と制御の観点から多分解能動的システムの問題設定に関する調査を実施した.
    ・第1回横幹連合コンファレンス(11月25,26日)にてオーガナイズドセッション「多分解能」を企画し,統計科学,設計工学,生体シミュレーション,信号処理,ファイナンスの各分野の観点から「多分解能」に関する研究話題について発表を行い,各研究分野間の共通点,相違点などの議論を通じて多分解能動的システムの本質を探った.
    3.2006年5月に開催の計測自動制御学会制御部門大会にて,研究代表者・分担者による本企画調査報告をまとめたオーガナイズドセッションを企画中である.
    4.調査の一部を計測自動制御学会誌「計測と制御」の解説記事の一部として紹介した.

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  • Basic Structure and Design of Hybrid Controllers including logic information process

    Grant number:14550438  2002 - 2004

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research (C)

    IMURA Jun-ichi, HARA Shinji

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    Grant amount:\4000000 ( Direct Cost: \4000000 )

    This research have obtained the following results.
    1.Modelling : We have proposed a new model of hybrid systems, which we call the sampled-data piecewise affine systems, where the discrete switching is executed according to the state condition at a given sampling time fixed by the programming in the digital device.
    2.Well-posedness, Stability, Controllability analysis : For the class of piecewise affine systems and linear complementarity systems, the solution concept is defined and well-posedness conditions, which can be easily checkable, are derived. A new analytical method of stability based on the poles of the systems has been proposed for the piecewise linear systems. In addition, a probabilistic controllability method of piecewise affine systems has been developed, which allows us to determine the controllability of a larger class of hybrid system
    3.Optimal control : We have derived an optimal controller for the class of sampled-data piecewise affine systems, and have shown one of the basic structures of the hybrid controller The approach has been applied to the control problem of CPU, and it has been shown that the proposed method is quite useful by numerical simulation, using the CPU model obtained identification. Furthermore, an efficient algorithm to solving the mixed integer quadratic programming problem, to which the optimal control problem is reduced, has been developed.
    In this way, we have developed the basic theory of hybrid control systems by a series of research in this term, which will be important results toward the practical system control theory of hybrid systems.

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  • Design of robust autotuning control system based on model validation

    Grant number:12650448  2000 - 2002

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research (C)

    SAEKI Masami, WADA Nobutaka

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    Grant amount:\3400000 ( Direct Cost: \3400000 )

    1) We propose a data-driven design method of PID controllers for a mixed sensitivity control problem based on unfalsified control concept. This method does not require constructing a mathematical model but only requires the input and output response of the plant of a feedback system excited by sinusoidal reference inputs for many frequencies. A falsified region which satisfies a necessary condition on the PID gains is drawn on the parameter plane for each frequency.
    2) We propose two adaptive identification methods of the critical point, and examine the property by water level-control experiments. The critical gain is identified by using the self-oscillation of the feedback system composed of the plant, a saturation function and a tuning gain where the gain is decreased gradually based the saturation information. This method can be also applied to multi-input multi-output plants. Further, inorder to identify the critical frequency, a new tuning rule which use an adaptive frequency estimator is proposed. These two methods works well for computer simulation, but we found by experiments that the convergence speed is much slower than the simulation result for practical use.
    3) We examine nonlinear control problems such as antiwindup control for input saturation plant, backward driving control problem of articulated vehicles, and hovering control of twin rotor helicopter model in order to obtain a fundamental knowledge to such a complicated systems and to study such systems by unfalsified control concept in the future. The usefulness is examined by simulation and experiments.

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  • リアルタイム制御の新展開-ハイブリッドダイナミカルシステム理論の体系化

    Grant number:12895006  2000

    日本学術振興会  科学研究費助成事業  基盤研究(C)

    潮 俊光, 井村 順一, 小林 啓吾, 山本 茂, 高井 重昌, 土居 伸二

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    Grant amount:\3400000 ( Direct Cost: \3400000 )

    代表者・分担者を以下の5グループに分けて,ハイブリッドダイナミカルシステムに関する最近の研究動向を調査し,将来特定領域研究に発展させるときに取り上げるべき重要な研究テーマの整理を行った.
    ・ 現象解析
    ハイブリッドダイナミカルシステム特有の分岐現象の解析,特異摂動理論に基づく切り替えダイナミクスの解析に関する最近の成果とオープン問題を整理した.さらに,DC-DC変換器を例に取り,ハイブリッド性に依存した特徴的現象を確認した.
    ・ モデリング
    連続変数と離散変数の相互干渉のモデリング,数理モデルのwell-posed性に関する研究成果を整理した.特に,不連続性を考慮した数理モデルの構築の重要性と,得られた数理モデルに対する解の定義に多くの問題点があることがわかった.
    ・ 安定解析
    不連続軌道に対する安定性の概念の分類,リアプノフの安定理論の拡張,LMIを用いた安定条件に関する研究成果をまとめた.計算機ネットワークを介した制御系が今後重要となると思われるが,それに関する研究がまだ不十分であることがわかった.
    ・ 実時間スーパバイザ制御
    ハイブリッドペトリネットやハイブリッドオートマトンを用いたスーパバイザの設計法について調査した.シンボリックな解析のためには何らかの同値関係を導入し,有限状態システムで近似する必要があるが,この近似に多くの課題が残されていることがわかった.
    ・ ハイブリッド制御器
    サンプル値制御理論のハイブリッド制御への拡張,マルチプルモデルシステムによるロバスト安定化スイッチング規則についての最新の成果を整理した.特に次世代サンプル値制御系設計のための定式化について検討した.

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  • Development of modeling and control analysis of jumpless hybrid systems

    Grant number:11650449  1999 - 2001

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research (C)

    IMURA Jun-ichi, SAEKI Masami

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    Grant amount:\3700000 ( Direct Cost: \3700000 )

    The purpose of this research project is to develop a series of system control theory from modeling to control for a class of hybrid systems, i.e., piecewise affine systems with no jump phenomena. The result is as follows : first, we have proposed a new concept of discrete transition rule, named switch-based transition rule by regarding the discrete state of the piecewise affine system as 0-1 switches. This rule corresponds to an idealization of switching phenomena with time-delays. Next, we have presented a definition of solutions and well-posedness of such systems, and then a characterization of well-posed systems. This approach gives a basis of the well-posedness analysis even for more general class of hybrid systems. Third, the concept of feedback well-posedness has been proposed and a necessary and sufficient condition for the bimodal system to be rendered well-posed via state feedback, which is a necessary condition for stabilizability. Furthermore, based on this feedback well-posedness analysis, we have derived a canonical form of all feedback well-posed bimodal systems to obtain a sufficient condition for the system to be stabilizable. Finally we have proposed a stabilization method of bimodal systems and 4-modal systems, which shows that the control problem of some class of piecewise affine systems can be reduced to that of the usual linear systems by some feedback transformation.

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  • Analysys and control of hybrid dynamical systems

    1999

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    Grant type:Competitive

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  • ハイブリッドダイナミカルシステムの解析と制御に関する研究

    1999

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    Grant type:Competitive

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  • Study on the design method of robust auto-tuning control systems for large-scale complex systems

    Grant number:09650475  1997 - 1999

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research (C)

    SAEKI Masami, KIMURA Junso, IMURA Jun-ichi

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    Grant amount:\3500000 ( Direct Cost: \3500000 )

    1. An efficient numerical algorithm for obtaining the H-infinity optimal PID controller is proposed. The original design problem is approximated as linear constraints for each frequency, and linear programming is applied. This method can be applied to the design of a decentralized PID controller, which is a future work.
    2. Nonlinearity is one of the major cause of complexity of the control system, and in order to decrease the difficulty caused by the nonlinearity, a few design methods and their applications are examined. First, the design method of anti-windup controller against input saturations is proposed. It guarantees the robust stability and can be applied to decentralized controller without any difficulty. Second, a design method examined is a two step liberalization of smooth nonlinearity and the application of linear controller design to the linearized model. This method is applied to a twin rotor helicopter model and its usefulness is shown experimentally. Lastly, a parallel supporting damper with tendon is proposed as a new actuator structure for the control of a flexible beam, and robust control design method is applied to compensate for the unmodelled higher modes.
    3. As a large scale complex system, a hybrid system which is composed of linear time-invariant subsystems dynamically connected is examined from the viewpoints of continuity and well-posedness of solutions. Basic analytical properties and the conditions are clarified. It is expected that this result is extended to the control design of hybrid systems.

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  • 非線形H∞制御理論による制御系設計論の構築と高速移動体制御への応用

    Grant number:09750264  1997 - 1998

    日本学術振興会  科学研究費助成事業  奨励研究(A)

    井村 順一

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    Grant amount:\1900000 ( Direct Cost: \1900000 )

    本年度は,まず,申請者のこれまでの研究結果である非線形システムの安定化補償器のパラメトリゼーションを用いることによって,目標値応答とフィードバック特性に関する達成可能なクラスを,パラメトリゼーションの形で与える導出ができた段階である.しかし,非線形2自由度構造に対する理論的構築に向けた研究では,現段階ではフィードフォワードとフィードバックの非線形システムにおける役割が明確に解析できていない.これは,線形システムと非線形システムの大きな相違によるものであり,別方向からのアプローチが必要であると考える.また,以上の研究と平行して,非線形システムのゲイン特性を評価するために必要な,L_2ゲインのハミルトン・ヤコビ偏微分方程式による特徴づけを行った.さらに,RCヘリコプタを簡単にモデル化した,2ローター浮上システムを製作し,システム同定およびホバリング,軌道追従などの基礎実験を行った.特に,高速移動制御を目指す観点から,まずは,動的な状態フィードバックによる厳密な線形化法を適用した非線形ロバスト制御系を構築し,その有効性を,近似線形システムをもとに設計した線形ロバスト制御系と,実験的な観点から比較検討した.その結果,厳密な線形化手法では,近似線形システムに基づく制御系の場合より,十分広い領域で安定化が達成されていることが確認できた.また,ある程度の速度,加速度を有する目標軌道の場合でも有効であることが確認できた.

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  • Basic Research on Fusion of Control Theories towards A New Generation of System Control Engineering

    Grant number:08305011  1996 - 1998

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research (B)

    OHTA Yoshito, IWASAKI Tetsuya, FUJITA Masayuki, OSUKA Koichi, SUGIE Toshiharu, ADACHI Shuichi

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    Grant amount:\5600000 ( Direct Cost: \5600000 )

    A fundamental issue of control technologies of the next generation is the integration of control theories that cover a wide range of areas : modelling of intrinsically nonlinear control systems, design and installation of control laws, and exploitation of computational power. This research project has been succesful in bringing researchers on the above mentioned areas in on discussions, presenting new research results of their own, and creating new directions for integrated control technologies. Eight research meetings and an organized session of a control conference during the project period materialized the plans into practice.
    Contributions of the project are summarized as follows :
    ・modelling compatible with robust control theories,
    ・modelling with implicit systems and hybrid systems,
    ・robust control for infinite dimensional systems,
    ・control and analysis of nonholonomic systems,
    ・theories and applications of nonlinear H* control,
    ・stability analisys of sample data systems, and
    ・control theories based on optimization such as linear matrix inequalities.
    As for modelling, topics such as identification for robust control, and set membership identification were discussed. As for control, theories dealing with nonlinearities that are common in practical control systems are discussed. This includes control and analysis of nonholonomic systems and nonliner H* control. As for control theories exploiting computational power, a condition for robust stability of sample data control is considered. Also a connection between linear matrix inequalities and information geometry is analyzed. The integration of control theories has been just started, but it certainly is on its way.

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  • 非線形制御系の基本構造とそれに基づく非線形系のロバスト制御系設計に関する研究

    Grant number:08750272  1996

    日本学術振興会  科学研究費助成事業  奨励研究(A)

    井村 順一

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    Grant amount:\1100000 ( Direct Cost: \1100000 )

    本年度は,まず申請者らによるこれまでの研究成果である非線形系の安定化補償器のパラメトリゼーションを用いて,それに基づく非線形制御系の基本構造を明らかにした.これにより,状態フィードバックの場合には,線形系の場合の自然な拡張である基本構造と同様の結果が得られることを示した.また,非線形系の安定化補償器を時変系も含めたより一般的な場合へ拡張した.つぎに,滑らかな状態フィードバックによって非線形システムが漸近安定化できるための必要十分条件について考察した.そこでは線形系と違い,3種類の安定化可能性を定義し,おのおのの必要十分条件を議論した.また,L_2安定化可能性の観点から,3種類の安定化可能性の関係について明らかにした.さらに,安定化条件に関する研究によって,非線形系の外乱除去問題に生じる非線形H_∞制御問題の可解であるための必要十分条件を導出することができた.これらの結果に基づいて,非線形系のロバスト制御系設計問題を非線形H_∞制御問題に帰着する際に定式化する際に生じるハミルトン・ヤコビ方程式(不等式)の近似解法に関する研究を行った.これにより解の重ね合わせ法という新しい近似解法を提案した.また,以上の結果を倒立振り子の外乱抑制問題に適用し,数値シミュレーションにより有効性を確認している.現在は,可変長振り子の振動制御の実験機器を製作中であり,今後本研究で得られた設計法の有効性を検討する予定である.

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  • 複数提示端末を有する仮想機械動的操作感提示システム

    Grant number:08234213  1996

    日本学術振興会  科学研究費助成事業  重点領域研究

    吉川 恒夫, 井村 順一, 山本 穣, 横小路 泰義

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    Grant amount:\3000000 ( Direct Cost: \3000000 )

    人工現実感の研究が近年活発に行われている.しかし一人のオペレータの両腕や複数のオペレータによる仮想物体操作感提示の研究は多くなく,さらに動力学的な検討はほとんど行われていない.
    本研究は,仮想的な機械類を,一人のオペレータが両腕で操作する場合や複数オペレータが操作する場合をを想定し,その動特性を含めた操作感をオペレータに提示するための理論的検討と提示装置の開発を目的とするものであり,以下のような研究成果を得た.
    (1)仮想世界のモジュール型構築法
    著者らはこれまで,仮想物体の動的な操作感提示のためのアルゴリズムについて研究を行ってきた.これを基に,動特性に従って動く複数の仮想物体を複数のオペレータが扱う際のように,仮想のものと現実のものとが混在する複雑な場合に有効な,仮想世界を構築するための一般的手法を提案している.これは仮想物体やオペレータなどをすべて,ある入力に対してある出力をする動特性モジュールと考え,それらの間の相互作用をすべて相互作用モジュールで表現するものである.
    (2)複数オペレータによる操作感提示実験
    (1)のモジュール型構築法を用いて,2人のオペレータが二つの立方体を共同で操る場合の操作感提示実験を行った.その結果,オペレータは十分現実的な操作感を得ていることが確認された.
    以上の結果により,当初の計画を一応達成できたと考える.今後はより一般的な場合についてモジュール型構築法の有効性を実験的に検討したい.

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  • Control of nonlinear systems with nonholonomy

    1995 - 1998

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    Grant type:Competitive

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  • 非ホロノミックシステムの制御

    1995 - 1998

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    Grant type:Competitive

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  • 仮想機械の動力学的操作感提示システム

    Grant number:07244211  1995

    日本学術振興会  科学研究費助成事業  重点領域研究

    吉川 恒夫, 井村 順一, 山本 穣

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    Grant amount:\4300000 ( Direct Cost: \4300000 )

    本研究は,可動部を有する機械類を対象とし,これを実際に製作することなくその動特性をも伴う操作感をシミュレーションするための,力覚および触覚を伴う人工現実感を実現を目的として実施したもので,本年度の研究によって得られた成果の概要は以下の通りである.
    (1)理論的基礎の確率.複数のリンク機構を用いた操作感提示装置によって,仮想対象物の動特性を考慮した操作感をオペレータに提示する方法として「インピーダンス提示」の考え方を提案し,これを実現するための具体的方法として,「力計測,運動提示」と「運動計測,力提示」の2方法を与えた.いずれの方法においても,提示装置の動特性は完全に補償される.現有の力覚提示装置による実験の結果,前者の方法は剛性の高い対象物に適しており,後者は弾性をもつ対象物に適していることが,あきらかになった.また対象物表面の摩擦特性も,オペレータがそこそこ感じられるように出来ることがわかった.
    (2)操作感提示装置の設計試作.オペレータの手先に装着するための,新たなアイデアに基づく受動的操作感提示装置を設計し,試作した.現在その特性を調べている所である.
    (3)3次元環境表示ソフトウエアの作成.仮想機械の動特性計算ならびに3次元ディスプレイシステム上への表示アルゴリズムを求め,そのインプリメンテーションを行った.(1)に述べた実験はこれを用いて行ったものである.

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  • 非線形H_∞制御理論による非線形系のロバスト制御系設計に関する研究

    Grant number:07750260  1995

    日本学術振興会  科学研究費助成事業  奨励研究(A)

    井村 順一

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    Grant amount:\1100000 ( Direct Cost: \1100000 )

    本年度は,まず申請者らによるこれまでの非線形系のH_∞制御に関する結果をStrict dissipativityという概念を新たに定義することによって整備し,状態フィードバックによる非線形H_∞制御問題が可解であるための必要十分条件を導出した.非線形系の滑らかな状態フイ-ドバックによる漸近安定化のための十分条件はいくつか既に得られているが,L_2安定性を加えた漸近安定性を考慮することによって,この結果は初めて漸近安定化のための一つの必要十分条件を与えたものである.また,これにより状態フィードバックによるロバスト制御系設計法の一つの基礎が確立したといえる.
    ついで,非線形系の感度特性など様々な設計仕様を定義するため,L_2ゲイン以外に,L_<2∞>ゲイン,L_<2∞>/L_2ゲイン,ハンケルゲインを新たに定義して,その特徴づけをハミルトン・ヤコビ不等式の解の可解性に帰着できることを示した.これらは線形系で得られた結果を非線形系に自然に拡張できることを示す.また,線形近似システムが与えられる場合には,もとの非線形システムのこれらのゲインと線形近似システムのゲインとは等しいことを証明した.これによって,線形近似システムに対して構成された線形制御則は,もとの非線形システムに対しても原点近傍で線形システムの場合と同じゲインの大きさが保証されることがわかった.しかしながら,線形系におけるH_2ノルムおよびL_<1∞>ゲインに対しては,非線形系に拡張することができないかもしれないという否定的な推測が得られた.今後は,この点を明確にする必要がある.
    また現在,可変長振り子の振動制御の実験機器を製作中であり,今後本研究で得られた設計法の有効性を検討する予定である.

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  • 凸最適化理論を用いた非線形H_∞最適制御に関する研究

    Grant number:06750233  1994

    日本学術振興会  科学研究費助成事業  奨励研究(A)

    井村 順一

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    Grant amount:\900000 ( Direct Cost: \900000 )

    本年度は,まず非線形システムのH_∞制御の基礎として非線形システムに対する有界実条件をハミルトン・ヤコビ不等式の解の可解条件として導出した.線形システムの場合と比べて,ゲイン条件を厳密に満たすようにするために,ハミルトン・ヤコビ不等式の解とある関数の関係が陽に必要となる点が特徴的である.つぎにこの有界実条件を用いて状態フィードバックの場合のH_∞制御問題が可解であるための必要十分条件を導出した.従来研究では十分条件しか得られていなかったのに対して,本研究で初めて必要十分条件が得られた理由の一つは,上記の有界実条件の導出にある.さらに出力フィードバックの場合のH_∞制御問題が可解であるための必要条件を導出した.従来結果がシステムの安定性を考慮していなかったのに対し,本結果では安定性を考慮した点が大きな相違である.これにより本結果は線形システムの場合に得られている結果の自然な拡張となっている.しかしながら,得られた必要条件が十分であることまで示すことはできなかった.様々な解析の結果,非線形システムの場合には出力フィードバックの必要十分条件を得ることは難しいことがわかった.しかし,指数安定化の場合に限ると,上記で得られた出力フィードバックに関する必要条件は十分条件であることが示せた.さらに,以上の解析に基づいて,凸最適化理論の観点からハミルトン・ヤコビ不等式という偏微分方程式の解法の研究を行った.現段階では一般の場合において凸最適化問題に帰着する手法は見つかっていないが,ある特殊な場合において最小2乗法に基づく数値解法を提案し,その有効性を検討した.

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  • Task Sharing and Intervention in Human-Robot Cooperating System

    Grant number:05650258  1993 - 1994

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for General Scientific Research (C)

    YOSHIKAWA Tsuneo, IMURA Junichi

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    Grant amount:\2200000 ( Direct Cost: \2200000 )

    This research is concerned with task sharing and intervention in human-robot cooperating systems. We have obained the following results.
    (1) We have proposed a new framework of human-robot cooperating systems where six operation modes for cooperating between manual operation and autonomous functions are introduced.
    (2) We have developed a prototype of the mode selection device, where three toggles switches are implemented. This device enable us to change smoothly the operation modes.
    (3) We have made one DOF experimental system and confirmed the validity of the proposed operation modes and the mode sequence by some exreiments. In addition, we have investigated the performance of the proposed system for some simple tasks.
    We have pointed out that more easy-to-use devices for mode selection should be developed and the human-robot cooperating system should understand the operator's intention in various situations. In addition, we have given some results on a micro teleoperation system for compensating scaling effects, and human-interface in terms of virtual operator systems.

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  • 非線形システムのH無限大制御に関する研究とヘリコプターの姿勢制御への適用

    Grant number:05750219  1993

    日本学術振興会  科学研究費助成事業  奨励研究(A)

    井村 順一

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    Grant amount:\900000 ( Direct Cost: \900000 )

    本年度は,非線形システムの H∞制御に関する基礎的な研究を行った。まず非線形システムのH∞制御の基礎として非線形システムに対する有界実条件の導出を行った。すなわち非線形システムがある与えられたL_2ゲインをもつための必要十分条件を導出した。この必要十分条件は,Hamilton-Jacobi方程式と呼ばれる偏微分方程式の可解性により表されており,線形システムの場合のRiccati方程式に完全に対応するものである。つぎに,この有界実条件を用いて状態フィードバックの場合のH∞制御問題が可能であるための十分条件を導出した。最後に,実際の制御系設計問題としてロバスト安定化問題を扱い,上述で導出した状態フィードバックによるH∞制御を利用して,その解法を与えた。数値例によりこの手法の有効性は確認されている。現在は,実験用ラジコンヘリコプターを製作中であり,これにより本手法の有効性を実験的に確認する予定である。

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