■Faculty | Department of Mechanical Engineering / Graduate School of Science and Engineering Research / Research Institute for Science and Technology |

■Position | Professor |

■Degree | |

■Commentator Guide | https://www.kindai.ac.jp/meikan/920-kosaka-manabu.html |

■URL | http://www.mec.kindai.ac.jp/mech/lab/kosaka |

Last Updated :2020/04/03

- - 1999 , Osaka Prefecture University
- - 1999 , Osaka Prefecture University, Graduate School, Division of Engineering
- - 1991 , Osaka Prefecture University
- - 1989 , Osaka Prefecture University, School of Engineering

- Manufacturing technology (mechanical, electrical/electronic, chemical engineering), Control and systems engineering
- Manufacturing technology (mechanical, electrical/electronic, chemical engineering), Control and systems engineering
- Informatics, Mechanics and mechatronics

- Undergraduate-Student Teaching Materials for Mechatronics, Yoshikazu Ohtsubo, Atsutoshi Ikeda, Kiyoshi Ioi, Manabu Kosaka, Journal of Robotics and Mechatronics, Journal of Robotics and Mechatronics, 29(6), 1005 - 1013, Dec. 2017 , Refereed
- Reproduction of the Object Stroking Sense by the Electrical Stimulation, Yuki Kitani, Nozomi Oyama, Teruaki Nochino, Shima Okada, Manabu Kosaka, Proc. of 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Proc. of 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Jul. 2017 , Refereed
- Development of Wearable Muscle Fatigue Detection System Using Capacitance Coupling Electrodes, Takahiro Kobayashi, Shima Okada, Masaaki Makikawa, Naruhiro Shiozawa, Manabu Kosaka, Proc. of 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Proc. of 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Jul. 2017 , Refereed
- Simple proof of nyquist's criterion for stability, Manabu Kosaka, International Journal of Control Theory and Applications, International Journal of Control Theory and Applications, 6, 29 - 33, Dec. 01 2013 Summary:The proof of Nyquist's criterion for stability requires the assumption that frequency goes along the closed contour enclosing the right-half complex plane in a clockwise direction. This paper presents a new simple proof that does not require the assumption.© International Science Press.
- A proof of Nyquist's Criterion for Stability without requiring the assumption that s goes along the closed contour enclosing the right-half complex plane, 小坂学, Transaction of the Society of Instrument and Control Engineers, Transaction of the Society of Instrument and Control Engineers, 49(4), 497 - 498, Apr. 30 2013
- Generalised disturbance observer for systems with harmonic disturbances and input saturation using the internal model principle, Journal of Low Frequency Noise Vibration and Active Control, Journal of Low Frequency Noise Vibration and Active Control, 29(1), 55 - 64, Mar. 2010
- Harmonic control for systems with input saturation using the internal model principle, International Journal of Control Theory and Applications, International Journal of Control Theory and Applications, 2(2), 169 - 179, Dec. 2009
- FES control design for paraplegia using indoor rowing machine, International Journal of Control Theory and Applications, International Journal of Control Theory and Applications, 2(2), 159 - 167, Dec. 2009
- Parameters identification for Interior Permanent Magnet Synchronous Motor driven by sensorless control, Journal of Low Frequency Noise, Vibration & Active Control, Journal of Low Frequency Noise, Vibration & Active Control, 28(4), 269 - 283, Dec. 2009
- Vibration Suppression Using Disturbance Observer for Systems with Periodic Disturbances and Input Saturations, 小坂学, 日本機械学会論文集 C編, 日本機械学会論文集 C編, 75(750), 302 - 309, Feb. 25 2009
- Vibration Suppression Using Disturbance Observer for Systems with Periodic Disturbances and Input Saturations(Mechanical Systems), KOSAKA Manabu, Transactions of the Japan Society of Mechanical Engineers. C, Transactions of the Japan Society of Mechanical Engineers. C, 75(750), 302 - 309, Feb. 25 2009 Summary:Noises and vibrations are often generated by periodic disturbances in compressors, pumps and so on. It is well known that vibration suppressing systems such as the repetitive control effectively suppress the periodic disturbances. However, there is no report about methods that can make control performance deterioration as small as possible when control inputs of the vibration suppression system are saturated. This paper designs a disturbance observer that effectively suppresses periodic disturbances. The proposed method can accurately estimate the disturbance if one of the following two conditions is satisfied. The one is that the control object is known, and the other is that the input is not saturated. The control object is assumed to be a linear system that may have time-delay element and handle multi-input and multi-output. The proposed system estimates disturbances using the structure of the disturbance observer. Some compressors system simulations are illustrated to verify the effectiveness of the method. The method is appropriate to rotational machine systems such as compressors and pumps in which the vibrations and noises should be avoided.
- Vibration suppression using disturbance observer for systems with periodic disturbances and input saturations, Manabu Kosaka, Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 75, 302 - 309, Feb. 01 2009 Summary:Noises and vibrations are often generated by periodic disturbances in compressors, pumps and so on. It is well known that vibration suppressing systems such as the repetitive control effectively suppress the periodic disturbances. However, there is no report about methods that can make control performance deterioration as small as possible when control inputs of the vibration suppression system are saturated. This paper designs a disturbance observer that effectively suppresses periodic disturbances. The proposed method can accurately estimate the disturbance if one of the following two conditions is satisfied. The one is that the control object is known, and the other is that the input is not saturated. The control object is assumed to be a linear system that may have time-delay element and handle multi-input and multi-output. The proposed system estimates disturbances using the structure of the disturbance observer. Some compressors system simulations are illustrated to verify the effectiveness of the method. The method is appropriate to rotational machine systems such as compressors and pumps in which the vibrations and noises should be avoided.
- Vibration suppression control against periodic disturbances for systems with an input saturation, Journal of Low Frequency Noise Vibration and Active Control, Journal of Low Frequency Noise Vibration and Active Control, 27(4), 281 - 290, Dec. 2008
- Vibration suppression control against periodic disturbances for systems with input saturation, Manabu Kosaka, Journal of Low Frequency Noise Vibration and Active Control, Journal of Low Frequency Noise Vibration and Active Control, 27, 281 - 290, Dec. 01 2008 Summary:Compressors, pumps etc often generate noise and vibration due to periodic disturbances. It is known that vibration suppressing systems such as repetitive control are effective in suppressing periodic disturbances. However, there is no report about methods that can make control performance deterioration as small as possible when the control inputs of the vibration suppression system are saturated. This paper develops a disturbance observer that is effectively suppressing periodic disturbances, and proposes a method that can make control performance deterioration minimal even if the control inputs are saturated. First, the proposed system estimates disturbances using the disturbance observer. Next the estimated disturbances are passed into a filter of unity gain and zero phase change at the disturbance's frequencies, and are added into the control input in order to cancel the periodic disturbance. Some motor system simulations show that the phase of the estimated disturbances corresponds to that of the periodic disturbances so that the method can make control performance deterioration minimal. The method is appropriate to rotational machine systems such as compressors and pumps in which vibration and noise should be avoided.
- Anti-windup for two degree of freedom model matching control system, Sep. 2008
- State-space model identification using input and output data with steady state values, Sep. 2008
- Anti-windup for Vibration Suppression Control Using the Internal Model Principle Against Periodic Disturbances, 小坂学, 計測自動制御学会論文集, 計測自動制御学会論文集, 44(8), 695 - 697, Aug. 31 2008
- Anti-windup for a Two-Degree-of-Freedom Model Matching Control System., Manabu Kosaka, Hiroshi Uda, Control and Intelligent Systems, Control and Intelligent Systems, 36(3), 2008 , Refereed
- State-Space Model Identification using input and output Data with steady State Values., Manabu Kosaka, Hiroshi Uda, Control and Intelligent Systems, Control and Intelligent Systems, 36(3), 2008 , Refereed
- Anti-windup using switch for SISO system, Journal of Low Frequency Noise Vibration and Active Control, Journal of Low Frequency Noise Vibration and Active Control, 26(3), 205 - 215, Sep. 2007
- Anti-windup using switch for SISO system, Manabu Kosaka, Hiroshi Uda, Journal of Low Frequency Noise Vibration and Active Control, Journal of Low Frequency Noise Vibration and Active Control, 26, 205 - 215, Jun. 01 2007 Summary:In this paper, we propose a new anti-windup method with a clear procedure of initialization to avoid vibrations and overshoots in spite of saturation of the control input. This method is based on a single-input single-output 2 degree of freedom model matching control system and by using a switch, a saturated control input and an output are respectively used for updating a reference output and a feedforward input instead of a control input and a reference output; these are not affected by input saturation. By this means, even if the control input is saturated, the state of the reference model corresponds with that of the control object and at the moment the updated control input is not saturated, the output immediately corresponds with the reference output. Furthermore, a procedure to initialize the reference model by which vibrations and overshoots do not occur even if the control input is saturated, is given. This method is suitable for systems in which vibrations and overshoots are taboo, such as tool machines. The effectiveness of the proposed method is verified by numerical simulation.
- An identification method with direct acquisition of reduced order model from a step like response, Manabu Kosaka, Journal of Low Frequency Noise Vibration and Active Control, Journal of Low Frequency Noise Vibration and Active Control, 25, 145 - 151, Dec. 27 2006 Summary:This paper describe a discrete time off-line identification method performed by using input and output data having a constant steady state output response such as a step response. A step input causes noise or vibration from a mechanical system only at the moment when it is applied but they are attenuated asymptotically. The method can directly acquire any order of reduced model without knowing the real order of the plant. The effectiveness of the method is verified by applying it to a two-mass mechanical system.
- State-space model identification using input and output data with steady state values zeroing multiple integrals of output error, J. Dyn. Sys., Meas., Control, J. Dyn. Sys., Meas., Control, 128(3), 746 - 749, Sep. 2006
- An Identification Method with Direct Acquisition of Reduced Order Model from a Steplike Response, Journal of Dynamic Systems Measurement and Control-transactions of The Asme, Journal of Dynamic Systems Measurement and Control-transactions of The Asme, 126(4), Jun. 2006
- Auto-tuning of adaptive control with dead zone, Jan. 2006
- Auto-Tuning of Adaptive Control with dead Zone., Manabu Kosaka, Hiroshi Shibata, Control and Intelligent Systems, Control and Intelligent Systems, 34(1), 2006 , Refereed
- Dynamic system identification using a step input, Manabu Kosaka, Hiroshi Uda, Eiichi Bamba, Hiroshi Shibata, Journal of Low Frequency Noise Vibration and Active Control, Journal of Low Frequency Noise Vibration and Active Control, Vol.24, No.2, pp. 125-134, 125 - 134, Dec. 01 2005 Summary:In this paper, we propose a deterministic off-line identification method performed by using input and output data with a constant steady state output response such as a step response that causes noise or vibration from a mechanical system at the moment when it is applied but they are attenuated asymptotically. The method can directly acquire any order of reduced model without knowing the real order of a plant, in such a way that the intermediate parameters are uniquely determined so as to be orthogonal with respect to 0 - N-tuple integral values of output error and irrelevant to the unmodelled dynamics. From the intermediate parameters, the coefficients of a rational transfer function are calculated. In consequence, the method can be executed for any plant without knowing or estimating its order at the beginning. The effectiveness of the method is illustrated by numerical simulations and also by applying it to a 2-mass system.
- Anti-windup for Two Degree of Freedom Model Matching Control System, 小坂学, 宇田宏, 馬場えい一, 計測自動制御学会論文集, 計測自動制御学会論文集, 41(11), 903 - 908, Nov. 30 2005 Summary:This paper describes a control method that takes into account input saturations based on the structure of the two degree of freedom model matching control system. Concretely, a control method and a procedure are considered so that outputs of a control object track the reference outputs without occurring overshoot. The effectiveness of the method is verified by numerical simulations and experiments.
- Anti-windup feedforward controller design for reference input expressed as a time polynomial, Manabu Kosaka, Hiroshi Uda, Eiichi Bamba, Koji Tanikake, Kazuhisa Kitanaka, Yasuhisa Sugiyama, Control and Intelligent Systems, Control and Intelligent Systems, Vol.33, No.2, pp. 87-94, 87 - 93, Jun. 03 2005 Summary:This work describes an anti-windup method for a feedforward controller of two-degree-of-freedom (2DOF) control by which model matching is done. The proposed method replaces the memorized variable of output of the reference model in the feedforward controller with a controlled variable when input is saturated. Furthermore, the authors propose deriving a model of a controlled object using identification method for a reduced model with zeroing 0 ∼ N-tuple integral values of output error. Using the model, tracking error for reference input that consists of 0 ∼ N-th power of time becomes zero even if the controlled object has uncertainty. The resulting system shows no deterioration in feedback characteristics or increases in tuning labour time because feedforward controllers do not affect feedback characteristics; moreover, feedback controllers can be designed with accumulated knowhow. Numerical simulations and experiment verify that the proposed method yields satisfactory reference input response even if input is saturated or when the controlled object has uncertainty.
- State-space Model Identification Using Input and Output Data with Steady State Values, KOSAKA Manabu, UDA Hiroshi, BAMBA Eiichi, SHIBATA Hiroshi, 計測自動制御学会論文集, 計測自動制御学会論文集, 41(3), 242 - 249, Mar. 31 2005
- Anti-Windup for 2 Degree of Freedom Model Matching Control System Using Switch, KOSAKA Manabu, UDA Hiroshi, BABA Eiichi, Transactions of the Japan Society of Mechanical Engineers. C, Transactions of the Japan Society of Mechanical Engineers. C, 71(703), 995 - 1002, Mar. 25 2005 Summary:In this paper, we propose a new anti-windup method with clear procedure of initialization to avoid overshoot in spite of saturation of control input. This method is based on a 2 degree of freedom model matching control system and by using a switch, instead of a control input and a reference output those are not affected by an input saturation, a saturated control input and an output are respectively used for updating a reference output and a feedforward input. By this means, when the input come to unsaturated, the Model Matching works correctly because the memorized values of the reference output utilized for updating reference output correspond with the past values of the output. Furthermore, a procedure to initialize the reference model with which the overshoots do not occur even if the control input is saturated is given. This method is suitable for systems in which overshoots are taboo such as tool machines and temperature controls. The proposed method is verified the effectiveness by numerical simulations and experiments.
- Anti-Windup for 2 Degree of Freedom Model Matching Control System Using Switch, KOSAKA Manabu, UDA Hiroshi, BAMBA Eiichi, TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series A, TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series A, 71巻, 703号, pp.995-1002(703), 995 - 1002, Mar. 01 2005 Summary:In this paper, we propose a new anti-windup method with clear procedure of initialization to avoid overshoot in spite of saturation of control input. This method is based on a 2 degree of freedom model matching control system and by using a switch, instead of a control input and a reference output those are not affected by an input saturation, a saturated control input and an output are respectively used for updating a reference output and a feedforward input. By this means, when the input come to unsaturated, the Model Matching works correctly because the memorized values of the reference output utilized for updating reference output correspond with the past values of the output. Furthermore, a procedure to initialize the reference model with which the overshoots do not occur even if the control input is saturated is given. This method is suitable for systems in which overshoots are taboo such as tool machines and temperature controls. The proposed method is verified the effectiveness by numerical simulations and experiments.
- State-space Model Identification Using Input and Output Data with Steady State Values, KOSAKA Manabu, UDA Hiroshi, BAMBA Eiichi, SHIBATA Hiroshi, Transactions of the Society of Instrument and Control Engineers, Transactions of the Society of Instrument and Control Engineers, 41(3), 242 - 249, 2005 Summary:In this paper, we propose a new deterministic off-line identification method that delivers a state-space model by using input and output data with steady state values. This method combines the method zeroing the 0N-tuple integral values of output error of single-input single-output transfer function model and Ho-Kalman's method. The feature is that this method can identify by using step responses and, consequently, this is suitable for a mechanical system identification in which persistent fluctuations are unacceptable. Numerical simulations of multi-input multi-output system identification are illustrated and the practicability is verified by application to a pneumatic two link arm system.
- Automatic initialization of adaptive control using previously measured input and output data, Manabu Kosaka, Hiroshi Shibata, Journal of Low Frequency Noise Vibration and Active Control, Journal of Low Frequency Noise Vibration and Active Control, 23, 189 - 198, Dec. 01 2004 Summary:It is useful for the system engineer to initialize the tuning parameters of an adaptive control automatically because less experienced engineers often cause excessive noise and vibration from mechanical plants in the parameter initializing experiment. The adaptation gain and the width of the dead zone are the tuning parameters of the estimation law using the dead zone, and the control law also has additional tuning parameters. In this paper, we propose a new automatic initialization method for an adaptive control with a few tuning parameters that are determined by previously measured input and output data. The width of the dead zone in the estimation law is changed at each iteration depending on the input signal by the function determined by previously measured input and output signals. The control law used here is an H∞ control one [3] that stabilizes the control system and minimizes a kind of H∞ norm of the sensitivity function and the complementary sensitivity function if the upper bound of the unstructured uncertainty of the control object is known. Furthermore, we apply the proposed method to an electro-hydraulic servo system and verify the effects by an experiment.
- Sensorless IPMSM drive with EKF estimation of speed and rotor position, Manabu Kosaka, Hiroshi Uda, Journal of Low Frequency Noise Vibration and Active Control, Journal of Low Frequency Noise Vibration and Active Control, Vol.23 No.1, pp. 59-69, 59 - 69, Dec. 01 2004 Summary:In this paper, a new sensorless Interior Permanent Magnet Synchronous Motor (IPMSM) drive method with Extended Kalman Filtering (EKF) estimation of speed and rotor position is proposed. This method is on the basis of the sensorless Surface Permanent Magnet Synchronous Motor (SPMSM) drive [1] that can be applied to motors with no salient pole and is developed so as to be able to be applied to motors with salient pole such as IPMSM. Noise and vibration in mechanical plant becomes larger if rotor position estimation error occurs. Furthermore, the rotor position estimation error causes noise and vibration. The feature of the method is that rotor position estimation error does not occur even if motor current or motor voltage change. Therefore, the method can be applied with arbitrary motor voltage waveform and, consequently, the method is suitable for sensorless IPMSM drive. Numerical simulations are illustrated to verify the effect of the method.
- An identification method with direct acquisition of reduced order model from a steplike response, Manabu Kosaka, Hiroshi Uda, Hiroshi Shibata, Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, 12月号, 746 - 752, Dec. 01 2004 Summary:In this paper, we propose a deterministic off-line identification method performed by using input and output data with a constant steady-state output response. The method can directly acquire any order of reduced model without knowing the real order of a plant, in such a way that the intermediate parameters are uniquely determined so as to be orthogonal with respect to O-N-tuple integral values of output error and irrelevant to the un-modeled dynamics. From the intermediate parameters, the co-efficients of a rational transfer function are calculated. In consequence, the method can be executed for any linear single-input single-output plant without knowing or estimating its order at the beginning. The effectiveness of the method is illustrated by numerical simulations and also by applying it to a two-mass system. Copyright © 2004 by ASME.
- Sensorless IPMSM Drive with EKF Estimation of Speed and Rotor Position, KOSAKA Manabu, UDA Hiroshi, BAMBA Eiichi, Transactions of the Institute of Systems, Control and Information Engineers, Transactions of the Institute of Systems, Control and Information Engineers, Vol.17, No.5, pp. 211-217(5), 211 - 217, May 15 2004 Summary:In this paper, a new sensorless Interior Permanent Magnet Synchronous Motor (IPMSM) drive method with Extended Kalman Filtering (EKF) estimation of speed and rotor position is proposed. This method is on the basis of the sensorless Surface Permanent Magnet Synchronous Motor (SPMSM) drive [1] that can be applied to motors with no salient pole and is developed so as to be able to be applied to motors with salient pole such as IPMSM. The feature of the method is that rotor position estimation error does not occur even if motor current or motor voltage changes. Therefore, the method can be applied with arbitrary motor voltage waveform and, consequently, the method is suitable for sensorless IPMSM drive.<BR>Numerical simulations are illustrated to verify the effect of the method.
- A study on a controller to suppress periodic speed variation, Manabu Kosaka, Hiroshi Uda, Eiichi Bamba, Journal of Low Frequency Noise Vibration and Active Control, Journal of Low Frequency Noise Vibration and Active Control, 22, 33 - 45, Dec. 01 2003 Summary:This paper is concerned with a practical controller to suppress the periodic speed variation of a motor. Speed variation in a pump, a compressor or a wheel of an electric vehicle causes vibration and noise, which shorten the life of the machine. Although repetitive control can suppress the speed variation, there are the following problems: If a reference velocity changes, the period of the speed variation changes and the effect of the suppression is reduced. The tuning parameters are difficult to tune. In the case where a low-resolution angle sensor is used, the output of the controller to suppress the speed variation becomes pulse-shaped and causes harmonic ripples that increase energy consumption. In order to eliminate the harmonic ripples, we propose a controller of which the output is interpolated with a sine wave.
- An Identification Method for a Reduced Model with Zeroing 0-N-Tuple Integral Values of Output Error., 小坂学, 小泉清嗣, 柴田浩, 計測自動制御学会論文集, 計測自動制御学会論文集, 36(4), 319 - 327, Apr. 30 2000
- An On-line Compensator for Nonlinear Static Characteristics of an Electro-hydraulic Servo System with Direct Operated Electromagnetic Proportion Control Valve, KOSAKA Manabu, SASAKI Yoshinari, KOIZUMI Kiyoshi, OHTUKI Kouichi, MARUOKA Genmon, SHIBATA Hiroshi, Journal of the Japan Hydraulics & Pneumatics Society, Journal of the Japan Hydraulics & Pneumatics Society, 31(2), 58 - 64, Mar. 15 2000
- An On-line Compensator for Nonlinear Static Characteristics of an Electro-hydraulic Servo System with Direct Operated Electromagnetic Proportional Control Valve, KOSAKA Manabu, SASAKI Yoshinari, KOIZUMI Kiyoshi, OHTUKI Kouichi, MARUOKA Genmon, SHIBATA Hiroshi, Trans. of the Japan Hydraulics & Pneumatics Society, Trans. of the Japan Hydraulics & Pneumatics Society, 31(2), 58 - 64, 2000 Summary:An electro-hydraulic servo system, which uses a proportional electromagnetic valve, has nonlinear static characteristics between the input voltage and output velocity. When positioning of the servo system is controlled with an integral factor, there appears a problem of a limit cycle. A conventional compensator adds a fixed value to the output of the controller, reduces amplitude of the limit cycle and obtains good response. But the static characteristics of the servo system change with oil pressure, position of slide and so on, which increases the amplitude of the limit cycle and leads to unsatisfactory response.<BR>In this paper, a new on-line compensator is proposed. The compensator estimates some parameters of nonlinear characteristics from input and output data, and removes the unsatisfactory nonlinear static characteristics. The advantage of this compensator is examined through practical experiments of the servo system.
- An Identification Method for a Reduced Model with Zeroing 0∼
*N*-Tuple Integral Values of Output Error, KOSAKA Manabu, KOIZUMI Kiyoshi, SHIBATA Hiroshi, Transactions of the Society of Instrument and Control Engineers, Transactions of the Society of Instrument and Control Engineers, 36(4), 319 - 327, 2000Summary:An input signal, such as M series signal, used in the least square method is required to satisfy P.E. condition, which often results in resonance, and consequently large noise and vibration in a mechanical object, as in an oil hydraulic system. On the other hand, a step signal is practical because it causes less noise and vibration. Conventional off-line identification methods restrict the order of an identifiable model if a step signal is used for it.<br>In this paper, we propose a new off-line identification method, which can be applied to an arbitrary order object and performed with data generating constant steady state output response. The feature of the method is that a reduced order model can be obtained directly in the way that the intermediate parameters, from which the system parameters (coefficients of rational transfer function) are derived, are determined uniquely irrelevant to the unmodelled dynamics, so that 0∼<i>N</i>-tuple integral values of the output error lead to zero.<br>Numerical simulations indicate the effectiveness of the proposed method. - Adaptive law with variable dead zone width using a priori data, KOSAKA Manabu, KIMURA Fumitaka, SHIBATA Hiroshi, T. SICE, T. SICE, 34(8), 1025 - 1032, Aug. 31 1998
- Adaptive Law with Variable Dead Zone Width Using a Priori Data, KOSAKA Manabu, KIMURA Fumitaka, SHIBATA Hiroshi, Transactions of the Society of Instrument and Control Engineers, Transactions of the Society of Instrument and Control Engineers, 34(8), 1025 - 1032, 1998 Summary:It is useful for control engineers to initialize automatically the tuning parameters of adaptive control by using a priori measured data without any trial and error.<br>The adaptive law using time varying gain matrix has better convergence rate than the one using fixed gain matrix. In order to be sensitive to characteristic change of control object, it is useful to use variable dead zone width which changes according to magnitude of disturbance.<br>In this paper, we propose a scaling type law having variable dead zone width and automatic initialization using a priori measured data. We prove a theorem that gives some properties and convergence of the algorithm, and illustrate how to determine the variable width by using data obtained from a priori measurement and at each iteration instant. The variable width is yielded by α<i>d</i><sub>0</sub> (<i>k</i>), of which constant α and time variant <i>d</i><sub>0</sub> (<i>k</i>) are respectively determined by a priori measured data and data calculated at each iteration.<br>Furthermore, we apply the above algorithm to identification of an electro-hydraulic servo system and verify the effects.
- Pole-Zero Placement Adaptive Control with Zero Placement by Reference Filter, SHIBATA Hiroshi, FUJINAKA Toru, KOSAKA Manabu, SUN Yu, The Transactions of the Institute of Electronics, Information and Communication Engineers. A, The Transactions of the Institute of Electronics, Information and Communication Engineers. A, 80(2), 428 - 430, Feb. 25 1997 Summary:目標値フィルタにより零配置を行う新しい極零配置形適応制御方式を提案しその特徴を理論的に考察し, 従来の手法よりも利点をもつことをシミュレーションによって確認した.
- An Adaptive Control Referring to the Desired Complementary Sensitivity Function, KOSAKA Manabu, KIMURA Fumitaka, SHIBATA Hiroshi, Transactions of the Institute of System, Control and Information Engineers, Transactions of the Institute of System, Control and Information Engineers, 9(11), 485 - 494, Nov. 15 1996 Summary:It is effective for robust control design to evaluate complementary sensitivity function if the uncertainty of a controlled object is known. The conventional adaptive control with parameter estimation provides satisfactory control performance against parameter variation but it is not sufficiently robust against unstructured uncertainty. In this paper, we propose a combined adaptive control design referring to parameter estimation against parameter variation and complementary sensitivity function against unstructured uncertainty. The proposed method includes initial estimation of uncertainties using plant input and output, and its stability is proved for an overall adaptive system. The advantage of this design is that initial adjustment of parameters in control law needs little tuning. Experiments and simulations for an oil hydraulic system are performed to verify the effectiveness.

- Control Engineering based on High school math - From the essense to the practice using Mat@Scilab -, 単著, 2012 08 , 9784339032062

- Virtual Time-response based Iterative Gain Evaluation and Redesign (V-Tiger)の提案, Mato Kosaka, Ryogo Okada, Ayato Kosaka, Manabu KOSAKA, D06, 2019 09
- Design and evaluation of the vibration damping controller for a pushcart considering the behavior of an undergrounded wheel, Tagami Masaharu, Suda Atsushi, Ioi Kiyoshi, Kosaka Manabu, Proc. of the 26th International Congress on Sound and Vibration (ICSV26), T02, # 194, 2019 07 , Refereed
- A study on ultimate performance of cascade control and its discretization, Shunsuke Makii, Mato Kosaka, Manabu KOSAKA, Joint Automatic Control Conference, 61, 6B4, 2018 11
- A study on cascade exact linearization aimed at acrobatic dance by double cart-type inverted pendulums, Mato Kosaka, Shunsuke Makii, Manabu KOSAKA, Joint Automatic Control Conference, 61, 6C2, 2018 11
- Active vibration control of a cart utilizing center of percussion, Masaharu Tagami, Atsushi Suda, Kiyoshi Ioi, Manabu KOSAKA, Proc. of the 14th International Conference on Motion and Vibration Control (MoViC2018, Korea), C-15, 2018 08 , Refereed
- Identification and Compensation of Systems with Hysteresis such as Functional Electrical Stimulation, Proc. of the International Conference on Automatic Control and Artificial Intelligence (ACAI2012), 2012 03 , 10.1049/cp.2012.1182
- Gait control for guide dog robot to walk and climb a step, Springer Proceedings of International Conference on Data Engineering and Internet Technology, 1036, 1041, 2011 03
- Parameters identification for Interior Permanent Magnet Synchronous Motor driven by sensorless control, Proc. of CACS International Automatic Control Conference 2009 (CACS 2009), (Taipei, Taiwan), 138, 143, 2009 11
- Harmonic control for systems with input saturation using the internal model principle, Proc. of CACS International Automatic Control Conference 2009 (CACS 2009), 127, 132, 2009 11
- FES control design for paraplegia using indoor rowing machine, Proc. of 2009 Global Congress on Intelligent Systems (GCIS 2009), 2009 05 , 10.1109/GCIS.2009.168
- Sensorless interior permanent magnet synchronous motor control for rapid acceleration drive, Proc. of Asia-Pacific Symposium on Applied Electromagnetics and Mechanics (APSAEM2006), 2006
- Industrial Applications of Control Theory and Technology. An Adaptive Control Referring to the Desired Complementary Sensitivity Function., 小坂学, 木村文孝, 柴田浩, システム制御情報学会論文誌, 9, 11, 485, 494, 1996 11 , 10.5687/iscie.9.485, http://jglobal.jst.go.jp/public/200902144545142167

- 2013 09 , The society of instrument and control engineers, SICE Award for 2013 (Award for writing), Control Engineering based on High school math - From the essence to the practice using Mat@Scilab - (in Japanese), Corona

- Ministry of Education, Culture, Sports, Science and Technology (MEXT), MEXT-Supported Program for the Strategic Research Foundation at Private Universities, Kindai univ. Higashi-osaka Mold project