Optimal transfer control of liquid containers based on convex optimization and

This paper gives a controller design method for liquid containers conveyance which achieves multiple control specifications simultaneously. To this end, the two-degree-of-freedom controller structure in terms of stable factorization is employed. The feedforward part is constructed via the convex optimization, where the settling time and the overshoot in containers transfer as well as the liquid sloshing are taken into account simultaneously. The feedback part is designed based on the loop shaping method in order to cope with plant model uncertainties. The effectiveness of the proposed control method is evaluated by experiments. [In Japanese.]