制御工学研究室 / Control Lab.

● 研究業績 / Works

【受 賞 / Awards】

1. 2013年度計測自動制御学会 学会賞（著述賞） /  A writing prize from the Society of Instrument and Control Engineers in 2013

【著 書 / Books】

1. 小坂 学, 岡田志麻，高校数学でマスターする計測工学 - 基礎から応用まで -, コロナ社, 全204頁(2016) / Manabu Kosaka, Shima Okada, Instrumentation engineering based on High school math - From basic to application - (in Japanese), Corona, 204 pages (2016)

2. 小坂 学，高校数学でマスターする現代制御とディジタル制御 - 本質の理解からMat@Scilabによる実践まで -, コロナ社, 全204頁(2015) / Manabu Kosaka, Modern control and Digital control based on High school math - From the essence to the practice using Mat@Scilab - (in Japanese), Corona, 204 pages (2015)

3. 小坂 学，高校数学でマスターする電気回路 - 水の流れで電気を実感 -，コロナ社，全192頁 (2015年) / Manabu Kosaka, Electric Circuit based on High school math - Using Analogy between Electricity and Water Flow - (in Japanese), Corona, 192 pages (2015)

4. 小坂 学，mbedマイコンによるモータ制御設計法, 科学技術出版，全190頁 (2013) / Manabu Kosaka, Motor control system design using mbed micon (in Japanese), Kagaku-gijutu shuppan (2013)

5. 小坂 学，高校数学でマスターする制御工学 - 本質の理解からMat@Scilabによる実践まで -，コロナ社，全240頁 (2012年) / Manabu Kosaka, Control Engineering based on High school math - From the essence to the practice using Mat@Scilab - (in Japanese), Corona, 240 pages (2012)

6. 小坂 学, センサレスドライブ制御技術の基礎とMATLABシミュレーション, トリケップス, 全180頁 (2005年）  /  Manabu Kosaka, Fundamentals of Sensorless drive control engineering and MATLAB simulations (in Japanese), Triceps, 180 pages (2005) 

【学術論文 / Research Papers】

1. 小坂 学, 相関法と高次ARX同定によるデータ駆動制御のノイズ対策, 計測自動制御学会論文集, Vol.59, No.2. pp.62-69 (2023)

2. 小坂, 周波数データに基づく仮想時間応答を最適化するV-Tigerの外乱応答と安定余裕の考慮, 日本機械学会論文集, Vol.87, No.893 (2021), DOI: 10.1299/transjsme.20-00304 / M. Kosaka, Consideration of disturbance response and stability margin for V-Tiger optimizing virtual time responses derived from frequency data, Transactions of the JSME (in Japanese), Vol.87, No.893 (2021), DOI: 10.1299/transjsme.20-00304

3. 小坂他, 仮想時間応答に基づく制御ゲインの評価と再設計の反復, 計測自動制御学会論文集, Vol.56, No.4, pp. 227-235 (2020) /  M. Kosaka et al., Virtual Time-response based Iterative Gain Evaluation and Redesign (V-Tiger). (in Japanese), Transaction of the Society of Instrument and Control Engineers (T. SICE), Vol.56, No.4, pp. 227- 235 (2020)

4. Yoshikazu Ohtsubo, Atsutoshi Ikeda, Kiyoshi Ioi, and Manabu Kosaka, Undergraduate-Student Teaching Materials for Mechatronics, Journal of Robotics and Mechatronics, Vol.29, No.6, pp. 1005-1013 (2017)

5. Manabu Kosaka, Simple proof of Nyquist’s Criterion for Stability, International Journal of Control Theory and Applications, Vol.6, No.1, pp. 29-33 (2013)

6. 小坂 学, sが右半平面を囲うことを前提としないナイキストの安定判別法の証明, 計測自動制御学会論文集, Vol.49, No.4, pp. 497-498 (2013) /  Manabu Kosaka, 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. (in Japanese), Transaction of the Society of Instrument and Control Engineers (T. SICE), Vol.49, No.4, pp. 497-498 (2013)

7. Manabu Kosaka and Hiroshi Uda, 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, Vol. 29, No. 1, pp. 55-64 (2010) 

8. Manabu Kosaka and Hiroshi Uda, Parameters identification for Interior Permanent Magnet Synchronous Motor driven by sensorless control, Journal of Low Frequency Noise, Vibration and Active Control, Vol. 28, No. 4, pp. 269-283 (2009)

9. Manabu Kosaka, Duncan Wood, and Ian Swain, FES control design for paraplegia using indoor rowing machine, International Journal of Control Theory and Applications, Vol. 2, No. 2, pp. 159-167, (2009.12) 

10. Manabu Kosaka and Hiroshi Uda, Harmonic control for systems with input saturation using the internal model principle, International Journal of Control Theory and Applications, Vol. 2, No. 2, pp. 169-179, (2009.12) 

11. 小坂 学, 入力飽和と周期外乱をもつ系に対する外乱オブザーバによる制振, 日本機械学会論文集(C編), 075巻, 750号, pp.302-309 (2009-2)  /  Manabu Kosaka, Vibration suppression using disturbance observer for systems with periodic disturbances and input saturations (in Japanese),  Transaction of the Japan Society of Mechanical Engineers (T. JSME), Vol. C-075, No. 750, pp.302-309 (2009-2)

12. Manabu Kosaka, Vibration suppression control against periodic disturbances for systems with an input saturation, Journal of Low Frequency Noise, Vibration and Active Control, Vol. 27, No. 4, pp. 281-290(10) (2008)

13. Manabu Kosaka, Hiroshi Uda, Anti-windup for two degree of freedom model matching control system, International Journal of Control and Intelligent Systems, IASTED (The International Association of Science and Technology for Development), Vol.36, No.3, pp. 208-215 (2008 September)

14. Manabu Kosaka, Hiroshi Uda, State-space model identification using input and output data with steady state values, International Journal of Control and Intelligent Systems, IASTED (The International Association of Science and Technology for Development), Vol.36, No.3, pp. 201-207 (2008 September)

15. 小坂 学，周期外乱に対して内部モデル原理を利用した制振制御のアンチワインドアップ化, 計測自動制御学会論文集, Vol.44, No.8, pp. 695-697 (2008)  /  Manabu Kosaka, Anti-windup for vibration suppression control using the internal model principle against periodic disturbances (in Japanese), Transaction of the Society of Instrument and Control Engineers (T. SICE), Vol.44, No.8, pp. 695-697 (2008)

16. Manabu Kosaka, Hiroshi Uda, Anti-windup using switch for SISO system, Journal of Low Frequency Noise, Vibration and Active Control, Vol.26, No.3, pp. 205-215, 2007

17. Manabu Kosaka, Hiroshi Uda and Hiroshi Shibata, State-space model identification using input and output data with steady state values zeroing multiple integrals of output error, ASME Journal of Dynamic Systems, Measurement and Control, Vol. 128, No. 3, pp. 746-749 (September 2006)

18. Manabu Kosaka, An Identification Method with Direct Acquisition of Reduced Order Model from a Step Like Response, Journal of Low Frequency Noise, Vibration and Active Control, Vol.25, No.2, pp. 145-151, 2006

19. Manabu Kosaka and Hiroshi Shibata, Auto-tuning of adaptive control with dead zone, International Journal of Control and Intelligent Systems, IASTED (The International Association of Science and Technology for Development), Vol.34, No.1, pp. 30-36 (2006)

20. 小坂 学，宇田 宏，馬場 えい一, ２自由度モデルマッチング制御系のアンチワインドアップ化, 計測自動制御学会論文集, Vol.41, No.11, pp. 903-908 (2005)  /  Manabu Kosaka et. al., Anti-windup for two degree of freedom model matching control system (in Japanese), Transaction of the Society of Instrument and Control Engineers (T. SICE), Vol.41, No.11, pp. 903-908 (2005)

21. Manabu Kosaka, Hiroshi Uda, Eiichi Bamba, Hiroshi Shibata, Dynamic System Identification using a Step Input, Journal of Low Frequency Noise, Vibration and Active Control, Vol.24, No.2, pp. 125-134 (2005)

22. Manabu Kosaka, Hiroshi Uda and Hiroshi Shibata, A controller design for reference signal with the N-th power of time, International Transactions on Computer Science and Engineering, Vol.17, No.1, pp.157-168 (2005)

23. Manabu Kosaka, Hiroshi Uda, EiichiBamba, Kouji Tanikake,Kazuhisa Kitanaka and Yasuhisa Sugiyama, Anti-windup feedforward controller design for reference input expressed as a time polynomial, International Journal of Control and Intelligent Systems, IASTED (The International Association of Science and Technology for Development), Vol.33, No.2, pp. 87-94 (2005)

24. 小坂 学，宇田 宏，馬場 えい一, 柴田 浩, 定常値をもつ入出力信号を用いた状態空間モデルの同定, 計測自動制御学会論文集, Vol.41, No.3, pp. 242-249 (2005.3)  /  Manabu Kosaka, Hiroshi Uda, Eiichi Bamba, Hiroshi Shibata, State-space model identification using input and output data with steady state values (in Japanese), Transaction of the Society of Instrument and Control Engineers (T. SICE), Vol.41, No.3, pp. 242-249 (2005.3)

25. 小坂 学，宇田 宏，馬場 えい一, 2自由度モデルマッチング制御系のスイッチによるアンチワインドアップ化, 日本機械学会論文集(C編), 71巻, 703号, pp.995-1002 (2005-3) 論文No.04-0714  /  Manabu Kosaka, Hiroshi Uda, Eiichi Bamba, Anti-windup method for 2DOF model matching control system using switch (in Japanese), Transaction of the Japan Society of Mechanical Engineers (T. JSME), Vol. C-71, No. 703, pp.995-1002 (2005-3)

26. Manabu Kosaka, Hiroshi Uda and Hiroshi Shibata, An Identification Method with Direct Acquisition of Reduced Order Model from a Steplike Response, ASME Journal of Dynamic Systems, Measurement and Control, Vol. 126, No. 4, pp. 746-752 (December 2004)

27. Manabu Kosaka and Hiroshi Shibata, Automatic initialization of adaptive control using previously measured input and output data, Journal of Low Frequency Noise, Vibration and Active Control, Vol.23, No.3, pp. 189-198, 2004

28. 小坂 学，宇田 宏，馬場 えい一, 拡張カルマンフィルタを用いた埋め込み磁石同期モータのセンサレスドライブ, システム制御情報学会論文誌, Vol.17, No.5, pp. 211-217 (2004)  /  Manabu Kosaka, Hiroshi Uda, EiichiBamba, Sensorless IPMSM drive with EKF estimation of speed and rotor position (in Japanese), T. of the Institute of Systems, Control and Information Engineers (T. ISCIE), Vol.17, No.5, pp. 211-217 (2004)

29. Manabu Kosaka and Hiroshi Uda, Sensorless IPMSM drive with EKF estimation of speed and rotor position, Journal of Low Frequency Noise, Vibration and Active Control, Vol.23, No.1, pp. 59-69, 2004

30. Manabu Kosaka, Hiroshi Uda and Eiichi Bamba, A study on controller to suppress periodic speed variation, Journal of Low Frequency Noise, Vibration and Active Control, Vol.22, No.1, pp. 33/45, 2003

31. Hiroshi Uda, Hideo Yonezawa, Yoshikazu Ohtsubo, Manabu Kosaka, Hajimu Sonomura, Thin CdS films prepared by metalorganic chemical vapor deposition, Solar Energy Materials & Solar Cells, Vol.75, pp. 219/226, 2003

32. 小坂 学，小泉清嗣，柴田 浩, 出力誤差のN重積分値が零となる低次元モデル同定, 計測自動制御学会論文集, Vol.36, No.4, 319/327, 2000  /  Manabu Kosaka, Kiyoshi Koizumi, Hiroshi Shibata, An identification method for a reduced model with zeroing 0.0N-tuple integral values of output error (in Japanese), Transaction of the Society of Instrument and Control Engineers (T. SICE), Vol.36, No.4, 319/327, 2000

33. 小坂 学，佐々木能成，小泉清嗣，大槻幸一（大槻冷熱（有）），丸岡玄門，柴田 浩, 直動型サーボ比例弁を用いた電気油圧サーボの非線形静特性に対するオンライン補償器の一構成, 日本油空圧学会論文集, 第31巻, 第2号, pp. 28-34, 2000  /  Manabu Kosaka, Yoshinari Sasaki, Kiyoshi Koizumi, Kouichi Ohtshuki, Genmon Maruoka, Hiroshi Shibata, An On-line Compensator for Nonlinear Static Characteristics of an Electro-hydraulic Servo System with Direct Operated Electromagnetic Proportional Control Valve (in Japanese), Trans. of the Japan Hydraulics & Pneumatics Society, Vol. 31, No. 2, pp. 28-34, 2000

34. 小坂 学，木村文孝，柴田 浩, 事前データを利用した可変不感帯幅逐次推定則, 計測自動制御学会論文集, Vol.34, No.8, pp. 1025-1032, 1998  /  Manabu Kosaka, Fumitaka Kimura, Hiroshi Shibata, Adaptive law with variable dead zone width using a priori data (in Japanese), Transaction of the Society of Instrument and Control Engineers (T. SICE), Vol.34, No.8, pp. 1025-1032, 1998

35. 柴田 浩，藤中 透，小坂 学，孫 宇, 目標値フィルタ零配置型極零配置適応制御, 電子情報通信学会論文誌, Vol.J80-A, No.2, pp.428-430, 1997（A:基礎境界）  /  Hiroshi Shibata, Tohru Fujinaka, Manabu Kosaka, U Son, Adaptive poles and zeros placement using a reference filter, Trans. of the Institute of Electronics, Information and Communication Engineers A, Vol.J80-A, No.2, pp.428-430, 1997

36. 小坂 学，木村文孝，柴田 浩, 所望の補感度を規範とする適応制御, システム制御情報学会論文誌, Vol.9, No.11,pp. 485-494, 1996  /  Manabu Kosaka, Fumitaka Kimura, Hiroshi Shibata, An Adaptive Control Referring to the Desired Complementary Sensitivity Function (in Japanese), Transactions of the Institute of System, Control and Information Engineers, Vol.9, No.11,pp. 485-494, 1996

【特 許 / Patents】

出願２５件、内１１件権利化済 (11 patents including 2 international patents)

【国際会議 / International Conferences Proceedings】

1. Nanami Shinozaki, Masahiro Horie, and Manabu Kosaka, Data-driven design of V-tiger utilizing Wiener filter, Proc. of the 13th Asian Control Conference (ASCC2022, Jeju Island, Korea), ThurP2-17 (2022.5)

2. Yu Nakae and Manabu Kosaka, Data-driven design of V-tiger utilizing FFT analyzer, Proc. of the 13th Asian Control Conference (ASCC2022, Jeju Island, Korea), ThurP2-18 (2022.5)

3. Shogo Ichinomoto, Masaki Kuramoto*, and Manabu Kosaka, V-tiger for 2DOF and MIMO system and its application to 2-link robot, Proc. of the 13th Asian Control Conference (ASCC2022, Jeju Island, Korea), ThurP2-19 (2022.5)

4. M. Kosaka et al., Virtual Time-response based Iterative Gain Evaluation and Redesign, In the proc. of the IFAC World Congress, VI121-05.4, 398, 2020.

5. Yuki Kitani, Nozomi Oyama, Teruaki Nochino, Shima Okada, Manabu Kosaka, Reproduction of the Object Stroking Sense by the Electrical Stimulation, Proc. of 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS2017, Jeju Island, Korea), FrDT9-03.3 (2017)

6. Takahiro Kobayashi, Shima Okada, Masaaki Makikawa, Naruhiro Shiozawa, Manabu Kosaka, Development of Wearable Muscle Fatigue Detection System Using Capacitance Coupling Electrodes, Proc. of 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS2017, Jeju Island, Korea), WeCT5-03.2 (2017)

7. Manabu Kosaka, Yuki Kitamura, Identification and Compensation of Systems with Hysteresis such as Functional Electrical Stimulation, Proc. of the International Conference on Automatic Control and Artificial Intelligence (ACAI2012), (Xiamen, China), Paper ID: AC57157, 2012

8. Manabu Kosaka, Gait control for guide dog robot to walk and climb a step, Springer Proceedings of International Conference on Data Engineering and Internet Technology (DEIT 2011), (Bali, Indonesia), pp.1036-1041, 2011

9. Manabu Kosaka and Hiroshi Uda, Harmonic control for systems with input saturation using the internal model principle, Proc. of  CACS International Automatic Control Conference 2009 (CACS 2009), (Taipei, Taiwan), pp. 127-132, 11/27-29, 2009 (ISBN:978-986-84845-1-1)

10. Manabu Kosaka and Hiroshi Uda, Parameters identification for Interior Permanent Magnet Synchronous Motor driven by sensorless control, Proc. of  CACS International Automatic Control Conference 2009 (CACS 2009), (Taipei, Taiwan), pp. 138-143, 11/27-29, 2009 (ISBN:978-986-84845-1-1)

11. Manabu Kosaka, Duncan Wood, and Ian Swain, FES control design for paraplegia using indoor rowing machine, Proc. of  2009   Global Congress on Intelligent Systems (GCIS 2009), (Xiamen, China), pp. 127-132, 5/19-21, 2009

12. Manabu Kosaka, Sensorless interior permanent magnet synchronous motor control for rapid acceleration drive, Proc. of Asia-Pacific Symposium on Applied Electromagnetics and Mechanics (APSAEM2006), p. 71, in Sydney, 7/19-21, 2006

13. Manabu Kosaka, Hiroshi Uda, Eiichi Bamba and H. Shibata, State-space Model Identification Using Input And Output Data with Steady State Values Zeroing Multiple Integrals of Output Error, Proc. of the 8th International Symposia on Signal Processing and Its Applications (ISSPA 2005), in Sydney, 8/26-9/1, 2005

14. Manabu Kosaka, Hiroshi Uda and Eiichi Bamba, Sensorless IPMSM Drive with EKF Estimation of Rotor Position, Proc. of Symposium on Nonlinear Control Systems (NOLCOS 2004), in Stuttgart Germany, 9/1-3, 2004

15. Manabu Kosaka, Hiroshi Uda, Eiichi Bamba, Kouji Tanikake, Kazuhisa Kitanaka, Yasuhisa Sugiyama, Anti-windup feedfoward controller design for reference input expressed as time polynomial, The 10th IFAC Symposium on Large Scale Systems (LSS 2004) in Osaka on July 26-28, 2004.

16. Manabu Kosaka, Hiroshi Uda, Eiichi Bamba, Hiroshi Shibata, Improved state-space model identification using input and output data with steady state values, The 10th IFAC Symposium on Large Scale Systems (LSS 2004) in Osaka on July 26-28, 2004.

17. Manabu Kosaka, Hiroshi Uda and Eiichi Bamba, Sensorless IPMSM Drive with EKF Estimation of Speed and Rotor Position, Proc. of 42nd IEEE Conference on Decision and Control (CDC 2003), (Maui, USA), FrP09.5, pp. 5915-5920, 2003

18. Manabu KOSAKA, Hiroshi Uda, Eiichi Bamba and Hiroshi SHIBATA, State-space model identification using input and output data with steady state values, Proc. of 6th International Conference on Mechatronics Technology (ICMT 2002), (Kitakyushu, JAPAN) pp.150-155, 2002

19. Manabu Kosaka, Hiroshi Uda and Eiichi Bamba, A study on controller to suppress periodic speed variation, Proc. of 6th International Conference on Mechatronics Technology (ICMT 2002), (Kitakyushu, JAPAN) pp.207-212, 2002

20. Manabu Kosaka, Hiroshi Uda and Hiroshi Shibata, A control design for referential signal with the N-th power of time, Proc. of the IEEE Conference on Computer Aided Control System Design 2002 (IEEE CCA/CACSD Conference 2002) (Glasgow, Scotland), pp.133-138, 2002, Paper Identification Code: CACSDREG10161

21. Manabu Kosaka, Hiroshi Uda, Hiroshi Shibata, An Identification Method with Direct Acquisition of Reduced Order Model from a Step Response, Proc. of the Information, Decision and Control Symposium (IDC 2002),  (Adelaide, Australia), pp.277-282, 2002 (Paper no. 65)

22. M. Kosaka, Kiyoshi. Koizumi, Hiroshi. Shibata, Automatic initialization of adaptive control using a priori data, Proc. of Europian Control Conference 1999(ECC’99), 8/30-9/2, 1999, (Karlsruhe, Germany), F0156

23. Manabu Kosaka, Yoshikazu Ohtsubo, Hiroshi Uda, Masahiko Yamamoto, Youichi Nakai, Hiromichi Takahashi, A mechanism design of a pneumatic actuated biped robot, Proc. of 4th Int. Conf. Machine Automation (ICMA 2002) （Tampele, Finland）, pp.583-590, 2002

24. Manabu KOSAKA, Hiroshi UDA, A study on practical controllers for rejecting the periodic rotation unevenness of a motor, Proc. of the 6th International Conference on Motion and Vibration Control (MOVIC 2002), (Urawa, Japan) Paper ID: 0122 , pp. 223-228, 2002

25. Kazunobu Ohyama, M. Kosaka, High Efficiency Control for Interior Permanent Magnet Synchronous Motor, Proc. of IPEC-Tokyo 2000, (International Power Electronics Conference), pp. 614-620, 2002

26. M. Kosaka, Fumitaka. Kimura, H. Shibata, A study on automatic initialization of adaptive control, Proc. of IFAC-Workshop "Motion Control", October 9-11, 1995, Munich, pp.205-212, 1995

27. Yoshinari SASAKI, Yasunobu TOMODA, Yoshiyuki OCHI, Toshiyuki AKAMATSU, Akihiro FUKUOKA, Manabu KOSAKA, Application of a self-tuning electro-hydraulic servo controller to machine tools, Proc. of Fluid Power Transmission and Control, ISFP'95, pp.1-6, 1995

28. Manabu KOSAKA, Hiroshi UDA, Yuji Hakaridani (Kin-Ki Univ. JAPAN), A study on automatic initialization of PI gains using by ART-Linux and RS232C, Proc. of SICE Annual Conference 2003 in Fukui, 2003

29. Manabu KOSAKA, Hiroshi UDA, Shinichi Gyoubu (Kin-Ki Univ. JAPAN), Anti-windup feedfoward controller design for reference input, Proc. of SICE Annual Conference 2003 in Fukui, 2003

30. Manabu KOSAKA, Hiroshi UDA, Toshifumi Kawata (Kin-Ki Univ. JAPAN), Sensorless IPMSM drive with EKF estimation of speed and rotor position, Proc. of SICE Annual Conference 2003 in Fukui, 2003

31. Manabu KOSAKA, Hiroshi UDA (Kin-Ki Univ. JAPAN), Hiroshi SHIBATA (Osaka Prefecture Univ.), A controller design for reference signal with the N-th power of time, Proc. of SICE Annual Conference 2002 in Osaka, 2002

32. Manabu KOSAKA, Hiroshi UDA (Kin-Ki Univ. JAPAN), Hiroshi SHIBATA (Osaka Prefecture Univ.), An Identification Method with Direct Acquisition of Reduced Order Model from a Step Response, Proc. of SICE Annual Conference 2002 in Osaka, 2002

33. Toshihumi KAWATA, Manabu KOSAKA, Hiroshi UDA (Kin-Ki Univ. JAPAN), A study on controllers to reject periodic motor rotational unevenness, Proc. of SICE Annual Conference 2002 in Osaka (SICE2002), 2002