小林 孝一(コバヤシ コウイチ) |

情報科学研究院 システム情報科学部門 システム創成学分野 |

准教授 |

Last Updated :2021/07/03

- 50452115

- 制御工学 機械学習 マルチエージェントシステム ブロックチェーン スマートグリッド 形式手法 IoT システム生物学 離散事象システム ハイブリッドシステム サイバーフィジカルシステム システム制御理論

- 2019年04月 - 現在 北海道大学 大学院情報科学研究院 システム情報科学部門 准教授
- 2015年04月 - 2019年03月 北海道大学 大学院情報科学研究科 システム情報科学専攻 准教授
- 2007年04月 - 2015年03月 北陸先端科学技術大学院大学 情報科学研究科 助教
- 2000年04月 - 2004年03月 新日本製鐵株式会社

- 2004年04月 - 2007年03月 東京工業大学 大学院情報理工学研究科 情報環境学専攻
- 1998年04月 - 2000年03月 法政大学 大学院工学研究科 システム工学専攻
- 1994年04月 - 1998年03月 法政大学 工学部 システム制御工学科

**Distributed Observer Design on Sensor Networks with Random Communication**Yuh Yamashita, Haruka Sumita, Ryosuke Adachi, Koichi KobayashiIEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences E104-A 3 2021年03月 [査読有り][通常論文]**Uniformly Ultimate Boundedness Control with Decentralized Event-Triggering**Koichi Kobayashi, Kyohei Nakajima, Yuh YamashitaIEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences E104-A 2 455 - 461 2021年02月 [査読有り][通常論文]**Effectiveness and Limitation of Blockchain in Distributed Optimization: Applications to Energy Management Systems**Daiki Ogawa, Koichi Kobayashi, Yuh YamashitaE104-A 2 423 - 429 2021年02月 [査読有り][招待有り]**Reinforcement Learning Approach to Design of Simple Stabilizing Controllers for Probabilistic Boolean Networks**Michiaki Takizawa, Koichi Kobayashi, Yuh YamashitaProc. of the 26th International Symposium on Artificial Life and Robotics 101 - 104 2021年01月 [査読有り][通常論文]**Sensor Scheduling-Based Detection of False Data Injection Attacks in Power System State Estimation**Sho Obata, Koichi Kobayashi, Yuh YamashitaProc. of the 39th IEEE International Conference on Consumer Electronics 2021年01月 [査読有り][通常論文]- Ryosuke Adachi, Yuh Yamashita, Koichi KobayashiIFAC Journal of Systems and Control 14 100109 - 100109 2020年12月 [査読有り][通常論文]
- Koichi Kobayashi, Kunihiko HiraishiInternational Journal of Robust and Nonlinear Control 2020年11月04日 [査読有り][通常論文]
- Yuh Yamashita, Naoto Adachi, Ryo Nonaka, Koichi KobayashiSystems & Control Letters 145 104776 - 104776 2020年11月 [査読有り][通常論文]
**Stochastic Model Predictive Control of Energy Management Systems with Human in the Loop**Shogo Shimamoto, Koichi Kobayashi, Yuh YamashitaProc. of the 2017 IEEE 9th Global Conference on Consumer Electronics 69 - 70 2020年10月 [査読有り][通常論文]**Blockchain-Based Optimization of Energy Management Systems with Demand Response**Daiki Ogawa, Koichi Kobayashi, Yuh YamashitaProc. of the 2017 IEEE 9th Global Conference on Consumer Electronics 67 - 68 2020年10月 [査読有り][通常論文]**On Attack Detection in Sensor Networks Using Distributed Moving Horizon Estimation**Kei Isono, Koichi Kobayashi, Yuh YamashitaProc. of the SICE Annual Conference 2020 1602 - 1605 2020年09月 [査読有り][通常論文]**LMI-Based Simultaneous Design of Controllers and Decentralized Event-Triggering Conditions**Koichi Kobayashi, Kyohei Nakajima, Yuh YamashitaProc. of the SICE Annual Conference 2020 1585 - 1588 2020年09月 [査読有り][通常論文]**Enforcing Security of Power System State Estimation Using Random Sensor Scheduling**Sho Obata, Koichi Kobayashi, Yuh YamashitaProc. of the SICE Annual Conference 2020 1163 - 1165 2020年09月 [査読有り][通常論文]- Sheng HAO, Yuh YAMASHITA, Koichi KOBAYASHIIEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences E103.A 9 1078 - 1085 2020年09月01日 [査読有り][通常論文]
**Deriving a Simple Probabilistic Boolean Network from Incomplete Knowledge**Koichi Kobayashi, Yuhu WuProc. of the 39th Chinese Control Conference 8088 - 8091 2020年07月 [査読有り][通常論文]**ADMM-Based Optimization of Distributed Energy Management Systems with Demand Response**Daiki Ogawa, Koichi Kobayashi, Yuh YamashitaProc. of the 21st IFAC World Congress 2020年07月 [査読有り][通常論文]**On Sensor Attack Detection in Control Systems Using Moving Horizon Estimation and Control Performance**Kei Isono, Koichi Kobayashi, Ryosuke Adachi, Yuh YamashitaProc. of the 21st IFAC World Congress 2020年07月 [査読有り][通常論文]**On Minimum Time Control for Dynamical Transportation Using ADMM**Ryosuke Adachi, Yuji Wakasa, Koichi KobayashiProc. of the 21st IFAC World Congress 2020年07月 [査読有り][通常論文]**Detection of Defaulting Participants with Time-Varying Failure Rates in Demand Response**Fangyuan Xu, Shun-ichi Azuma, Koichi Kobayashi, Nobuyuki Yamaguchi, Ryo Ariizumi, Toru AsaiProc. of the 21st IFAC World Congress 13511 - 13515 2020年07月 [査読有り][通常論文]**Optimal Regulators for Nonlinear Systems with Incompatible State and Input Cost Functions**Yuh Yamashita, Yuta Sakai, Koichi KobayashiProc. of the 21st IFAC World Congress 6901 - 6906 2020年07月 [査読有り][通常論文]**Passivity-Based Nonlinear Active Suspension Control Utilizing Relative Information**Sheng Hao, Yuh Yamashita, Koichi KobayashiProc. of the 21st IFAC World Congress 5660 - 5665 2020年07月 [査読有り][通常論文]**Design of Controller and Observer for Dynamical Network Systems Based on Weighted Degrees**Ryosuke Adachi, Yuh Yamashita, Koichi KobayashiProc. of the 21st IFAC World Congress 3392 - 3397 2020年07月 [査読有り][通常論文]**Event-Triggered Control for Extended Plants of Discrete-Time Linear Systems**Hiroyuki Ichihara, Kenji Sawada, Koichi Kobayashi, Sophie TarbouriechProc. of the 21st IFAC World Congress 2756 - 2761 2020年07月 [査読有り][通常論文]**Model Reduction of Boolean Networks Using BDD**Fuma Motoyama, Koichi Kobayashi, Yuh YamashitaProc. of the 35th International Technical Conference on Circuits/Systems, Computers and Communications 89 - 93 2020年07月 [査読有り][通常論文]**Model Predictive Control of Energy Management Systems with Human Decision Making**Shogo Shimamoto, Koichi Kobayashi, Yuh YamashitaProc. of the 35th International Technical Conference on Circuits/Systems, Computers and Communications 84 - 88 2020年07月 [査読有り][通常論文]- Ryo Masuda, Koichi Kobayashi, Yuh YamashitaIEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences E103-A 2 462 - 468 2020年02月 [査読有り][通常論文]
- Shun Andoh, Koichi Kobayashi, Yuh YamashitaIEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences E103-A 2 443 - 450 2020年02月 [査読有り][通常論文]
**MPC-Based Persistent Surveillance by Heterogeneous Agents Using Mixed Integer Programming**Koichi KobayashiProc. of the 25th International Symposium on Artificial Life and Robotics 414 - 417 2020年01月 [査読有り][通常論文]- Shun Andoh, Koichi Kobayashi, Yuh YamashitaProceedings of 2020 IEEE/SICE International Symposium on System Integration 1064 - 1069 2020年01月 [査読有り][通常論文]
- Sheng Hao, Yuh Yamashita, Koichi KobayashiProceedings of 2020 IEEE/SICE International Symposium on System Integration 465 - 470 2020年01月 [査読有り][通常論文]
- ADACHI Ryosuke, YAMASHITA Yuh, KOBAYASHI KoichiIEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences 103 2 469 - 477 一般社団法人 電子情報通信学会 2020年 [査読有り][通常論文]

In this paper, we consider the design problem of an unknown-input observer for distributed network systems under the existence of communication delays. In the proposed method, each node estimates all states and calculates inputs from its own estimate. It is assumed that the controller of each node is given by an observer-based controller. When calculating each node, the input values of the other nodes cannot be utilized. Therefore, each node calculates alternative inputs instead of the unknown inputs of the other nodes. The alternative inputs are generated by own estimate based on the feedback controller of the other nodes given by the assumption. Each node utilizes these values instead of the unknown inputs when calculating the estimation and delay compensation. The stability of the estimation error of the proposed observer is proven by a Lyapunov-Krasovskii functional. The stability condition is given by a linear matrix inequality (LMI). Finally, the result of a numerical simulation is shown to verify the effectiveness of the proposed method.

**Construction Method of Probabilistic Boolean Networks Based on Imperfect Information**Katsuaki Umiji, Koichi Kobayashi, Yuh YamashitaProc. of the 2019 International Symposium on Nonlinear Theory and Its Applications 513 - 516 2019年12月 [査読有り][通常論文]- Katsuaki Umiji, Koichi Kobayashi, Yuh YamashitaAlgorithms 12 12 268 (9 pages) 2019年12月 [査読有り][通常論文]
**Dynamic Surveillance by Multiple Agents with Fuel Constraints**Ryo Masuda, Koichi Kobayashi, Yuh YamashitaProc. of the 2019 IEEE International Conference on Systems, Man, and Cybernetics 3331 - 3336 2019年10月 [査読有り][通常論文]**Stabilization of Nonlinear Systems by Sparse Input with Input Grouping**Kiminori Sakano, Yuh Yamashita, Koichi KobayashiProc. of the SICE Annual Conference 2019 1653 - 1656 2019年09月 [査読有り][通常論文]**Observer-Based Self-Triggered Pinning Control for Consensus of Multi-Agent Systems**Shun Andoh, Koichi Kobayashi, Yuh YamashitaProc. of the SICE Annual Conference 2019 1440 - 1443 2019年09月 [査読有り][通常論文]**On the Optimality of Distributed Observer Using Belief Propagation**Ryosuke Adachi, Yuh Yamashita, Koichi KobayashiProc. of the SICE Annual Conference 2019 645 - 648 2019年09月 [査読有り][通常論文]**Control of Bilateral Teleoperation System Consisting of Heterogeneous Manipulators with Communication Delay**Akihisa Higashino, Yuh Yamashita, Koichi KobayashiProc. of the 11th IFAC Symposium on Nonlinear Control Systems 1307 - 1312 2019年09月 [査読有り][通常論文]**Attack Detection in Control Systems Based on Unknown Input Observers and Control Performance**Kei Isono, Koichi Kobayashi, Ryosuke Adachi, Yuh YamashitaProc. of the 34th International Technical Conference on Circuits/Systems, Computers and Communications 290 - 293 2019年06月 [査読有り][通常論文]**Effectiveness and Limitation of Blockchain in Distributed Optimization**Daiki Ogawa, Koichi Kobayashi, Yuh YamashitaProc. of the 34th International Technical Conference on Circuits/Systems, Computers and Communications 286 - 289 2019年06月 [査読有り][通常論文]**Detection of Defaulting Participants of Demand Response Based on Sparse Reconstruction**Shun-ichi Azuma, Daisuke Sato, Koichi Kobayashi, Nobuyuki YamaguchiIEEE Transactions on Smart Grid 11 1 368 - 378 2019年06月 [査読有り][通常論文]**Design and Value Evaluation of Demand Response Based on Model Predictive Control**Kodai Miyazaki, Koichi Kobayashi, Shun-ichi Azuma, Nobuyuki Yamaguchi, Yuh YamashitaIEEE Transactions on Industrial Informatics 15 8 4809 - 4818 2019年06月 [査読有り][通常論文]**Decentralized Event-Triggered Control of Discrete-Time Linear Systems Based on Uniformly Ultimate Boundedness**Koichi Kobayashi, Kyohei Nakajima, Yuh YamashitaProc. of the 12th Asian Control Conference 1392 - 1397 2019年06月 [査読有り][通常論文]**Distributed Estimation over Delayed Sensor Networks with Cyclic Structure**Ryosuke Adachi, Yuh Yamashita, Koichi KobayashiProc. of the 12th Asian Control Conference 1386 - 1391 2019年06月 [査読有り][通常論文]**Blockchain-Based Distributed Optimization for Energy Management Systems**Daiki Ogawa, Koichi Kobayashi, Yuh YamashitaProc. of the IEEE International Conference on Industrial Cyber-Physical Systems 694 - 699 2019年05月 [査読有り][通常論文]**Distributed Estimation over Delayed Sensor Network with Scalable Communication**Ryosuke Adachi, Yuh Yamashita, Koichi KobayashiIEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences E102-A 5 712 - 720 2019年05月 [査読有り][通常論文]**Design of Fixed Points in Boolean Networks Using Feedback Vertex Sets and Model Reduction**Koichi KobayashiComplexity 2019, Article ID 9261793 2019年03月 [査読有り][通常論文]**Computationally Efficient Model Predictive Control for Multi-Agent Surveillance Systems**Koichi Kobayashi, Mifuyu Kido, Yuh YamashitaIEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences E102-A 2 372 - 378 2019年02月 [査読有り][通常論文]**Predictive Pinning Control with Communication Delays for Consensus of Multi-Agent Systems**Koichi KobayashiIEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences E102-A 2 359 - 364 2019年02月 [査読有り][通常論文]**Observer-Based Predictive Pinning Control for Consensus of Multi-Agent Systems**Koichi KobayashiProc. of the 24th International Symposium on Artificial Life and Robotics 458 - 461 2019年01月 [査読有り][通常論文]**Asymptotic Stabilization of Nonholonomic Four-wheeled Vehicle with Steering Limitation**Wataru Hashimoto, Yuh Yamashita, Koichi KobayashiIEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences E102-A 1 227 - 234 2019年01月 [査読有り][通常論文]**Information Supervisory Control of Human Behavior - A Formal Model and Simulation -**Kunihiko Hiraishi, Naoshi Uchihira, Sunseong Choe, Koichi KobayashiProc. of the 2018 IEEE International Conference on Systems, Man, and Cybernetics 2021 - 2026 2018年10月 [査読有り][通常論文]**Computationally Efficient Model Predictive Control for Multi-Agent Surveillance Systems**Koichi Kobayashi, Mifuyu Kido, Yuh YamashitaProc. of the 2018 IEEE International Conference on Systems, Man, and Cybernetics 2015 - 2020 2018年10月 [査読有り][通常論文]**Active Nonlinear Tuned Mass Damper via IDA-PBC**Sheng Hao, Yuh Yamashita, Koichi KobayashiProc. of the 2018 IEEE International Conference on Systems, Man, and Cybernetics 4383 - 4388 2018年10月 [査読有り][通常論文]**A Graph-Theoretic Approach to Design of Probabilistic Boolean Networks**Koichi KobayashiProc. of the 5th IFAC Conference on Analysis and Control of Chaotic Systems 191 - 196 2018年10月 [査読有り][通常論文]**Observer Design for Distributed Network Systems with Communication Delays**Ryosuke Adachi, Yuh Yamashita, Koichi KobayashiProc. of the 5th IFAC Conference on Analysis and Control of Chaotic Systems 102 - 107 2018年10月 [査読有り][通常論文]**Self-Triggered Predictive Pinning Control for Consensus of Multi-Agent Systems**Shun Andoh, Koichi Kobayashi, Yuh YamashitaProc. of the SICE Annual Conference 2018 (Position paper) 1806 - 1809 2018年09月 [査読有り][通常論文]**Switching Controller Design for Quantized Event-Triggered Control**Shumpei Yoshikawa, Koichi Kobayashi, Yuh YamashitaProc. of the SICE Annual Conference 2018 (Position paper) 1797 - 1800 2018年09月 [査読有り][通常論文]**On Model Reduction of Probabilistic Boolean Networks**Koichi KobayashiProc. of the SICE Annual Conference 2018 (Position paper) 1411 - 1413 2018年09月 [査読有り][通常論文]**On Opacity Formulation and Verification in Boolean Networks**Koichi KobayashiProc. of the SICE Annual Conference 2018 (Position paper) 253 - 255 2018年09月 [査読有り][通常論文]**Asymptotically Stabilizing Controller Generating Sparse Input for Nonlinear Systems**Yuh Yamashita, Kiminori Sakano, Koichi KobayashiProc. of the 23rd International Symposium on Mathematical Theory of Networks and Systems 435 - 440 2018年07月 [査読有り][通常論文]**MPC-Based Design of Demand Response Programs in Energy Management Systems**Kodai Miyazaki, Koichi Kobayashi, Shun-ichi Azuma, Nobuyuki Yamaguchi, Yuh YamashitaProc. of the 33rd International Technical Conference on Circuits/Systems, Computers and Communications 620 - 622 2018年07月 [査読有り][通常論文]**Vibration Suppression of Hamiltonian Systems with Velocity and Force Disturbances Using IDA-PBC**Sheng Hao, Yuh Yamashita, Koichi KobayashiProc. of the Second IFAC Conference on Modelling, Identification and Control of Nonlinear Systems 2018年06月 [査読有り][通常論文]- Koichi KobayashiProceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018 593 - 598 2018年06月01日 [査読有り][通常論文]

In this paper, based on the policy of model predictive control (MPC), a new method of predictive pinning control is proposed for the consensus problem of multi-agent systems. Pinning control is a method that the external control input is added to some agents (pinning nodes), e.g., leaders. By the external control input, consensus to a certain target value (not the average of the initial states) and faster consensus are achieved. In the proposed method, the external control input is calculated by the controller node connected to pinning nodes. Since all states of agents are required in calculation of the external control input, communication delays must be considered. The proposed algorithm includes not only calculation of the external control input but also delay compensation. The effectiveness of the proposed method is presented by two numerical examples. **MPC-Based Co-Design of Control and Routing for Wireless Sensor and Actuator Networks**Dai Satoh, Koichi Kobayashi, Yuh YamashitaInternational Journal of Control, Automation and Systems 16 3 953 - 960 2018年05月 [査読有り][通常論文]**Optimal Monitoring of Multiple Agents via Time Sequence-Based Modeling**Ryo Masuda, Koichi Kobayashi, Yuh YamashitaSICE Journal of Control, Measurement, and System Integration 11 3 169 - 173 2018年05月 [査読有り][通常論文]- Kunihiko Hiraishi, Koichi KobayashiJournal of Discrete Algorithms 49 1 - 7 2018年03月01日 [査読有り][通常論文]

We study a pathfinding problem of directed trees under the following situation: each edge has a nonnegative integer length, but the length is unknown in advance and should be searched by a procedure whose computational cost becomes very large as the length increases. We present a method that gives a shortest path. Under some assumptions, the proposed method is optimal in the number of procedure calls for the longest edge length. This graph problem is motivated by procedure synthesis for system configuration in cloud systems. **Nonlinear system identification by affine coordinate unification of locally identified MIMO linear systems**Kazuya Nomura, Yuh Yamashita, Koichi KobayashiProc. of the SICE International Symposium on Control Systems 2018 2018年03月 [査読有り][通常論文]- Kunihiko Hiraishi, Naoshi Uchihira, Sunseong Choe, Koichi Kobayashi2017 Asian Control Conference, ASCC 2017 2018- 1351 - 1356 2018年02月07日 [査読有り][通常論文]

A type of services that requires human physical actions and intelligent decision making can be found in various real fields, such as services by floor staff in hotels/restaurants and caregiving by nurses in hospitals/nursing homes. The authors' group calls such a type of services 'the physical and adaptive intelligent service,' and is developing an ICT-based system, called the smart voice messaging (SVM) system, that assists staff in cooperation, knowledge sharing and recording events and observations. We have already proposed the concept of information supervisory control (ISC) and its implementation on the SVM system. In this scheme, there is a central commander, called the information supervisor, and it provides a group of persons with appropriate information at appropriate timing. Toward realization of ISC, we conduct experiments in order to know how human activity changes by providing information. Moreover, we introduce formal models that simulate human decision making in the experiments. Finally, we discuss realization of ISC based on the results of the experiments and the simulation. - Shumpei Yoshikawa, Koichi Kobayashi, Yuh YamashitaIEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences E101A 2 322 - 327 2018年02月01日 [査読有り][通常論文]

Event-triggered control is a method that the control input is updated only when a certain triggering condition is satisfied. In networked control systems, quantization errors via A/D conversion should be considered. In this paper, a new method for quantized event-triggered control with switching triggering conditions is proposed. For a discrete-time linear system, we consider the problem of finding a state-feedback controller such that the closed-loop system is uniformly ultimately bounded in a certain ellipsoid. This problem is reduced to an LMI (Linear Matrix Inequality) optimization problem. The volume of the ellipsoid may be adjusted. The effectiveness of the proposed method is presented by a numerical example. **Model Predictive-Based Demand Response in Energy Management Systems**Kodai Miyazaki, Koichi Kobayashi, Shun-ichi Azuma, Nobuyuki Yamaguchi, Yuh YamashitaProc. of the 23rd International Symposium on Artificial Life and Robotics 815 - 818 2018年01月 [査読有り][通常論文]**Markov Chain-Based Modeling Techniques of Appliances for Demand Response**Kenta Ohashi, Koichi Kobayashi, Yuh YamashitaProc. of the 23rd International Symposium on Artificial Life and Robotics 805 - 808 2018年01月 [査読有り][通常論文]- 小林 孝一電子情報通信学会 基礎・境界ソサイエティ Fundamentals Review 11 3 172 - 179 2018年01月 [査読有り][通常論文]
**Control of Singleton Attractors in Boolean Networks Based on Model Reduction**Koichi KobayashiProc. of the 2017 International Symposium on Nonlinear Theory and Its Applications 18 - 21 2017年12月 [査読有り][通常論文]- Koichi Kobayashi, Kunihiko Hiraishi, Sunseong Choe, Naoshi UchihiraProc. of the 2017 IEEE 6th Global Conference on Consumer Electronics 804 - 807 2017年10月 [査読有り][通常論文]
- Koichi Kobayashi, Kunihiko HiraishiIEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS 28 8 1966 - 1971 2017年08月 [査読有り][通常論文]

In this brief, we consider the problem of finding a probabilistic Boolean network (PBN) based on a network structure and desired steady-state properties. In systems biology and synthetic biology, such problems are important as an inverse problem. Using a matrix-based representation of PBNs, a solution method for this problem is proposed. The problem of finding a BN has been studied so far. In the problem of finding a PBN, we must calculate not only the Boolean functions, but also the probabilities of selecting a Boolean function and the number of candidates of the Boolean functions. Hence, the problem of finding a PBN is more difficult than that of finding a BN. The effectiveness of the proposed method is presented by numerical examples. **A Unification Method of Locally Identified Linear Systems and Reconstruction of Nonlinear Dynamical Model**Kazuya Nomura, Yuh Yamashita, Koichi KobayashiProc. of the 20th IFAC World Congress 14569 - 14574 2017年07月 [査読有り][通常論文]**Behavioral Analysis in Nursing and Caregiving Services Using Switched Linear Regression Models**Koichi Kobayashi, Kunihiko Hiraishi, Sunseong Choe, Naoshi UchihiraProc. of the 20th IFAC World Congress 4668 - 4673 2017年07月 [査読有り][通常論文]**Data Aggregation based Estimation for Sensor Network with Communication Delay**Ryosuke Adachi, Yuh Yamashita, Koichi KobayashiProc. of the 20th IFAC World Congress 2543 - 2548 2017年07月 [査読有り][通常論文]**Asymptotic Stabilization of Nonlinear Systems with Convex-Polytope Input Constraints and its Inverse Optimality**Yuh Yamashita, Ryosuke Matsukizono, Koichi KobayashiProc. of the 20th IFAC World Congress 1433 - 1438 2017年07月 [査読有り][通常論文]**BMI Approach to Design of Networked Control Systems with Decentralized Event-Triggering**Kyohei Nakajima, Koichi Kobayashi, Yuh YamashitaProc. of the 18th IEEE International Workshop on Signal Processing Advances in Wireless Communications 765 - 769 2017年07月 [査読有り][通常論文]**Switched Probabilistic Model of Consumers for Demand Response**Kenta Ohashi, Koichi Kobayashi, Yuh YamashitaProc. of the 32nd International Technical Conference on Circuits/Systems, Computers and Communications 143 - 146 2017年07月 [査読有り][通常論文]- Mifuyu Kido, Koichi Kobayashi, Yuh YamashitaSICE Journal of Control, Measurement, and System Integration 10 3 253 - 258 2017年05月 [査読有り][通常論文]
- Shin Kanazawa, Koichi Kobayashi, Yuh YamashitaSICE Journal of Control, Measurement, and System Integration 10 3 136 - 140 2017年05月 [査読有り][通常論文]
**Asymptotic Stabilization of Nonholonomic Four-Wheeled Vehicle with Hysteresis Mechanism**Wataru Hashimoto, Yuh Yamashita, Koichi KobayashiProc. of the 2017 International Symposium on Nonlinear Theory and Its Applications 30 - 33 2017年02月 [査読有り][通常論文]**Optimization-Based Approaches to Control of Probabilistic Boolean Networks**Koichi Kobayashi, Kunihiko HiraishiAlgorithms 10 1 2017年02月 [査読有り][通常論文]- Kyohei Nakajima, Koichi Kobayashi, Yuh YamashitaIEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES E100A 2 414 - 420 2017年02月 [査読有り][通常論文]

Event-triggered control is a control method that the measured signal is sent to the controller only when a certain triggering condition on the measured signal is satisfied. In this paper, we propose a linear quadratic regulator (LQR) with decentralized triggering conditions. First, a suboptimal solution to the design problem of LQRs with decentralized triggering conditions is derived. A state-feedback gain can be obtained by solving a convex optimization problem with LMI (linear matrix inequality) constraints. Next, the relation between centralized and decentralized triggering conditions is discussed. It is shown that control performance of an LQR with decentralized event-triggering is better than that with centralized event-triggering. Finally, a numerical example is illustrated. - Dai Satoh, Koichi Kobayashi, Yuh YamashitaIEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES E100A 2 406 - 413 2017年02月 [査読有り][通常論文]

In this paper, a new method of model predictive control (MPC) for a multi-hop control network (MHCN) is proposed. An MHCN is a control system in which plants and controllers are connected through a multi-hop wireless network. In the proposed method, (i) control inputs and (ii) paths used in transmission of control inputs are computed with constant period by solving the finite-time optimal control problem. First, a mathematical model for expressing an MHCN is proposed. This model is given by a switched linear system, and is compatible with MPC. Next, the finite-time optimal control problem using this model is formulated, and is reduced to a mixed integer quadratic programming problem. Finally, a numerical example is presented to show the effectiveness of the proposed method. - Shumpei Yoshikawa, Koichi Kobayashi, Yuh Yamashita2017 56TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE) 313 - 316 2017年 [査読有り][通常論文]

Event-triggered control is a method that the control input is updated only when a certain triggering condition is satisfied. In networked control systems, quantization errors via A/D conversion should be considered. In this paper, a new method for quantized event-triggered control with switching triggering conditions is proposed. For a discrete-time linear system, we consider the problem of finding a state-feedback controller such that the closed-loop system is uniformly ultimately bounded in a certain ellipsoid. This problem is reduced to an LMI (Linear Matrix Inequality) optimization problem. The volume of the ellipsoid can be adjusted. - Ryo Masuda, Koichi Kobayashi, Yuh Yamashita2017 56TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE) 168 - 171 2017年 [査読有り][通常論文]

The multi-agent monitoring (surveillance) problem over graphs is to find trajectories of multiple agents that travel each node as evenly as possible. This problem has several applications such as city safety management and disaster rescue. In our previously proposed method, the finite-time optimal surveillance problem was formulated, and was reduced to a mixed integer linear programming (MILP) problem. Based on the policy of model predictive control, an optimal trajectory is generated by solving the MILP problem at each discrete time. However, the computation time for solving the MILP problem is frequently long. In this paper, to reduce the computation time of the MILP problem, a modeling method of graphs is proposed. In this method, the adjacency relation is time varying depending on the current position of agents. Since redundant arcs are eliminated, the computation time is improved. The effectiveness of the proposed method is demonstrated by numerical simulations. - Dai Satoh, Koichi Kobayashi, Yuh Yamashita2017 56TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE) 164 - 167 2017年 [査読有り][通常論文]

A multi-hop control network (MHCN) is a control system in which plants and controllers are connected through a multi-hop wireless network. An MHCN is one of the typical examples in cyber-physical systems. In this paper, we propose a new method of stochastic model predictive control for MHCNs with packet dropouts. In the proposed method, a given MHCN is modeled by a stochastic switched system. Then, we consider the finite-time optimal control problem of minimizing the cost function given by the quadratic form with respect to the expected value of the state and the control input. This problem is reduced to a mixed integer programming problem. By solving it, both communication paths and control inputs are optimized simultaneously. - 小林孝一, 平石邦彦電子情報通信学会 基礎・境界ソサイエティ Fundamentals Review 10 4 257 - 265 2017年 [査読有り][通常論文]
- Koichi Kobayashi, Kunihiko HiraishiIEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES E99A 2 468 - 474 2016年02月 [査読有り][通常論文]

Event-triggered and self-triggered control methods are an important control strategy in networked control systems. Event-triggered control is a method that the measured signal is sent to the controller (i.e., the control input is recomputed) only when a certain condition is satisfied. Self-triggered control is a method that the control input and the (non-uniform) sampling interval are computed simultaneously. In this paper, we propose new methods of event-triggered control and self-triggered control from the viewpoint of online optimization (i.e., model predictive control). In self-triggered control, the control input and the sampling interval are obtained by solving a pair of a quadratic programming (QP) problem and a mixed integer linear programming (MILP) problem. In event-triggered control, whether the control input is updated or not is determined by solving two QP problems. The effectiveness of the proposed methods is presented by numerical examples. - Kunihiko Hiraishi, Koichi KobayashiIEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES E99A 2 462 - 467 2016年02月 [査読有り][通常論文]

In previous papers by the authors, a new scheme for diagnosis of stochastic discrete event systems, called sequence profiling (SP), is proposed. From given event logs, N-gram models that approximate the behavior of the target system are extracted. N-gram models are used for discovering discrepancy between observed event logs and the behavior of the system in the normal situation. However, when the target system is a distributed system consisting of several subsystems, event sequences from subsystems may be interleaved, and SP cannot separate the faulty event sequence from the interleaved sequence. In this paper, we introduce wildcard characters into event patterns. This contributes to removing the effect by subsystems which may not be related to faults. - Kyohei Nakajima, Koichi Kobayashi, Yuh YamashitaPROCEEDINGS OF THE IECON 2016 - 42ND ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY 2016 IECON 5374 - 5379 2016年 [査読有り][通常論文]

Event-triggered control is a control method that the measured signal is sent to the controller only when a certain condition on the measured signal is satisfied. In this paper, we propose a decentralized event-triggered linear quadratic regulator (LQR). First, a suboptimal solution to the decentralized event-triggered LQR problem is derived. A state-feedback gain can he obtained by solving an LMI (linear matrix inequality) optimization problem. Next, the relation between centralized and decentralized event-triggered LQR problems is discussed. It is shown that control performance of a decentralized event triggered LQR is better than that of a centralized event-triggered LQR. Finally, a numerical example is illustrated. **Backstepping for Set-valued Upper Control Laws and Its Application to Control Allocation Problem**Daiki Suzuki, Yuh Yamashita, Koichi KobayashiProc. of the 2016 IEEE International Conference on Systems, Man, and Cybernetics 4245 - 4250 2016年 [査読有り][通常論文]**Periodic Model Predictive Control of Multi-Hop Control Networks**Dai Satoh, Koichi Kobayashi, Yuh YamashitaProc. of the 2016 IEEE International Conference on Systems, Man, and Cybernetics 1279 - 1284 2016年 [査読有り][通常論文]**Information Supervisory Control of Human Behavior - Concept and Experiments Toward Realization -**Kunihiko Hiraishi, Naoshi Uchihira, Sunseong Choe, Koichi KobayashiProc. of the 2016 IEEE International Conference on Systems, Man, and Cybernetics 790 - 795 2016年 [査読有り][通常論文]- Koichi KobayashiPROCEEDINGS OF 2016 IEEE 4TH INTERNATIONAL CONFERENCE ON CYBER-PHYSICAL SYSTEMS, NETWORKS, AND APPLICATIONS (CPSNA) 35 - 39 2016年 [査読有り][通常論文]

Real-time pricing (RTP) of electricity is one of the key technologies in smart grid. In RTP, the electricity price is set according to power consumption. Information about the price and power consumption is communicated through a communication network. Electricity is supplied to consumers through a power line. In this sense, a RTP system can be regarded as a cyber-physical system (CPS). In this paper, we consider the optimal RTP problem that a welfare function is maximized, where a switched Markov chain (SMC) model is utilized as a mathematical model of power consumption. Using a welfare function, we can consider a balance of electricity conservation and consumers' utility. In an SMC model, a Markov chain expressing time evolution of power consumption is switched according to the price and the transient response. This problem is reduced to a mixed integer linear programming problem. **Approximate MLD System Model of Switched Linear Systems for Model Predictive Control**Shin Kanazawa, Koichi Kobayashi, Yuh YamashitaProc. of the SICE Annual Conference 2016 (Position paper) 1745 - 1748 2016年 [査読有り][通常論文]**Model Predictive Control of Multiple Plants over Communication Networks**Dai Satoh, Koichi Kobayashi, Yuh YamashitaProc. of the SICE Annual Conference 2016 (Position paper) 1737 - 1740 2016年 [査読有り][通常論文]- W. Hashimoto, Y. Yamashita, R. Nonaka, K. KobayashiIFAC PAPERSONLINE 49 18 235 - 240 2016年 [査読有り][通常論文]

In this paper, we propose a new control law for the asymptotic stabilization of a four-wheeled vehicle with a steering angle limitation. The control law is based on a locally semiconcave control Lyapunov function (LS-CLF) for the chained system proposed by Kimura et al. (2015) that is converted by coordinate and input transformations without singular points. We confirm that the LS-CLF is also effective for the four-wheeled vehicle case, i.e., such inputs exist in the input constraint that decrease the LS-CLF. We also design a control law by using the LS-CLF and steering angle constraint that achieves asymptotic stabilization of the origin of a four-wheeled system while avoiding pivot turns. We confirm the effectiveness of the proposed control law via a computer simulation and an experiment. (C) 2016, IFAC (International Federation of Automatic Control)Hosting by Elsevier Ltd. All rights reserved. **An MILP Approach to Optimal Surveillance over Graphs**Mifuyu Kido, Koichi Kobayashi, Yuh YamashitaProc. of the 31st International Technical Conference on Circuits/Systems, Computers and Communications 133 - 136 2016年 [査読有り][通常論文]- Kaoru Sato, Kunihiko Hiraishi, Koichi Kobayashi2016 IEEE INTERNATIONAL MULTI-DISCIPLINARY CONFERENCE ON COGNITIVE METHODS IN SITUATION AWARENESS AND DECISION SUPPORT (COGSIMA) 78 - 82 2016年 [査読有り][通常論文]

Recently, various kinds of ICT devices are introduced into caregiving services. One of the benefits of using ICT devices is that use logs including time, location, and various data on staff's activities are automatically collected by the devices, and valuable information for improving the work can be extracted from the logs. In this paper, we propose a method for automatically recognizing operation situations from the use logs based on the data science techniques. What's new in the proposed approach is the two-phase clustering that reflects both spatio and temporal information. In the first phase, vectors that represent the arrangement of staff are clustered in order to recognize spatial situation. In the second phase, change of the staff's arrangement on the timeline is taken into consideration. The proposed method is applied to use logs collected during the field experiments which was conducted in a nursing home. The result is examined by visualizing the time series of situations, and comparing them with the actual situations. **Verification of Real-Time Pricing Systems Based on Probabilistic Boolean Networks**Koichi Kobayashi, Kunihiko HiraishiApplied Mathematics 7 15 1734 - 1747 2016年 [査読有り][通常論文]**Attractor-Based Simultaneous Design of the Minimum Set of Control Nodes and Controllers in Boolean Networks**Koichi KobayashiApplied Mathematics 7 14 1510 - 1520 2016年 [査読有り][通常論文]- Koichi KobayashiJournal of Applied Mathematics 2016 2016年 [査読有り][通常論文]

A networked control system (NCS) is a control system where components such as plants and controllers are connected through communication networks. Self-triggered control is well known as one of the control methods in NCSs and is a control method that for sampled-data control systems both the control input and the aperiodic sampling interval (i.e., the transmission interval) are computed simultaneously. In this paper, a self-triggered model predictive control (MPC) method for discrete-time linear systems with disturbances is proposed. In the conventional MPC method, the first one of the control input sequence obtained by solving the finite-time optimal control problem is sent and applied to the plant. In the proposed method, the first some elements of the control input sequence obtained are sent to the plant, and each element is sequentially applied to the plant. The number of elements is decided according to the effect of disturbances. In other words, transmission intervals can be controlled. Finally, the effectiveness of the proposed method is shown by numerical simulations. **Notions of Opacity in Hybrid Systems for Cybersecurity**Koichi KobayashiProc. of the 21st International Symposium on Artificial Life and Robotics 83 - 86 2016年 [査読有り][通常論文]- Koichi Kobayashi, Kunihiko HiraishiIEEJ TRANSACTIONS ON ELECTRICAL AND ELECTRONIC ENGINEERING 10 6 699 - 705 2015年11月 [査読有り][通常論文]

A multi-hop control network (MHCN) is a control system in which plants and controllers are connected through a multi-hop wireless network modeled by a directed graph. In this paper, based on the MLD (mixed logical dynamical) framework, which is one of the powerful methods in hybrid systems control, we propose a modeling method and an optimal control method of MHCNs. First, a directed graph in MHCNs and a switch of the control input are modeled by a pair of a linear state equation and a linear inequality with binary variables. Thus, the MLD model expressing a given MHCN is derived. Next, using the MLD model, the optimal control problem is transformed into a mixed integer quadratic programming problem. Finally, numerical examples are presented. The proposed method provides us a basic result for control of MHCNs. (c) 2015 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc. - Koichi Kobayashi, Takuro Nagami, Kunihiko HiraishiIEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES E98A 2 626 - 634 2015年02月 [査読有り][通常論文]

In this paper, optimal control of multi-vehicle systems is studied. In the case where collision avoidance between vehicles and obstacle avoidance are imposed, state discretization is effective as one of the simplified approaches. Furthermore, using state discretization, cooperative actions such as rendezvous can be easily specified by linear temporal logic (LTL) formulas. However, it is not necessary to discretize all states, and partial states (e.g., the position of vehicles) should be discretized. From this viewpoint, a new control method for multi-vehicle systems is proposed in this paper. First, the system in which partial states are discretized is formulated. Next, the optimal control problem with constraints described by LTL formulas is formulated, and its solution method is proposed. Finally, numerical simulations are presented. The proposed method provides us a useful method in control of multi-vehicle systems. - Miwa Yoshimoto, Koichi Kobayashi, Kunihiko HiraishiIEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES E98A 2 618 - 625 2015年02月 [査読有り][通常論文]

In this paper, we present a new method for diagnosis of stochastic discrete event system. The method is based on anomaly detection for sequences. We call the method sequence profiling (SP). SP does not require any system models and any system-specific knowledge. The only information necessary for SP is event logs from the target system. Using event logs from the system in the normal situation, N-gram models are learned, where the N-gram model is used as approximation of the system behavior. Based on the N-gram model, the diagnoser estimates what kind of faults has occurred in the system, or may conclude that no faults occurs. Effectiveness of the proposed method is demonstrated by application to diagnosis of a multi-processor system. - Koichi Kobayashi, Kunihiko Hirasihi2015 INTERNATIONAL CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING (CASE) 539 - 544 2015年 [査読有り][通常論文]

A real-time pricing method of electricity is one of the important methods in smart grid technologies. When electricity conservation is needed, the price is set to a high value, and electricity conservation is achieved. The authors have proposed a theoretical framework for real-time pricing of electricity. In this method, power consumption of consumers is modeled by a switched Markov chain (SMC) model in which a Markov chain is switched according to the price and the transient response. In addition, the pricing problem is formulated as a finite-time optimal control problem for the SMC model. However, in the SMC model, decrease in price effect has not been considered. In the case where a high price is continuously set, its effect is not sustained, and becomes gradually decreased. In this paper, considering decrease in price effect, a more sophisticated version of the SMC model is proposed. For the improved SMC model, the price problem is given, and its solution method is derived. - Kenji Uehara, Kunihiko Hiraishi, Koichi Kobayashi2015 INTERNATIONAL CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING (CASE) 298 - 303 2015年 [査読有り][通常論文]

With increasing demands for air transportation, large airports in metropolitan areas are required to improve their performance and capacity. Although simulation is one of commonly used techniques for evaluating performance of large systems such as airports, building detailed simulation models is costly because of their complexity. This paper presents a new modeling approach for airport surface traffic and its implementation by object Petri nets. The obtained model is mesoscopic in the sense that it does not simulate real-time movement of each aircraft, but it distinguishes individual aircrafts on taxiways. Moreover, the proposed approach is generic in the sense that airport-specific properties are summarized as a small number of parameters. By simulation of the model, we can identify bottleneck on the taxiway network. We also apply congestion control based on gate holding scheme to the airport surface model and verify its effectiveness. Such a simulation-based approach contributes to evaluation and improvement of airport capacity. **Situation Recognition from Behavior Logs in Caregiving Services**Kaoru Sato, Koichi Kobayashi, Kunihiko HiraishiProc. of the 30th International Technical Conference on Circuit/Systems Computers and Communications 721 - 724 2015年 [査読有り][通常論文]- Koichi Kobayashi, Kunihiko HiraishiMATHEMATICAL PROBLEMS IN ENGINEERING 2015, Article ID 952310 2015年 [査読有り][通常論文]

In analysis and control of large-scale complex systems, a discrete model plays an important role. In this paper, a probabilistic logic network (PLN) is considered as a discrete model. A PLN is a mathematical model where multivalued logic functions are randomly switched. For a PLN with two kinds of control inputs, the optimal control problem is formulated, and an approximate solution method for this problem is proposed. In the proposed method, using a matrix-based representation for a PLN, this problem is approximated by a mixed integer linear programming problem. In application, real-time pricing of electricity is studied. In real-time pricing, electricity conservation is achieved by setting a high electricity price. A numerical example is presented to show the effectiveness of the proposed method. - Koichi Kobayashi, Kunihiko Hiraishi2015 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS (ICM) 586 - 591 2015年 [査読有り][通常論文]

Event-triggered control and self-triggered control are an important control strategy in networked control systems. Event-triggered control is a control method that determines transmissions of the control input and the measured signal depending on measurement information. Self-triggered control is a control method that the control input and the (non-uniform) sampling interval are computed simultaneously. In this paper, we propose a new method of event-triggered control and self-triggered control from the viewpoint of optimal control. In self-triggered control, the control input and the sampling interval are obtained by solving a pair of a quadratic programming (QP) problem and a mixed integer linear programming (MILP) problem. In event-triggered control, the triggering condition is given by two QP problems. The effectiveness of the proposed methods is presented by numerical examples. - Koichi Kobayashi, Kunihiko Hiraishi2015 IEEE Power & Energy Society Innovative Smart Grid Technologies Conference (ISGT) 2015年 [査読有り][通常論文]

Real-time pricing is one of the key strategies in demand response. In this paper, a new theoretical framework for real-time pricing is proposed based on a switched Markov chain model. First, a switched Markov chain model is introduced, and the behavior of air-conditioners is modeled as an example. Next, the pricing problem is formulated as the optimal control problem, and its solution method is proposed. In addition, an on-line algorithm for real-time pricing is presented. Finally, the effectiveness of the proposed method is presented by a numerical simulation. The proposed method provides us a basic framework for real-time pricing of electricity. **Optimal Real-time Pricing for Energy Management Systems Based on Switched Interval Markov Chains**Koichi Kobayashi, Kunihiko HiraishiProc. of the 20th International Symposium on Artificial Life and Robotics 172 - 175 2015年 [査読有り][通常論文]- Koichi Kobayashi, Jun-ichi Imura, Hiromichi MatsushimaINTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 25 1 142 - 162 2015年01月 [査読有り][通常論文]

This paper addresses a new type of model predictive control problem for a hybrid system that consists of a continuous-time linear system and a temporal/spatial directed graph, called a directed-graph constrained system. Motivated by the obstacle avoidance problem, the problem is newly formulated, where the continuous-time control input and the waypoints of the state are simultaneously optimized under a temporal/spatial directed graph as well as input/state linear constraints, and a method for efficiently solving this problem is developed. Numerical examples are presented to verify that the proposed approach is effective. Copyright (C) 2013 John Wiley & Sons, Ltd. - Koichi Kobayashi, Kunihiko HiraishiIEEE-ACM TRANSACTIONS ON COMPUTATIONAL BIOLOGY AND BIOINFORMATICS 11 6 1253 - 1259 2014年11月 [査読有り][通常論文]

Attractors in gene regulatory networks represent cell types or states of cells. In system biology and synthetic biology, it is important to generate gene regulatory networks with desired attractors. In this paper, we focus on a singleton attractor, which is also called a fixed point. Using a Boolean network (BN) model, we consider the problem of finding Boolean functions such that the system has desired singleton attractors and has no undesired singleton attractors. To solve this problem, we propose a matrix-based representation of BNs. Using this representation, the problem of finding Boolean functions can be rewritten as an Integer Linear Programming (ILP) problem and a Satisfiability Modulo Theories (SMT) problem. Furthermore, the effectiveness of the proposed method is shown by a numerical example on a WNT5A network, which is related to melanoma. The proposed method provides us a basic method for design of gene regulatory networks. - Koichi Kobayashi, Kunihiko HiraishiAPPLIED MATHEMATICS AND COMPUTATION 247 786 - 794 2014年11月 [査読有り][通常論文]

A networked control system (NCS) is a control system in which plants, sensors, controllers, and actuators are connected through communication networks. In this paper, the optimal sampled-data control problem of linear systems with multiple time delays, which is one of the fundamental problems in NCSs, is considered, where multiple time delays and the sampling period are uncertain. First, the problem is transformed into the optimal control problem of discrete-time uncertain linear systems, where the intersample behavior is considered in the cost function. Next, under a certain assumption, the obtained problem is further transformed into a convex quadratic programming problem. Finally, a numerical simulation is presented. (C) 2014 Elsevier Inc. All rights reserved. - Koichi Kobayashi, Yasuhito Fukui, Kunihiko HiraishiIEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES E97A 2 459 - 467 2014年02月 [査読有り][通常論文]

A stochastic hybrid system can express complex dynamical systems such as biological systems and communication networks, but computation for analysis and control is frequently difficult. In this paper, for a class of stochastic hybrid systems, a discrete abstraction method in which a given system is transformed into a finite-state system is proposed based on the notion of bounded bisimulation. In the existing discrete abstraction method based on bisimulation, a computational procedure is not in general terminated. In the proposed method, only the behavior for the finite time interval is expressed as a finite-state system, and termination is guaranteed. Furthermore, analysis of genetic toggle switches is also discussed as an application. - Koichi Kobayashi, Kunihiko HiraishiIECON 2014 - 40TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY 4732 - 4737 2014年 [査読有り][通常論文]

In design of demand response programs, real-time pricing plays an important role. In real-time pricing systems, information of the price and power consumption is sent to an ISO (independent system operator) and consumers (i.e., smart meters) through communication networks. Hence, this system can be regarded as a class of networked control systems. In this paper, design of real-time pricing systems over communication networks is discussed. First, a probabilistic discrete model expressing the relation between the price and power consumption is explained. In addition, effects of communication networks are also explained, and directed graphs with communication properties are introduced. Next, the pricing problem is reduced to a mixed integer linear programming problem. Finally, a numerical simulation is presented. **On Model Checking of Real-Time Pricing Systems Modeled by Probabilistic Discrete Models**Koichi Kobayashi, Kunihiko HiraishiProc. of the SICE Annual Conference 2014 (Position paper) 1278 - 1281 2014年 [査読有り][通常論文]- Koichi Kobayashi, Kunihiko HiraishiIFAC PAPERSONLINE 47 3 2442 - 2447 2014年 [査読有り][通常論文]

In this paper, a new control method for a probabilistic Boolean network (PBN) is proposed. A PBN is widely used as a model of complex systems such as gene regulatory networks. For a PBN, the structural control problem is newly formulated. In this problem, a discrete probability distribution appeared in a PBN is controlled by the continuous-valued input. In the proposed solution method, using a matrix-based representation for a PBN, the problem is approximated by a linear programming problem. Furthermore, design of real-time pricing systems of electricity is considered as an application. By appropriately designing real-time pricing systems, electricity conservation is achieved. The effectiveness of the proposed method is presented by a numerical example on real-time pricing systems. **Simultaneous Design of Prices and Incentives for Demand Response**Koichi Kobayashi, Kunihiko HiraishiProc. of the 29th International Technical Conference on Circuit/Systems Computers and Communications 853 - 856 2014年 [査読有り][通常論文]- Koichi Kobayashi, Kunihiko Hiraishi2014 EUROPEAN CONTROL CONFERENCE (ECC) 1504 - 1509 2014年 [査読有り][通常論文]

Attractors in gene regulatory networks represent cell types or states of cells. In system biology and synthetic biology, it is important to generate gene regulatory networks with desired attractors. In this paper, we focus on a singleton attractor, which is also called a fixed point. Using a Boolean network (BN) model, we consider the problem of finding Boolean functions such that the system has desired singleton attractors and has no undesired singleton attractors. To solve this problem, we propose a matrix-based representation of BNs. Using this representation, the problem of finding Boolean functions can be rewritten as an integer linear programming problem. Furthermore, the effectiveness of the proposed method is shown by a numerical example on a WNT5A network, which is related to melanoma. The proposed method provides us a basic method for design of gene regulatory networks. **Detection of Unusual Human Activities Based on Behavior Modeling**Kunihiko Hiraishi, Koichi KobayashiProc. of the 12th IFAC International Workshop on Discrete Event Systems 182 - 187 2014年 [査読有り][通常論文]- Koichi Kobayashi, Kunihiko Hiraishi2014 IEEE 13TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL (AMC) 741 - 745 2014年 [査読有り][通常論文]

Self-triggered control is a control method that the control input and the non-uniform sampling period are computed simultaneously in sampled-data control systems, and is extensively studied in the field of control theory of networked systems and cyber-physical systems. The authors have proposed a new method for self-triggered control. In this method, the control input and the sampling period are computed by solving a quadratic programming (QP) problem at each sampling interval. However, the convexity of the QP problem obtained is not guaranteed. In this paper, we discuss the convexity. The non-convex QP problem appeared in self-triggered control is approximated by the convex QP problem, which can be solved faster than the non-convex QP problem. - Kunihiko Hiraishi, Koichi Kobayashi, Sunseong Choe, Naoshi Uchihira2014 IEEE INTERNATIONAL INTER-DISCIPLINARY CONFERENCE ON COGNITIVE METHODS IN SITUATION AWARENESS AND DECISION SUPPORT (COGSIMA) 244 - 249 2014年 [査読有り][通常論文]

A type of services that require human physical actions and intelligent decision making exists in various real fields, such as nursing in hospitals and caregiving in nursing homes. The authors' group call such services "physical and adaptive intelligent services," and is developing an IT-based system that is aims to assist cooperation and knowledge sharing among staffs. In this paper, we propose a new method for analyzing changes in the behavior of staffs before/after introducing the system. The method is based on probabilistic modeling of staffs' behavior. Using event-logs recorded by the system, behavior models are learned in the form of N-gram models. The method is also used for detection of unusual human behavior in the event-logs. **A Polynomial Optimization Approach to Optimal Control of Context-Sensitive Probabilistic Boolean networks**Koichi Kobayashi, Kunihiko HiraishiProc. of the 19th International Symposium on Artificial Life and Robotics 92 - 95 2014年 [査読有り][通常論文]- Koichi Kobayashi, Kunihiko HiraishiMATHEMATICAL PROBLEMS IN ENGINEERING 2014, Article ID 906717 2014年 [査読有り][通常論文]

Control of complex systems is one of the fundamental problems in control theory. In this paper, a control method for complex systems modeled by a probabilistic Boolean network (PBN) is studied. A PBN is widely used as a model of complex systems such as gene regulatory networks. For a PBN, the structural control problem is newly formulated. In this problem, a discrete probability distribution appeared in a PBN is controlled by the continuous-valued input. For this problem, an approximate solution method using a matrix-based representation for a PBN is proposed. Then, the problem is approximated by a linear programming problem. Furthermore, the proposed method is applied to design of real-time pricing systems of electricity. Electricity conservation is achieved by appropriately determining the electricity price over time. The effectiveness of the proposed method is presented by a numerical example on real-time pricing systems. **Modeling and Design of Real-Time Pricing Systems Based on Markov Decision Processes**Koichi Kobayashi, Ichiro Maruta, Kazunori Sakurama, Shun-ichi AzumaApplied Mathematics 5 10 1485 - 1495 2014年 [査読有り][通常論文]- Koichi Kobayashi, Wai Wai Shein, Kunihiko HiraishiSICE Journal of Control, Measurement, and System Integration 7 3 152 - 158 2014年 [査読有り][通常論文]
- Koichi Kobayashi, Kunihiko HiraishiSCIENTIFIC WORLD JOURNAL 2014, Article ID 968341 2014年 [査読有り][通常論文]

One of the significant topics in systems biology is to develop control theory of gene regulatory networks (GRNs). In typical control of GRNs, expression of some genes is inhibited (activated) by manipulating external stimuli and expression of other genes. It is expected to apply control theory of GRNs to gene therapy technologies in the future. In this paper, a control method using a Boolean network (BN) is studied. A BN is widely used as a model of GRNs, and gene expression is expressed by a binary value (ON or OFF). In particular, a context-sensitive probabilistic Boolean network (CS-PBN), which is one of the extended models of BNs, is used. For CS-PBNs, the verification problem and the optimal control problem are considered. For the verification problem, a solution method using the probabilistic model checker PRISM is proposed. For the optimal control problem, a solution method using polynomial optimization is proposed. Finally, a numerical example on the WNT5A network, which is related to melanoma, is presented. The proposed methods provide us useful tools in control theory of GRNs. - Koichi Kobayashi, Kunihiko HiraishiIEEJ TRANSACTIONS ON ELECTRICAL AND ELECTRONIC ENGINEERING 9 1 56 - 61 2014年01月 [査読有り][通常論文]

A networked control system (NCS) is a control system in which plants, sensors, controllers, and actuators are connected through communication networks. In this paper, we consider NCSs modeled by stochastic switching systems, and propose a new method for modeling and optimal control. First, a recursive representation of the expected value of the state is proposed. Next, after an over-approximation of this recursive representation is derived, the optimal control problem is reduced to a linear programming problem. Finally, the effectiveness of the proposed method is shown by a numerical example. The proposed method provides us an easy-to-use control method for NCSs. (c) 2013 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc. - Koichi Kobayashi, Kunihiko HiraishiIEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES E96A 5 861 - 868 2013年05月 [査読有り][通常論文]

Self-triggered control is a control method that the control input and the sampling period are computed simultaneously in sampled-data control systems, and is studied in the field of networked control systems. In this paper, a new approach for self-triggered control is proposed based on the model predictive control (MPC) method. First, self-triggered MPC with delay compensation in which the delay-compensation input is introduced is newly formulated. Next, in order to efficiently solve this MPC problem, the optimal control problem with horizon one is formulated, and an approximate solution method is derived. Finally, the effectiveness of the proposed approach is shown by a numerical example. - Kunihiko Hiraishi, Koich KobayashiFORMAL METHODS IN SYSTEM DESIGN 42 2 175 - 192 2013年04月 [査読有り][通常論文]

Predicate abstraction is a powerful technique for extracting finite-state models from infinite-state systems such as computer software, and is applied to verification of safety properties. Predicate abstraction is also applied to verification of dynamical systems on real state spaces such as hybrid dynamical systems. In this paper, we propose a fast algorithm for computing entire abstract state spaces of transition systems on real state spaces. The method is based on the box abstraction of state spaces, and requires a relatively smaller number of reachability checks and Boolean operations. We also propose a fast method for computing the set of boxes that intersect a given convex polyhedron. This computation is a part of the proposed state-space generation algorithm. Effectiveness of the algorithm is evaluated by the computation time and by the difference of the approximated state space from the exact state space. - Koichi Kobayashi, Kunihiko HiraishiIEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES E96A 2 532 - 539 2013年02月 [査読有り][通常論文]

A Boolean network model is one of the models of gene regulatory networks, and is widely used in analysis and control. Although a Boolean network is a class of discrete-time nonlinear systems and expresses the synchronous behavior, it is important to consider the asynchronous behavior. In this paper, using a Petri net, a new modeling method of asynchronous Boolean networks with control inputs is proposed. Furthermore, the optimal control problem of Petri nets expressing asynchronous Boolean networks is formulated, and is reduced to an integer programming problem. The proposed approach will provide us one of the mathematical bases of control methods for gene regulatory networks. - Koichi Kobayashi, Takuro Nagami, Kunihiko Hiraishi2013 IEEE 52ND ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC) 7709 - 7714 2013年 [査読有り][通常論文]

In this paper, optimal control of multi-vehicle systems is studied. When collision avoidance between vehicles and obstacle avoidance are imposed, state discretization is effective as one of the simplified approaches. Furthermore, using state discretization, cooperative actions such as rendezvous can be easily specified by linear temporal logic (LTL) formulas. However, it is not necessary to discretize all states, and partial states (e.g., the position of vehicles) should be discretized. From this viewpoint, a new control method for multi-vehicle systems is proposed in this paper. First, the system in which partial states are discretized is formulated. Next, the optimal control problem with constraints described by LTL formulas is formulated, and its solution method is proposed. Finally, numerical simulation is shown. The proposed method provides us a useful method in control of multi-vehicle systems. - Koichi Kobayashi, Yasuhito Fukui, Kunihiko Hiraishi2013 IEEE 52ND ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC) 2641 - 2646 2013年 [査読有り][通常論文]

Stochastic hybrid systems can express complex dynamical systems such as biological systems and communication networks, but computation for analysis and control is frequently difficult. In this paper, for a class of stochastic hybrid systems, a discrete abstraction method in which a given system is transformed into a finite-state system is proposed based on the notion of bounded bisimulation. In the existing discrete abstraction method based on bisimulation, a computational procedure is not in general terminated. In the proposed method, only the behavior for the finite time interval is expressed as a finite-state system, and termination is guaranteed. The obtained discrete abstract model can be used for model predictive control in which the finite-time optimal control problem is solved at each time. Furthermore, as an application, analysis of genetic toggle switches is also discussed. - Koichi Kobayashi, Kunihiko Hiraishi39TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY (IECON 2013) 5656 - 5661 2013年 [査読有り][通常論文]

A multi-hop control network (MHCN) is a control system in which plants and controllers are connected through a multi-hop wireless network modeled by a directed graph. In this paper, based on the MLD (Mixed Logical Dynamical) framework, which is one of the powerful methods in hybrid systems control, we propose a modeling method and an optimal control method of MHCNs. First, a directed graph in MHCNs is modeled by a pair of linear equation and inequality with binary variables, and the MLD model of MHCNs is derived. Next, by using the MLD model, the optimal control problem is transformed into a mixed integer quadratic programming problem. Finally, a numerical simulation on optimal control of a simple MHCN is shown. - Koichi Kobayashi, Kunihiko HiraishiIECON Proceedings (Industrial Electronics Conference) 5632 - 5637 2013年 [査読有り][通常論文]

In this paper, the optimal sampled-data control problem of linear systems with multiple time delays, which is one of the fundamental problems in a networked control system (NCS), is considered. An NCS is a control system in which plants, sensors, controllers, and actuators are connected through communication networks. As a typical situation, we suppose that multiple time delays and sampling period are uncertain. First, the optimal control problem is transformed into that of discrete-time uncertain linear systems. Next, under a certain assumption, the obtained problem is further transformed into a quadratic programming problem. In the proposed method, interval arithmetic is effectively used. Finally, a numerical simulation is shown. © 2013 IEEE. - Wai Wai Shein, Koichi Kobayashi, Kunihiko Hiraishi2013 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE) 601 - 606 2013年 [査読有り][通常論文]

In this paper, we discuss a hierarchical implementation method for model predictive control of large-scale systems with both continuous-valued and discrete-valued control inputs. In our previously proposed method, the notion of virtual control inputs was introduced. In online computation, first, continuous-valued control inputs and virtual control inputs are calculated. Next, using the obtained virtual control inputs, only discrete-valued control inputs at the current time are calculated. However, quantization errors in the steady state and applications have not been considered so far. In this paper, we propose the improved version, and apply the proposed method to air-conditioning systems. **An MDP Approach to Modeling and Control of Real-Time Pricing Systems**Koichi Kobayashi, Ichiro Maruta, Kazunori Sakurama, Shun-ichi AzumaProc. of the SICE Annual Conference 2013 (Regular Paper) 595 - 600 2013年 [査読有り][通常論文]**Diagnosis of Stochastic Discrete Event Systems Based on N-gram Models with Wildcard Characters**Kunihiko Hiraishi, Miwa Yoshimoto, Koichi KobayashiProc. of the 6th IFIP/IEEE International Workshop on Distributed Autonomous Network Management Systems 1384 - 1388 2013年 [査読有り][通常論文]**Self-Triggered Optimal Control Based on Optimization with Prediction Horizon One**Koichi Kobayashi, Kunihiko HiraishiProc. of the 18th International Symposium on Artificial Life and Robotics 342 - 345 2013年 [査読有り][通常論文]- Koichi Kobayashi, Kunihiko HiraishiMATHEMATICAL PROBLEMS IN ENGINEERING 2013, Article ID 916040 2013年 [査読有り][通常論文]

Self-triggered control is a control method that the control input and the sampling period are computed simultaneously in sampled-data control systems and is extensively studied in the field of control theory of networked systems and cyber-physical systems. In this paper, a new approach for self-triggered control is proposed from the viewpoint of model predictive control (MPC). First, the difficulty of self-triggered MPC is explained. To overcome this difficulty, two problems, that is, (i) the one-step input-constrained problem and (ii) the N-step input-constrained problem are newly formulated. By repeatedly solving either problem in each sampling period, the control input and the sampling period can be obtained, that is, self-triggered MPC can be realized. Next, an iterative solution method for the latter problem and an approximate solution method for the former problem are proposed. Finally, the effectiveness of the proposed approach is shown by numerical examples. - Koichi Kobayashi, Kunihiko HiraishiBIOMED RESEARCH INTERNATIONAL 2013, Article ID 246761 2013年 [査読有り][通常論文]

Developing control theory of gene regulatory networks is one of the significant topics in the field of systems biology, and it is expected to apply the obtained results to gene therapy technologies in the future. In this paper, a control method using a Boolean network (BN) is studied. A BN is widely used as a model of gene regulatory networks, and gene expression is expressed by a binary value (0 or 1). In the control problem, we assume that the concentration level of a part of genes is arbitrarily determined as the control input. However, there are cases that no gene satisfying this assumption exists, and it is important to consider structural control via external stimuli. Furthermore, these controls are realized by multiple drugs, and it is also important to consider multiple effects such as duration of effect and side effects. In this paper, we propose a BN model with two types of the control inputs and an optimal control method with duration of drug effectiveness. First, a BN model and duration of drug effectiveness are discussed. Next, the optimal control problem is formulated and is reduced to an integer linear programming problem. Finally, numerical simulations are shown. - Koichi Kobayashi, Kunihiko HiraishiJOURNAL OF APPLIED MATHEMATICS 2013, Article ID 654059 2013年 [査読有り][通常論文]

In control theory of discrete event systems (DESs), one of the challenging topics is the extension of theory of finite-state DESs to that of infinite-state DESs. In this paper, we discuss verification of opacity and diagnosability for infinite-state DESs modeled by pushdown automata (called here pushdown systems). First, we discuss opacity of pushdown systems and prove that opacity of pushdown systems is in general undecidable. In addition, a decidable class is clarified. Next, in diagnosability, we prove that under a certain assumption, which is different from the assumption in the existing result, diagnosability of pushdown systems is decidable. Furthermore, a necessary condition and a sufficient condition using finite-state approximations are derived. Finally, as one of the applications, we consider data integration using XML (Extensible Markup Language). The obtained result is useful for developing control theory of infinite-state DESs. - Koichi KobayashiEUROPEAN JOURNAL OF CONTROL 19 1 11 - 12 2013年01月 [査読有り][通常論文]
- Koichi Kobayashi, Kunihiko HiraishiJOURNAL OF APPLIED MATHEMATICS 2013, Article ID 615060 2013年 [査読有り][通常論文]

We propose computational techniques for model predictive control of large-scale systems with both continuous-valued control inputs and discrete-valued control inputs, which are a class of hybrid systems. In the proposed method, we introduce the notion of virtual control inputs, which are obtained by relaxing discrete-valued control inputs to continuous variables. In online computation, first, we find continuous-valued control inputs and virtual control inputs minimizing a cost function. Next, using the obtained virtual control inputs, only discrete-valued control inputs at the current time are computed in each subsystem. In addition, we also discuss the effect of quantization errors. Finally, the effectiveness of the proposed method is shown by a numerical example. The proposed method enables us to reduce and decentralize the computation load. - K. Kobayashi, K. HiraishiIET SYSTEMS BIOLOGY 6 6 215 - 222 2012年12月 [査読有り][通常論文]

A Boolean network (BN) is well known as one of the models of biological networks such as gene regulatory networks, and has been extensively studied. In this study, for a BN, the verification/control problems are discussed. First, a probabilistic model including both synchronous and asynchronous Boolean dynamics is derived. This model can be generalised as a probabilistic BN. Next, a solution method of the verification/control problems is proposed, based on a probabilistic model checker PRISM. Finally, the PRISM-based method is applied to an apoptosis network and a WNT5A network. The proposed approach provides us an easy and convenient tool for analysis and control of biological networks. - Koichi Kobayashi, Koichiro Matou, Kunihiko HiraishiINTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS 10 5 897 - 904 2012年10月 [査読有り][通常論文]

Stochastic hybrid systems have several applications such as biological systems and communication networks, but it is difficult to consider control of general stochastic hybrid systems. In this paper, a class of discrete-time stochastic hybrid systems, in which only discrete dynamics are stochastic, is considered. For this system, a solution method for the optimal control problem with probabilistic constraints is proposed. Probabilistic constraints guarantee that the probability that the continuous state reaches a given unsafe region is less than a given constant. In the propose method, first, continuous state regions, from which the state reaches a given unsafe region, are computed by a backward-reachability graph. Next, mixed integer quadratic programming problems with constraints derived from the backward-reachability graph are solved. The proposed method can be applied to model predictive control. - Koichi Kobayashi, Jun-ichi ImuraJOURNAL OF PROCESS CONTROL 22 9 1670 - 1680 2012年10月 [査読有り][通常論文]

As is well known, the computational complexity in the mixed integer programming (MW) problem is one of the main issues in model predictive control (MPC) of hybrid systems such as mixed logical dynamical systems. Thus several efficient MIP solvers such as multi-parametric MIP solvers have been extensively developed to cope with this problem. On the other hand, as an alternative approach to this issue, this paper addresses how a deterministic finite automaton, which is a part of a hybrid system, should be expressed to efficiently solve the MIP problem to which the MPC problem is reduced. More specifically, a modeling method to represent a deterministic finite automaton in the form of a linear state equation with a smaller set of binary input variables and binary linear inequalities is proposed. After a motivating example is described, a derivation procedure of a linear state equation with linear inequalities representing a deterministic finite automaton is proposed as three steps; modeling via an implicit system, coordinate transformation to a linear state equation, and state feedback binarization. Various significant properties on the proposed modeling are also presented throughout the proofs on the derivation procedure. (C) 2012 Elsevier Ltd. All rights reserved. - Koichi Kobayashi, Kunihiko HiraishiIEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES E95A 9 1512 - 1517 2012年09月 [査読有り][通常論文]

In this paper, the optimal control problem of a probabilistic Boolean network (PBN), which is one of the significant models in gene regulatory networks, is discussed. In the existing methods of optimal control for PBNs, it is necessary to compute state transition diagrams with 2(n) nodes for a given PBN with n states. To avoid this computation, a polynomial optimization approach is proposed. In the proposed method, a PBN is transformed into a polynomial system, and the optimal control problem is reduced to a polynomial optimization problem. Since state transition diagrams are not computed, the proposed method is convenient for users. - Koichi Kobayashi, Kunihiko HiraishiIEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES E95A 4 691 - 696 2012年04月 [査読有り][通常論文]

In this paper, for networked systems, synthesis of self-triggered controllers is addressed. In the proposed method, the control input and the sampling time such that a given cost function is minimized are computed simultaneously. First, the optimal control problem of continuous-time linear systems is rewritten as that of systems with integral continuous-time dynamics. Next, this problem is approximately reduced to a linear programming problem. The proposed method can be applied to model predictive control. Finally, the effectiveness of the proposed method is shown by a numerical example. - Koichi Kobayashi, Kunihiko Hiraishi2012 THIRD INTERNATIONAL CONFERENCE ON NETWORKING AND COMPUTING (ICNC 2012) 399 - 403 2012年 [査読有り][通常論文]

A Boolean network is a class of discrete-time nonlinear dynamical systems, and time evolution is expressed by a set of Boolean functions. This model is well known as one of the models of gene regulatory networks, and can express synchronous dynamics. In this paper, to express asynchronous dynamics, a new modeling method of Boolean networks with control inputs is proposed based on the Petri net framework. Furthermore, the optimal control problem of Petri nets expressing asynchronous dynamics of a Boolean network is formulated, and is reduced to an integer programming problem. The proposed approach will provide us one of the mathematical bases of control methods for gene regulatory networks. - Koichi Kobayashi, Kunihiko Hiraishi38TH ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS SOCIETY (IECON 2012) 3200 - 3205 2012年 [査読有り][通常論文]

Self-triggered control is a control method that the control input and the sampling period are computed simultaneously in sampled-data control systems, and is studied in the field of networked control systems. In this paper, a new approach for self-triggered control is proposed based on model predictive control (MPC). First, self-triggered MPC with delay compensation in which the delay-compensation input is introduced is newly formulated. Next, in order to efficiently solve this MPC problem, the optimal control problem with horizon one is formulated, and an approximate solution method is derived. Finally, the effectiveness of the proposed approach is shown by a numerical example. - Koichi Kobayashi, Kunihiko Hiraishi38TH ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS SOCIETY (IECON 2012) 3170 - 3175 2012年 [査読有り][通常論文]

A networked control system (NCS) is a control system in which plants, sensors, controllers, and actuators are connected through communication networks. In this paper, we consider NCSs modeled by stochastic switching systems, and propose a new method for modeling and optimal control. First, a modeling method of the expected value of the state is proposed. The obtained model is given as a mixed logical dynamical (MLD) model, which is one of the standard models in hybrid systems. Next, the optimal control problem is approximately reduced to a linear programming problem. Finally, the effectiveness of the proposed method is shown by a numerical example. - Koichi Kobayashi, Kunihiko HirasihiIEEE International Conference on Automation Science and Engineering 662 - 667 2012年 [査読有り][通常論文]

In control theory of discrete event systems (DESs), it is one of the significant topics to develop control theory of infinite-state DESs. In this paper, we discuss opacity and diagnosability of infinite-state DESs modeled by pushdown automata (called here pushdown systems). First, we discuss opacity of pushdown systems, and it is proven that opacity of pushdown systems is in general undecidable. In addition, a decidable class is clarified. Next, in diagnosability, it is proven that under some assumption, which is different to an assumption in an existing result, diagnosability of pushdown systems is decidable. Furthermore, a necessary condition and a sufficient condition using finite-state approximations are derived, respectively. Finally, we discuss the relation between opacity and diagnosability. The obtained result is useful for developing control theory of infinite-state DESs. © 2012 IEEE. - Koichi Kobayashi, Kunihiko HiraishiSICE Journal of Control, Measurement, and System Integration 5 3 184 - 189 2012年 [査読有り][通常論文]
- Koichi Kobayashi, Jun-ichi Imura, Kunihiko HiraishiDISCRETE EVENT DYNAMIC SYSTEMS-THEORY AND APPLICATIONS 21 4 519 - 545 2011年12月 [査読有り][通常論文]

This paper discusses the state feedback stabilization problem of a deterministic finite automaton (DFA), and its application to stabilizing model predictive control (MPC) of hybrid systems. In the modeling of a DFA, a linear state equation representation recently proposed by the authors is used. First, this representation is briefly explained. Next, after the notion of equilibrium points and stabilizability of the DFA are defined, a necessary and sufficient condition for the DFA to be stabilizable is derived. Then a characterization of all stabilizing state feedback controllers is presented. Third, a simple example is given to show how to follow the proposed procedure. Finally, control Lyapunov functions for hybrid systems are introduced based on the above results, and the MPC law is proposed. The effectiveness of this method is shown by a numerical example. - Koichi Kobayashi, Kunihiko HiraishiAUTOMATICA 47 6 1260 - 1264 2011年06月 [査読有り][通常論文]

A Boolean network is one of the models of biological networks such as gene regulatory networks, and has been extensively studied. In particular, a probabilistic Boolean network (PBN) is well known as an extension of Boolean networks, but in the existing methods to solve the optimal control problem of PBNs, it is necessary to compute the state transition diagram with 2(n) nodes for a given PBN with n states. To avoid this computation, an integer programming-based approach is proposed for a context-sensitive PBN (CS-PBN), which is a general form of PBNs. In the proposed method, a CS-PBN is transformed into a linear system with binary variables, and the optimal control problem is reduced to an integer linear programming problem. By a numerical example, the effectiveness of the proposed method is shown. Crown Copyright (C) 2011 Published by Elsevier Ltd. All rights reserved. **計算ツールを用いた確率ブーリアンネットワークの解析と制御**小林孝一, 平石邦彦計測と制御 50 11 969 - 974 2011年 [査読有り][通常論文]- Koichi Kobayashi, Kunihiko Hiraishi2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC) 4371 - 4376 2011年 [査読有り][通常論文]

A Boolean network is widely used as a model of gene regulatory networks. In control of gene regulatory networks using Boolean networks, we assume that the concentration level of a part of genes is arbitrarily determined as the control input. However, there are cases that no gene satisfying this assumption exists, and it is important to consider weak control. In this paper, a Boolean network with two types of the control inputs is proposed as a model of gene regulatory networks. The first control input is the control input satisfying the above assumption. The second control input is called here a weak control input, and dynamics i.e. Boolean functions are selected among the candidates of dynamics. For example, activation/inactivation of the whole network is controlled by the weak control input. In order to solve the optimal control problem, two approaches, i.e., an integer programming approach and a polynomial optimization approach are proposed. - Koichi Kobayashi, Koichiro Matou, Kunihiko Hiraishi2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC) 3307 - 3312 2011年 [査読有り][通常論文]

In this paper, a class of discrete-time stochastic hybrid systems, in which only discrete dynamics are stochastic, is considered. For this system, a solution method for the optimal control problem with probabilistic constraints is proposed. Probabilistic constraints guarantee that the probability that the continuous state reaches a given unsafe region is less than a given constant. In the propose method, first, continuous state regions, from which the state reaches a given unsafe region, are computed by a backward-reachability graph. Next, mixed integer quadratic programming problems with constraints derived from the backward-reachability graph are solved. The proposed method can be applied to model predictive control. - Koichi Kobayashi, Kunihiko HiraishiIECON 2011: 37TH ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS SOCIETY 3764 - 3769 2011年 [査読有り][通常論文]

A Boolean network (BN) is well known as one of the models of biological networks such as gene regulatory networks, and has been extensively studied. In this paper, for a BN, the verification problems such as the reachability problem are discussed. First, a probabilistic model including both synchronous and asynchronous Boolean dynamics is derived. This model can be generalized as a probabilistic BN. Next, a solution method of the verification problems is proposed, based on a model checking technique. Finally, our method is applied to an apoptosis network. The proposed approach provides us an easy and convenient tool for analysis and control of biological networks. **Optimal Sampled-Data Control of Piecewise Affine Systems with Parameter Uncertainty**Koichi Kobayashi, Kunihiko HiraishiProc. of the SICE Annual Conference 2011 605 - 607 2011年 [査読有り][通常論文]- Koichi Kobayashi, Kunihiko HiraishiIFAC Proceedings Volumes (IFAC-PapersOnline) 18 1 66 - 71 2011年 [査読有り][通常論文]

A networked control system (NCS) is a control system in which plants, sensors, controllers, and actuators are connected through communication networks. In this paper, as one of the design problems for NCSs, we consider optimal sampled-data control of linear systems with uncertain input delay and uncertain sampling period. First, an input delay system is transformed into a discrete-time system with parameter uncertainty. Furthermore, the obtained system is expressed as a mixed logical dynamical model by using our previously proposed modeling method. Next, a given continuous-time cost function is transformed into a discretetime cost function with parameter uncertainty, and the optimal control problem is approximately expressed as a mixed integer programming problem. © 2011 IFAC. **Optimal Control of Asynchronous Boolean Networks Modeled by Petri Nets**Koichi Kobayashi, Kunihiko HiraishiProc. of the International Workshop on Biological Processes & Petri Nets 7 - 20 2011年 [査読有り][通常論文]- Koichi Kobayashi, Kunihiko HiraishiSICE Journal of Control, Measurement, and System Integration 4 3 243 - 248 2011年 [査読有り][通常論文]
- Koichi Kobayashi, Kunihiko Hiraishi49TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC) 7507 - 7512 2010年 [査読有り][通常論文]

Boolean networks are well-known as one of the models of biological networks such as gene regulatory networks. In this paper, we propose a solving method of the optimal control problem of context-sensitive probabilistic Boolean networks (CS-PBNs), which are one of the extended models of Boolean networks. In the existing solving methods, it is necessary to compute state transition diagrams with 2(n) nodes for a given CS-PBN with n states. So the existing methods cannot be applied to large-scale networks. To avoid the computation of state transition diagrams, an integer programming-based approach is proposed. In the proposed method, a CS-PBN is transformed into a linear system with binary variables, and the optimal control problem is reduced to an integer linear programming problem, which can be computed relatively easier than the existing methods using state transition diagrams. - Koichi Kobayashi, Kunihiko Hiraishi2010 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS 1331 - 1336 2010年 [査読有り][通常論文]

Stochastic hybrid systems have several applications such as biological systems and communication networks, but it is difficult to consider analysis and control of general stochastic hybrid systems. In this paper, discrete-time hybrid systems with stochastic mode transitions (called here discrete-stochastic hybrid systems) are considered as a class of stochastic hybrid systems. For this system, a modeling method and a model predictive control algorithm are proposed. In the proposed method, based on time sequences of modes, a given system is modeled by a time-varying mixed logical dynamical model. Furthermore, the control input is generated by solving a mixed integer linear programming problem at each time. **Reachability Analysis of Probabilistic Boolean Networks using Model Checking**Koichi Kobayashi, Kunihiko HiraishiProc. of the SICE Annual Conference 2010 829 - 832 2010年 [査読有り][通常論文]**Free-Variable Analysis of Finite Automata Representations for Hybrid Systems Control**Koichi Kobayashi, Jun-ichi ImuraProc. of the 19th International Symposium on Mathematical Theory of Networks and Systems 483 - 488 2010年 [査読有り][通常論文]- Koichi Kobayashi, Kunihiko Hiraishi2010 AMERICAN CONTROL CONFERENCE 6710 - 6715 2010年 [査読有り][通常論文]

In this paper, control problems of probabilistic Boolean networks (PBNs) are discussed. A PBN is one of the significant models in biological networks such as gene regulatory networks. Although there are some results in control of PBNs, it is necessary to compute the state transition diagram with 2(n) nodes for a given PBN with n states. To avoid this computation, an integer programming-based approach is proposed. In the proposed method, PBNs are transformed into a linear system with binary variables, and the control problem is reduced to an integer linear programming problem, which can be computed relatively easier than the existing methods using the state transition diagram. - Koichi Kobayashi, Jun-Ichi Imura, Kunihiko HiraishiEurasip Journal on Bioinformatics and Systems Biology 2010 2010年 [査読有り][通常論文]

In recent years, Boolean-network-model-based approaches to dynamical analysis of complex biological networks such as gene regulatory networks have been extensively studied. One of the fundamental problems in control theory of such networks is the problem of determining whether a given substance quantity can be arbitrarily controlled by operating the other substance quantities, which we call the controllability problem. This paper proposes a polynomial-time algorithm for solving this problem. Although the algorithm is based on a sufficient condition for controllability, it is easily computable for a wider class of large-scale biological networks compared with the existing approaches. A key to this success in our approach is to give up computing Boolean operations in a rigorous way and to exploit an adjacency matrix of a directed graph induced by a Boolean network. By applying the proposed approach to a neurotransmitter signaling pathway, it is shown that it is effective. © 2010 Koichi Kobayashi et al. - Koichi Kobayashi, Kunihiko HiraishiIEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES E92A 11 2745 - 2754 2009年11月 [査読有り][通常論文]

In this paper, we propose a new modeling method to express discrete-time hybrid systems with parameter uncertainty as a mixed logical dynamical (MLD) model. In analysis and control of hybrid systems, there are problem formulations in which convex polyhedra are computed., but for high-dimensional systems, it is difficult to solve these problems within a practical computation time. The key idea of this paper is to use an interval method, which is one of the classical methods in verified numerical computation, and to regard an interval as an over-approximation of a convex polyhedron. By using the obtained MLD model, analysis and synthesis of robust control systems are formulated. - Koichi Kobayashi, Kunihiko Hiraishi, Nguyen Van TangIEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES E92A 8 2046 - 2052 2009年08月 [査読有り][通常論文]

In this paper, we propose a new approximate algorithm for the model predictive control (MPC) problem with a time-varying reference of hybrid systems. The proposed algorithm consists of an offline computation and an online computation. In the offline computation, candidates of mode sequences are derived. In the online computation, after the mode sequence is uniquely decided among candidates, the finite-time optimal control problem, i.e., the quadratic programming problem, is solved. So by applying the proposed algorithm, the computational amount of the online computation is decreased. First, the MPC problem with a time-varying reference is formulated. Next. the proposed algorithm is explained, and the accuracy of the obtained approximate solution is discussed. Finally, the effectiveness of the proposed method is shown by a numerical example. **Stabilization of Deterministic Finite Automata Based on Linear State Equation Representation**Koichi Kobayashi, Jun-ichi ImuraProc. of the European Control Conference 2009 4368 - 4373 2009年 [査読有り][通常論文]**Stabilizing Model Predictive Control of Hybrid Systems with Discrete Dynamics**Koichi Kobayashi, Jun-ichi Imura, Kunihiko HiraishiProc. of the ICROS-SICE International Joint Conference 2009 4831 - 4836 2009年 [査読有り][通常論文]**Observability Analysis of Boolean Networks with Biological Applications**Koichi Kobayashi, Jun-ichi ImuraProc. of the ICROS-SICE International Joint Conference 2009 4393 - 4396 2009年 [査読有り][通常論文]**A Faster Approximation Technique for Predicate Abstraction of Hybrid Systems**Kunihiko Hiraishi, Koichi KobayashiProc. of the ICROS-SICE International Joint Conference 2009 1717 - 1721 2009年 [査読有り][通常論文]- Koichi Kobayashi, Kunihiko Hiraishi2009 AMERICAN CONTROL CONFERENCE, VOLS 1-9 3632 - 3637 2009年 [査読有り][通常論文]

In this paper, by applying interval methods, a new framework for analysis and control or discrete-time hybrid systems with parameter uncertainty is proposed. In analysis and control of hybrid systems, there are problem formulations such that convex polyhedra are computed, but for high-dimensional systems, it is difficult to solve these problems within the practical computation time. In this paper, instead of computing convex polyhedra, an interval method, which is one of classical methods in verified numerical computation, is applied to analysis and control of hybrid systems. By applying an interval method, discrete-time piecewise systems with parameter uncertainty can be approximately transformed into a mixed logical dynamical model. - Koichi Kobayashi, Jun-ichi Imura, Kunihiko Hiraishi2009 AMERICAN CONTROL CONFERENCE, VOLS 1-9 1694 - + 2009年 [査読有り][通常論文]

This paper discusses the controllability problem of Boolean networks with inputs (control nodes) and outputs (controlled nodes). An algorithm for testing controllability is in general NP-hard, and the existing polynomial-time algorithm is limited to a class of tree-structure networks. In this paper, based on a sufficient condition for controllability, a polynomial-time algorithm is proposed. The proposed algorithm is applicable to a wider class of large-scale Boolean networks compared with the existing algorithm. The key idea in our approach is to use an adjacency matrix of a directed graph induced by a Boolean network, and Boolean operations are not focused. The effectiveness of the proposed approach is shown by an example of a biological network. **アイ・サイ問答教室「物理的・工学的実情との整合性を考慮した新しい状態方程式」**小林孝一システム/制御/情報 52 11 435 - 436 2008年 [査読有り][通常論文]- Koichi Kobayashi, Kunihiko HiraishiProceedings of the SICE Annual Conference 1569 - 1574 2008年 [査読有り][通常論文]

The model predictive/optimal control problem of hybrid systems is reduced to a mixed integer quadratic programming (MIQP) problem. However, the MIQP problem has one serious weakness, i.e., the computation time to solve the MIQP problem is too long for practical plants. For overcoming this technical issue, there are several approaches. In this paper, a modeling of mode transition constraints, which are expressed by a directed graph, are focused, and a new method to model a directed graph is proposed. The effectiveness of the proposed method is shown by numerical examples. © 2008 SICE. **On-line and Off-line Based Approximation Algorithm for Model Predictive Control of Hybrid Systems**Koichi Kobayashi, Nguyen Van Tang, Kunihiko HiraishiProc. of the 23rd International Technical Conference on Circuits/Systems, Computers and Communications 913 - 916 2008年 [査読有り][通常論文]- Koichi Kobayashi, Kunihiko HiraishiSICE Journal of Control, Measurement, and System Integration 1 5 376 - 382 2008年 [査読有り][通常論文]
- Koichi Kobayashi, Jun-Ichi ImuraHYBRID SYSTEMS: COMPUTATION AND CONTROL, PROCEEDINGS 4416 343 - + 2007年 [査読有り][通常論文]

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. - Koichi Kobayashi, Jun-Ichi ImuraPROCEEDINGS OF THE 46TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14 4227 - + 2007年 [査読有り][通常論文]

This paper addresses the model predictive control (MPC) problem of a hybrid system that consists of a continuous-time linear system and a directed graph, called here directed-graph type hybrid systems (DGHS). One of the keys to such a problem is to represent a directed graph in an effective form in order to reduce the original problem into the mixed integer problem. This paper gives a solution to this issue by representing it with a time-varying linear system model with a relatively small number of binary input (free) variables. Furthermore, an online method for updating a model of a time-varying directed graph is proposed. Finally, it is shown by numerical examples that the proposed method is effective. - Koichi Kobayashi, Jun-ichi Imura2007 AMERICAN CONTROL CONFERENCE, VOLS 1-13 4339 - 4344 2007年 [査読有り][通常論文]

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 focussing 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. - Koichi Kobayashi, Jun-ichi Imura2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13 3233 - + 2006年 [査読有り][通常論文]

This paper proposes a new approach to reducing the computational time for solving the model predictive control problem of discrete-time piecewise affine (DT-PWA) systems, by representing a finite automaton with the smallest number of binary variables. First, our method for modeling a finite automaton, which has been proposed in our previous paper, is explained. Next, an efficient modeling method of DT-PWA systems using mode transition constraints is proposed. Finally, the effectiveness of the proposed method is shown by numerical examples. **Modeling of Discrete Dynamics for Computational Time Reduction of Model Predictive Control**Koichi Kobayashi, Jun-ichi ImuraProc. of the 17th International Symposium on Mathematical Theory of Networks and Systems 628 - 633 2006年 [査読有り][通常論文]- Koichi Kobayashi, Jun-ichi ImuraPROCEEDINGS OF THE 45TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14 930 - 935 2006年 [査読有り][通常論文]

This paper discusses a new approach to representing a finite automaton as a linear state equation with the smallest number of binary input variables to reduce the computational time for solving the model predictive control problem of a class of hybrid systems. Our method for modeling a finite automaton, which has been proposed in our previous paper, is explained at first. Then an open question on the minimality of the dimension of binary input variables in the state equation is described. Thus the purpose of this paper is to give a solution to a kind of minimal representation problem of finite automata. Using the implicit system expression on the binary field GF(2), it is proven that, for a given implicit system model on GF(2) of expressing a finite automaton, its state equation representation on the field of real numbers R obtained via our method is minimal in the sense that the dimension of the input variables is minimal for all linear equivalence transformations on GF(2). - 小林 孝一, 木山 健, 北森 俊行システム制御情報学会論文誌 19 10 400 - 409 2006年 [査読有り][通常論文]
- 小林 孝一, 木山 健, 北森 俊行システム制御情報学会論文誌 19 4 132 - 141 2006年 [査読有り][通常論文]
**System Representation for Logical Dynamics via a Descriptor Form**Koichi Kobayashi, Jun-ichi ImuraProc. of the SICE Annual Conference 2005 2041 - 2044 2005年 [査読有り][通常論文]

- 小林孝一, 平石邦彦, 崔 舜星, 内平直志 電子情報通信学会技術研究報告 116 (525) 7 -10 2017年03月 [査読無し][通常論文]
**看護・介護サービスにおけるケアスタッフの連携行動の解析** - 小林 孝一, 平石 邦彦, 崔 舜星, 内平 直志 電子情報通信学会技術研究報告 = IEICE technical report : 信学技報 115 (480) 57 -60 2016年03月03日 [査読無し][通常論文]
- 平石邦彦, 崔舜星, 小林孝一, 佐々木康朗, 内平直志 信学技報 115 (480) 91 -96 2016年03月 [査読有り][通常論文]
**ケアスタッフ連携スケジューリング問題 ～ 通信手段による比較とソルバーによる最適解 ～** - K. Kobayashi, K. Hiraishi 信学技報 115 (90) 1 -6 2015年06月 [査読無し][通常論文]
**Design of Probabilistic Boolean Networks Based on Network Structure and Steady-state Probabilities** - 梶原大起, 黒田賢, 宮本貴拓, 平石邦彦, 小林孝一, 崔舜星, 内平直志 サービス学会第３回国内大会予稿集 290 -293 2015年04月 [査読有り][通常論文]
**音声つぶやきシステムのリアルタイム状況把握に対する効果について** - 小林孝一, 平石邦彦 第58回離散事象システム研究会予稿集 1 -5 2015年 [査読無し][通常論文]
**価格効果の劣化を考慮した電力のリアルタイムプライシング** - 小林 孝一, 平石 邦彦 信学技報 113 (121) 9 -14 2013年07月 [査読無し][通常論文]

本論文では,複数の不確かな遅延を有するネットワーク化制御システムを考える.大規模システムの場合,複数の通信路が存在することから,複数の遅延を考えることは重要である.基本的な制御問題である最適制御問題を考え,ある仮定の下で,この問題が凸な二次計画問題に近似的に帰着できることを示す. - 甚田 貴徳, 青戸 渉, 宮崎 晃和, 崔 舜星, 小林 孝一, 平石 邦彦, 内平 直志 信学技報 113 (121) 1 -8 2013年07月 [査読無し][通常論文]

身体的動作や移動を伴い,かつ,人間の知的な判断が必要となるようなサービスは,看護・介護など様々な現場に存在する.著者らはこのような形態のサービスを行動型サービスと呼んでおり,看護・介護現場における作業者間の連携支援や知識共有,作業記録の省力化を実現し,さらに業務に伴う様々なストレスを減らすことを目的としたITベースのシステムを開発している.本稿では,システム導入に伴う作業者の行動がどう変化したかを,行動中に発生するイベントのログデータを用いて分析する手法について述べる. - 福井康仁, 小林孝一, 平石邦彦 信学技報 112 (457) 75 -79 2013年03月 [査読無し][通常論文]
**確率ハイブリッドシステムの離散抽象化 ～ 遺伝子トグルスイッチの解析への適用 ～** - 永見琢朗, 小林孝一, 平石邦彦 計測自動制御学会 第52回離散事象システム研究会 21 -26 2013年01月 [査読無し][通常論文]
**時相論理による拘束をもつマルチビークルシステムの最適制御** - 小林 孝一, 平石 邦彦 回路とシステムワークショップ論文集 Workshop on Circuits and Systems 25 202 -207 2012年07月30日 [査読無し][通常論文]
- 崔 舜星, 平石 邦彦, 小林 孝一 電子情報通信学会技術研究報告. MSS, システム数理と応用 : IEICE technical report 111 (105) 97 -102 2011年06月23日 [査読無し][通常論文]

本論文では,ハイブリッドシステムのモデル予測制御問題に対し,遷移関係に基づく近似した双模倣によるグラフ表現を用いて,制御入力を計算する近似事前解法を提案する.モデル予測制御問題の解法として,整数計画問題へ帰着させ,オンラインで問題を解く手法が提案されている.しかしながら,整数計画問題はNP-困難なため,短いサンプリング周期が要求される場合など適用できない場合がある.一方,オフライン解法としてマルチパラメトリック混合整数計画などの事前計算手法が提案されている.しかしながら,現実には数ステップの予測区間しか扱えない場合が多い.本論文で提案した近似解法では,予測ステップ数が増えても問題が解けることを計算機実験により示した.また,目的関数の最悪値を理論的に保障した. - 崔 舜星, 平石 邦彦, 小林 孝一 電子情報通信学会総合大会講演論文集 2011 2011年02月28日 [査読無し][通常論文]
- 崔 舜星, 平石 邦彦, 小林 孝一 計測自動制御学会第47回離散事象システム研究会講演論文集 53 -58 2010年08月 [査読無し][通常論文]
**ハイブリッドシステムに対する遷移近似双模倣** - 小林 孝一, 井村 順一, 平石 邦彦 回路とシステム軽井沢ワークショップ論文集 21 261 -265 2008年04月21日 [査読無し][通常論文]

- 2021年01月 電子情報通信学会 基礎・境界ソサイエティ システム数理と応用研究会 2019年優秀論文賞

受賞者: 小川大樹;小林孝一;山下裕 - 2020年09月 電子情報通信学会 基礎・境界ソサイエティ 編集活動感謝状（査読委員としての貢献に対して）

受賞者: 小林 孝一 - 2019年09月 電子情報通信学会 基礎・境界ソサイエティ 編集活動感謝状（英文論文誌の編集活動に対して）

受賞者: 小林 孝一 - 2019年09月 2018年 電気学会 電子・情報・システム部門大会 企画賞

受賞者: 小林 孝一 - 2018年09月 電子情報通信学会 基礎・境界ソサイエティ 編集活動感謝状（和文論文誌の編集活動に対して）

受賞者: 小林 孝一 - 2018年09月 電子情報通信学会 基礎・境界ソサイエティ 貢献賞（研究専門委員会運営）

高信頼制御通信研究専門委員会の運営及び活動に対する貢献受賞者: 小林 孝一 - 2018年06月 電子情報通信学会 論文賞

Linear Quadratic Regulator with Decentralized Event-Triggering受賞者: 中島 共平;小林 孝一;山下 裕 - 2015年03月 計測自動制御学会 制御部門 パイオニア賞

受賞者: 小林 孝一 - 2015年01月 2014 Outstanding Reviewer for IEEE Transactions on Automatica Control

受賞者: 小林 孝一 - 2013年05月 Outstanding Reviewer for Automatica

受賞者: 小林 孝一 - 2007年09月 計測自動制御学会 論文賞（武田賞）

ハイブリッドシステムのモデル予測制御における離散ダイナミクスモデリング受賞者: 小林 孝一;井村 順一 - 2007年05月 システム制御情報学会 論文賞

物理的・工学的実情との整合性を考慮した和分型状態方程式表現－基礎的性質および安定性の解析受賞者: 小林 孝一;木山 健;北森 俊行 - 2007年02月 計測自動制御学会 学術奨励賞

受賞者: 小林 孝一

- システム制御理論特論開講年度 : 2019年課程区分 : 修士課程開講学部 : 情報科学研究科キーワード : 非線形動的システム, ハイブリッド動的システム, 非線形制御, 受動性アプローチ, 厳密な線形化, 混合論理動的システムモデル, モデル予測制御
- システム制御理論特論開講年度 : 2019年課程区分 : 修士課程開講学部 : 情報科学院キーワード : 非線形動的システム, ハイブリッド動的システム, 非線形制御, 受動性アプローチ, 厳密な線形化, 混合論理動的システムモデル, モデル予測制御
- システム創成学特論開講年度 : 2019年課程区分 : 修士課程開講学部 : 情報科学研究科キーワード : H∞制御，人間センシング，ディジタル幾何処理，サイバーフィールド
- システム創成学特論開講年度 : 2019年課程区分 : 修士課程開講学部 : 情報科学院キーワード : H∞制御，人間センシング，ディジタル幾何処理，サイバーフィールド
- システム制御理論特論開講年度 : 2019年課程区分 : 博士後期課程開講学部 : 情報科学研究科キーワード : 非線形動的システム, ハイブリッド動的システム, 非線形制御, 受動性アプローチ, 厳密な線形化, 混合論理動的システムモデル, モデル予測制御
- システム制御理論特論開講年度 : 2019年課程区分 : 博士後期課程開講学部 : 情報科学院キーワード : 非線形動的システム, ハイブリッド動的システム, 非線形制御, 受動性アプローチ, 厳密な線形化, 混合論理動的システムモデル, モデル予測制御
- システム創成学特論開講年度 : 2019年課程区分 : 博士後期課程開講学部 : 情報科学研究科キーワード : H∞制御，人間センシング，ディジタル幾何処理，サイバーフィールド
- システム創成学特論開講年度 : 2019年課程区分 : 博士後期課程開講学部 : 情報科学院キーワード : H∞制御，人間センシング，ディジタル幾何処理，サイバーフィールド
- 一般教育演習(ﾌﾚｯｼｭﾏﾝｾﾐﾅｰ)開講年度 : 2019年課程区分 : 学士課程開講学部 : 全学教育キーワード : 創造工学、グループ実験、プレゼンテーション
- 情報数学開講年度 : 2019年課程区分 : 学士課程開講学部 : 工学部キーワード : 集合と論理，ブール代数，順列・組合せ，基数法，グラフ理論
- ディジタル制御開講年度 : 2019年課程区分 : 学士課程開講学部 : 工学部キーワード : 線形離散時間システム, システム表現, 離散化, 安定性, 最適レギュレータ, オブザーバ, カルマンフィルタ

- 2021年06月 - 現在 電子情報通信学会 基礎・境界ソサイエティ システムと信号処理サブソサイエティ 庶務幹事
- 2021年06月 - 現在 電子情報通信学会 北海道支部 支部運営委員
- 2021年06月 - 現在 電気学会 北海道支部役員会 協議員
- 2021年05月 - 現在 電子情報通信学会 基礎・境界ソサイエティ Fundamentals Review 編集委員会 幹事補佐
- 2021年01月 - 現在 計測自動制御学会 制御部門 事業委員会 副委員長
- 2019年06月 - 現在 電子情報通信学会 基礎・境界ソサイエティ システム数理と応用研究専門委員会 幹事
- 2018年06月 - 現在 電子情報通信学会 基礎・境界ソサイエティ 高信頼制御通信研究専門委員会 専門委員
- 2017年11月 - 現在 IFAC Technical Committee 1.3. Discrete Event and Hybrid Systems Member
- 2016年05月 - 現在 電気学会 広報委員会 委員
- 2014年06月 - 現在 電子情報通信学会 ソサイエティ論文誌編集委員会 常任査読委員
- 2019年06月 - 2021年06月 電気学会 北海道支部役員会 監事
- 2019年03月 - 2021年02月 計測自動制御学会 会誌出版委員会 委員
- 2018年03月 - 2021年02月 計測自動制御学会 論文集委員会 和文論文集編集委員会 Associate Editor
- 2019年01月 - 2020年12月 計測自動制御学会 システム・情報部門 離散事象システム部会 副主査
- 2018年01月 - 2019年12月 計測自動制御学会 制御部門 IoT時代に向けたイベントベースト制御調査研究会 幹事
- 2017年06月 - 2019年06月 電気学会 北海道支部役員会 会計幹事
- 2016年06月 - 2019年06月 電子情報通信学会 基礎・境界ソサイエティ システム数理と応用研究専門委員会 専門委員
- 2015年06月 - 2019年06月 電子情報通信学会 英文論文誌A編集委員会 英文論文誌編集委員
- 2016年01月 - 2018年12月 計測自動制御学会 制御部門 事業委員会 委員
- 2011年01月 - 2018年12月 計測自動制御学会 システム・情報部門 離散事象システム部会 委員
- 2018年11月 - 2018年11月 計測自動制御学会 システム・情報部門 学術講演会 2018 プログラム委員会 副委員長
- 2018年09月 - 2018年09月 平成30年電気学会電子・情報・システム部門大会 開催地区実行委員会 副委員長
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- 2010年01月 - 2011年12月 計測自動制御学会 北陸支部 運営委員
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