Researcher basic information

• 博士（工学）, 東京工業大学

• https://researchmap.jp/k-kobaya?lang=en

• https://orcid.org/0000-0002-3358-0254
• https://jglobal.jst.go.jp/detail?JGLOBAL_ID=200901038709614709
• https://www.ist.hokudai.ac.jp/labo/dsctrl/k-kobaya/
• https://www.ist.hokudai.ac.jp/labo/dsctrl/k-kobaya/index_e.html

• 50452115

• https://orcid.org/0000-0002-3358-0254

• 200901038709614709

• Model Predictive Control
• Control Engineering
• Machine Learning
• Multi-agent systems
• Blockchain
• Smart grid
• Formal methods
• IoT
• Systems Biology
• Discrete Event Systems
• Hybrid Systems
• Cyber-Physical System
• Systems and Control Theory

• Informatics, Web informatics and service informatics
• Informatics, Theory of informatics
• Manufacturing Technology (Mechanical Engineering, Electrical and Electronic Engineering, Chemical Engineering), Control and system engineering

• Bachelor's degree program, School of Engineering
• Master's degree program, Graduate School of Information Science and Technology
• Doctoral (PhD) degree program, Graduate School of Information Science and Technology

Research activity information

• Sep. 2024, 電子情報通信学会 基礎・境界ソサイエティ, 貢献賞（ソサイエティ運営）
  小林 孝一
• Apr. 2024, 2023 Outstanding Reviewer for Asian Journal of Control
  Koichi Kobayashi
• Sep. 2023, 電子情報通信学会 基礎・境界ソサイエティ, 貢献賞（サブソサイエティ運営、研究専門委員会運営）
  小林 孝一
• Sep. 2021, 計測自動制御学会, CPDポイント賞
  小林 孝一
• Jan. 2021, 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
  小川大樹;小林孝一;山下裕
• Sep. 2020, 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）
  小林 孝一
• Sep. 2019, 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）
  小林 孝一
• Sep. 2019, 2018年 電気学会 電子・情報・システム部門大会 企画賞
  小林 孝一
• Sep. 2018, 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）
  小林 孝一
• Sep. 2018, 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
  小林 孝一
• Jun. 2018, 電子情報通信学会, 論文賞
  Linear Quadratic Regulator with Decentralized Event-Triggering
  中島 共平;小林 孝一;山下 裕
• Mar. 2015, 計測自動制御学会 制御部門, パイオニア賞
  小林 孝一
• Jan. 2015, 2014 Outstanding Reviewer for IEEE Transactions on Automatica Control
  Koichi Kobayashi
• May 2013, Outstanding Reviewer for Automatica
  Koichi Kobayashi
• Sep. 2007, 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
  小林 孝一;井村 順一
• May 2007, 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
  小林 孝一;木山 健;北森 俊行
• Feb. 2007, 計測自動制御学会, 学術奨励賞
  小林 孝一

• Shape-conscious collision avoidance for four-wheeled vehicles using control barrier functions
  Kohta Banshodani; Yuh Yamashita; Koichi Kobayashi
  SICE Journal of Control, Measurement, and System Integration, 27 Apr. 2026, [Peer-reviewed]
  Scientific journal
• Asymptotic Stability in Distribution for Logical Networks under Probabilistic Flipping Control
  Qinyao Pan; Jie Zhong; Shun-ichi Azuma; Koichi Kobayashi; Wenying Xu
  IEEE Transactions on Automatic Control, 2026, [Peer-reviewed]
  Scientific journal
• Online Optimization of Pickup and Delivery Problems Considering Accident Recovery Forecast
  Soma Nakagawa; Koichi Kobayashi; Yuh Yamashita
  Artificial Life and Robotics, 2026, [Peer-reviewed], [Corresponding author]
  English, Scientific journal
• Event-Triggered Model Predictive Control of Distributed Network Systems with Switching Topologies
  Masaki YANAI; Koichi KOBAYASHI; Yuh YAMASHITA
  IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, E109.A, 5, 2026, [Peer-reviewed], [Corresponding author]
  English, Scientific journal
• Switching Control with Signal Temporal Logic Specifications for Pedestrian Flows Using Discrete Hughes Models
  Akihiro MORITA; Koichi KOBAYASHI; Yuh YAMASHITA
  IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, E109.A, 5, Institute of Electronics, Information and Communications Engineers (IEICE), 2026, [Peer-reviewed], [Corresponding author]
  English, Scientific journal
• Switching Control of Pedestrian Flows Using Discrete Hughes Models
  Akihiro Morita; Koichi Kobayashi; Yuh Yamashita
  Journal of Robotics and Mechatronics, 37, 6, Dec. 2025, [Peer-reviewed], [Corresponding author]
  English, Scientific journal
• Vehicle Platooning Based on Second-Order Pinning Consensus Control and its Cyber Attack Detection
  Ikumi Kidokoro; Koichi Kobayashi; Yuh Yamashita
  Journal of Robotics and Mechatronics, 37, 5, 1087, 1093, 20 Oct. 2025, [Peer-reviewed], [Corresponding author]
  English, Scientific journal
• Control Barrier Function Construction for Systems with High Relative Degree via Level Surface Design
  Takuma Harada; Yuh Yamashita; Koichi Kobayashi
  IECON 2025 – 51st Annual Conference of the IEEE Industrial Electronics Society, 1, 7, IEEE, 14 Oct. 2025, [Peer-reviewed]
  International conference proceedings
• Event-Based Asynchronous Update of Control Input and Sampling Interval for Cyber-Physical Systems
  Shota NAKAYAMA; Koichi KOBAYASHI; Yuh YAMASHITA
  IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, E108.A, 10, 1366, 1372, Institute of Electronics, Information and Communications Engineers (IEICE), 01 Oct. 2025, [Peer-reviewed], [Corresponding author]
  English, Scientific journal
• Online Optimization of Pickup and Delivery Problems Considering Traffic Congestion Prediction
  Soma Nakagawa; Koichi Kobayashi; Yuh Yamashita
  2025 IEEE 14th International Conference on Consumer Electronics - Berlin (ICCE-Berlin), 144, 148, IEEE, 06 Sep. 2025, [Peer-reviewed]
  International conference proceedings
• A Common Lyapunov Function Approach to Event-Triggered Control with Self-Triggered Sampling for Switched Linear Systems
  Shota NAKAYAMA; Koichi KOBAYASHI; Yuh YAMASHITA
  IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, E108.A, 4, 575, 581, Institute of Electronics, Information and Communications Engineers (IEICE), 01 Apr. 2025, [Peer-reviewed], [Corresponding author]
  English, Scientific journal
• Analysis of Security Indices in Hybrid Cyber Attacks of Power Network State Estimation
  Yuta Kajinishi; Koichi Kobayashi; Yuh Yamashita
  2025 IEEE International Conference on Consumer Electronics (ICCE), 1, 4, IEEE, 11 Jan. 2025, [Peer-reviewed]
  International conference proceedings
• Link Augmentation and Q-Learning for Set Stabilization in Switched Boolean Networks
  Qinyao Pan; Jianquan Lu; Amol Yerudkar; Koichi Kobayashi; Jie Zhong
  IEEE Transactions on Systems, Man, and Cybernetics: Systems, 55, 9, 6242, 6253, 2025, [Peer-reviewed]
  English, Scientific journal
• Linear Matrix Inequality-Based Design of Structured Sparse Feedback Controllers for Sensor and Actuator Networks
  Yuta Kawano; Koichi Kobayashi; Yuh Yamashita
  Algorithms, 17, 12, 590, 590, 21 Dec. 2024, [Peer-reviewed], [Corresponding author]
  English, Scientific journal
• Default detection in demand response based on block-sparse structure
  Fangyuan Xu; Shun-ichi Azuma; Koichi Kobayashi; Nobuyuki Yamaguchi; Ryo Ariizumi; Toru Asai
  International Journal of Electrical Power & Energy Systems, Nov. 2024, [Peer-reviewed]
  English, Scientific journal
• State-Flipped Control for Probabilistic Boolean Networks Using Reinforcement Learning
  Tatsuya Hasegawa; Fuma Motoyama; Koichi Kobayashi; Yuh Yamashita
  2024 IEEE 13th Global Conference on Consumer Electronics (GCCE), 702, 703, IEEE, 29 Oct. 2024, [Peer-reviewed]
  International conference proceedings
• Temporal Logic MPC of Spatially Distributed Systems Considering Feasibility
  Ikkei Komizu; Koichi Kobayashi; Yuh Yamashita
  2024 IEEE 13th Global Conference on Consumer Electronics (GCCE), 700, 701, IEEE, 29 Oct. 2024, [Peer-reviewed]
  International conference proceedings
• Introducing Event-Based Communication in Asynchronous Advantage Actor-Critic Algorithm
  Hiroki Sunai; Koichi Kobayashi; Yuh Yamashita
  2024 IEEE 13th Global Conference on Consumer Electronics (GCCE), 494, 495, IEEE, 29 Oct. 2024, [Peer-reviewed]
  International conference proceedings
• Model Predictive Control of Spatially Distributed Systems with Spatio-Temporal Logic Specifications
  Ikkei Komizu; Koichi Kobayashi; Yuh Yamashita
  Computation, 12, 10, 196, 196, MDPI AG, 30 Sep. 2024, [Peer-reviewed], [Corresponding author]
  English, Scientific journal, In this paper, for spatially distributed systems, we propose a new method of model predictive control with spatio-temporal logic specifications. We formulate the finite-time control problem with specifications described by SSTLf (signal spatio-temporal logic over finite traces) formulas. In the problem formulation, the feasibility is guaranteed by representing control specifications as a penalty in the cost function. Time-varying weights in the cost function are introduced to satisfy control specifications as well as possible. The finite-time control problem can be written as a mixed integer programming (MIP) problem. According to the policy of model predictive control (MPC), the control input can be generated by solving the finite-time control problem at each discrete time. The effectiveness of the proposed method is presented through a numerical example.
• A BDD-Based Approach to Finite-Time Control of Boolean Networks
  Fuma MOTOYAMA; Koichi KOBAYASHI; Yuh YAMASHITA
  IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, E107.A, 5, 793, 798, Institute of Electronics, Information and Communications Engineers (IEICE), 01 May 2024, [Peer-reviewed], [Corresponding author]
  English, Scientific journal
• A Feedback Vertex Set-Based Approach to Simplifying Probabilistic Boolean Networks
  Koichi KOBAYASHI
  IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, E107.A, 5, 779, 785, Institute of Electronics, Information and Communications Engineers (IEICE), 01 May 2024, [Peer-reviewed], [Lead author, Corresponding author]
  English, Scientific journal
• Output Feedback Ultimate Boundedness Control with Decentralized Event-Triggering
  Koichi KITAMURA; Koichi KOBAYASHI; Yuh YAMASHITA
  IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, E107.A, 5, 770, 778, Institute of Electronics, Information and Communications Engineers (IEICE), 01 May 2024, [Peer-reviewed], [Corresponding author]
  English, Scientific journal
• Lyapunov-based approach to event-triggered control with self-triggered sampling
  Shota Nakayama; Koichi Kobayashi; Yuh Yamashita
  Advanced Robotics, 38, 9-10, 603, 609, Informa UK Limited, 28 Feb. 2024, [Peer-reviewed], [Corresponding author]
  English, Scientific journal
• On reward distribution in reinforcement learning of multi-agent surveillance systems with temporal logic specifications
  Keita Terashima; Koichi Kobayashi; Yuh Yamashita
  Advanced Robotics, 38, 6, 386, 397, Informa UK Limited, 14 Feb. 2024, [Peer-reviewed], [Corresponding author]
  English, Scientific journal
• Online Optimization of Pickup and Delivery Problem Considering Feasibility
  Ryo Matsuoka; Koichi Kobayashi; Yuh Yamashita
  Future Internet, Feb. 2024, [Peer-reviewed], [Corresponding author]
  English, Scientific journal
• A BDD-Based Approach to Model Reduction of Boolean Networks
  Fuma Motoyama; Koichi Kobayashi; Yuh Yamashita
  IEEE Transactions on Control of Network Systems, 2024, [Peer-reviewed], [Corresponding author]
  English, Scientific journal
• Reinforcement Learning for Multi-Agent Systems with Temporal Logic Specifications
  Keita TERASHIMA; Koichi KOBAYASHI; Yuh YAMASHITA
  IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, E107.A, 1, 31, 37, Institute of Electronics, Information and Communications Engineers (IEICE), 01 Jan. 2024, [Peer-reviewed], [Corresponding author]
  English, Scientific journal
• Multi-Agent Surveillance Based on Travel Cost Minimization
  Kyohei MURAKATA; Koichi KOBAYASHI; Yuh YAMASHITA
  IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, E107.A, 1, 25, 30, Institute of Electronics, Information and Communications Engineers (IEICE), 01 Jan. 2024, [Corresponding author]
  English, Scientific journal
• Design of reduced-order and pinning controllers for probabilistic Boolean networks using reinforcement learning
  Michiaki Takizawa; Koichi Kobayashi; Yuh Yamashita
  Applied Mathematics and Computation, 457, 128211, 128211, Elsevier BV, Nov. 2023, [Peer-reviewed], [Corresponding author]
  English, Scientific journal
• Lyapunov Function-Based Approach to Event-Triggered Control with Self-Triggered Sampling
  Nakayama Shota; Kobayashi Koichi; Yamashita Yuh
  Proc. of the 2023 International Symposium on Nonlinear Theory and Its Application, 467, 470, Sep. 2023, [Peer-reviewed]
  English, International conference proceedings
• Detection of False Data Injection Attacks in Distributed State Estimation of Power Networks
  Sho OBATA; Koichi KOBAYASHI; Yuh YAMASHITA
  IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, E106.A, 5, 729, 735, Institute of Electronics, Information and Communications Engineers (IEICE), 01 May 2023, [Peer-reviewed], [Lead author]
  English, Scientific journal
• Fixed Point Preserving Model Reduction of Boolean Networks Focausing on Complement and Absorption Laws
  Fuma MOTOYAMA; Koichi KOBAYASHI; Yuh YAMASHITA
  IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, E106.A, 5, 721, 728, Institute of Electronics, Information and Communications Engineers (IEICE), 01 May 2023, [Peer-reviewed], [Corresponding author]
  English, Scientific journal
• Passivity‐based control of nonlinear active dynamic vibration absorber
  Sheng Hao; Yuh Yamashita; Koichi Kobayashi
  International Journal of Robust and Nonlinear Control, 33, 5, 3247, 3266, Wiley, 06 Jan. 2023, [Peer-reviewed], [Last author]
  English, Scientific journal
• Automatic Generation of Control Lyapunov Functions for Vehicle Guidance on Complex Paths
  Yuh Yamashita; Wataru Hashimoto; Koichi Kobayashi
  IFAC-PapersOnLine, 56, 2, 8036, 8041, Elsevier BV, 2023, [Peer-reviewed], [Last author]
  International conference proceedings
• Blockchain-Based Optimization of Distributed Energy Management Systems with Real-Time Demand Response
  Daiki OGAWA; Koichi KOBAYASHI; Yuh YAMASHITA
  IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, E105.A, 11, 1478, 1485, Institute of Electronics, Information and Communications Engineers (IEICE), 01 Nov. 2022, [Peer-reviewed], [Corresponding author]
  English, Scientific journal
• Virtual merge and split at intersection for vehicle platooning based on self-triggered pinning consensus control
  Ayaka Tanaka; Koichi Kobayashi; Yuh Yamashita
  Advanced Robotics, 1, 10, Informa UK Limited, 30 Sep. 2022, [Peer-reviewed], [Corresponding author]
  English, Scientific journal
• Sensor Scheduling-Based Detection of False Data Injection Attacks in Power System State Estimation
  Sho OBATA; Koichi KOBAYASHI; Yuh YAMASHITA
  IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, E105.A, 6, 1015, 1019, Institute of Electronics, Information and Communications Engineers (IEICE), 01 Jun. 2022, [Peer-reviewed], [Corresponding author]
  English, Scientific journal
• LMI-Based Design of Output Feedback Controllers with Decentralized Event-Triggering
  Koichi KITAMURA; Koichi KOBAYASHI; Yuh YAMASHITA
  IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, E105.A, 5, 816, 822, Institute of Electronics, Information and Communications Engineers (IEICE), 01 May 2022, [Peer-reviewed], [Corresponding author]
  English, Scientific journal
• Block sparse design of distributed controllers for dynamical network systems
  Ryosuke Adachi; Yuh Yamashita; Koichi Kobayashi
  International Journal of Robust and Nonlinear Control, Wiley, 13 Mar. 2022, [Peer-reviewed], [Last author]
  English, Scientific journal
• ハイブリッドシステム ─連続と離散をつなぐシステム科学─
  東俊一; 小林孝一
  電子情報通信学会誌, 106, 2, 113, 120, Feb. 2022, [Peer-reviewed], [Invited], [Last author]
  Japanese, Scientific journal
• Optimal reconstruction of noisy dynamics and selection probabilities in Boolean networks
  Koichi Kobayashi; Yuhu Wu
  Automatica, 136, 110094, 110094, Elsevier BV, Feb. 2022, [Peer-reviewed], [Lead author]
  English, Scientific journal
• Asymptotic stabilization with group‐wise sparse input based on control Lyapunov function approach
  Yuh Yamashita; Kiminori Sakano; Koichi Kobayashi
  International Journal of Robust and Nonlinear Control, Wiley, 27 Dec. 2021, [Peer-reviewed]
  English, Scientific journal
• Asymptotic stabilization of nonlinear systems with convex-polytope input constraints by continuous input
  Yuh Yamashita; Ryosuke Matsukizono; Koichi Kobayashi
  Automatica, 110032, 110032, Elsevier BV, Nov. 2021, [Peer-reviewed], [Last author]
  English, Scientific journal
• Distributed Optimal Estimation with Scalable Communication Cost
  Ryosuke ADACHI; Yuh YAMASHITA; Koichi KOBAYASHI
  IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, E104A, 11, 1470, 1476, Nov. 2021, [Peer-reviewed]
  English, Scientific journal
• On Detection of False Data Injection Attacks in Distributed State Estimation of Power Networks
  Sho Obata; Koichi Kobayashi; Yuh Yamashita
  2021 IEEE 10th Global Conference on Consumer Electronics (GCCE), IEEE, 12 Oct. 2021, [Peer-reviewed]
  English, International conference proceedings
• Robust passivity‐based control design for active nonlinear suspension system
  Sheng Hao; Yuh Yamashita; Koichi Kobayashi
  International Journal of Robust and Nonlinear Control, Wiley, 09 Oct. 2021, [Peer-reviewed]
  Scientific journal
• Decentralized Event-Triggered Control of Discrete-Time Linear Systems via Output Feedback
  Koichi Kitamura; Koichi Kobayashi; Yuh Yamashita
  IEEE International Symposium on Industrial Electronics, 2021-, Institute of Electrical and Electronics Engineers Inc., 20 Jun. 2021
  English, International conference proceedings
• Stochastic modeling and scalable predictive control for automated demand response
  Koichi Kobayashi; Kunihiko Hiraishi
  International Journal of Robust and Nonlinear Control, 31, 6, 2001, 2017, Wiley, Apr. 2021, [Peer-reviewed], [Lead author, Corresponding author]
  English, Scientific journal
• Distributed Observer Design on Sensor Networks with Random Communication
  Yuh Yamashita; Haruka Sumita; Ryosuke Adachi; Koichi Kobayashi
  IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, E104-A, 3, 613, 621, Mar. 2021, [Peer-reviewed]
  English, Scientific journal
• Uniformly Ultimate Boundedness Control with Decentralized Event-Triggering
  Koichi Kobayashi; Kyohei Nakajima; Yuh Yamashita
  IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, E104-A, 2, 455, 461, Feb. 2021, [Peer-reviewed], [Lead author, Corresponding author]
  English, Scientific journal
• Effectiveness and Limitation of Blockchain in Distributed Optimization: Applications to Energy Management Systems
  Daiki OGAWA; Koichi KOBAYASHI; Yuh YAMASHITA
  IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, E104.A, 2, 423, 429, Institute of Electronics, Information and Communications Engineers (IEICE), 01 Feb. 2021, [Peer-reviewed], [Invited], [Corresponding author]
  English, Scientific journal
• Construction of ISS Lyapunov functions for Hamiltonian systems with multiple disturbances
  Sheng Hao; Yuh Yamashita; Koichi Kobayashi
  IFAC-PapersOnLine, 54, 14, 281, 286, Elsevier BV, 2021, [Peer-reviewed]
  English, International conference proceedings
• グラフ上のモデル予測型マルチエージェント監視
  小林孝一
  計測と制御, 60, 1, 71, 76, Jan. 2021, [Lead author]
  Japanese, Scientific journal
• Reinforcement Learning Approach to Design of Simple Stabilizing Controllers for Probabilistic Boolean Networks
  Michiaki Takizawa; Koichi Kobayashi; Yuh Yamashita
  Proc. of the 26th International Symposium on Artificial Life and Robotics, 101, 104, Jan. 2021, [Peer-reviewed]
  English, International conference proceedings
• Sensor Scheduling-Based Detection of False Data Injection Attacks in Power System State Estimation
  Sho Obata; Koichi Kobayashi; Yuh Yamashita
  Proc. of the 39th IEEE International Conference on Consumer Electronics, Jan. 2021, [Peer-reviewed]
  English, International conference proceedings
• Distributed estimation based on weighted data aggregation over delayed sensor networks
  Ryosuke Adachi; Yuh Yamashita; Koichi Kobayashi
  IFAC Journal of Systems and Control, 14, 100109, 100109, Elsevier BV, Dec. 2020, [Peer-reviewed]
  English, Scientific journal
• Design of global smooth implicit control Lyapunov function for multiple-integrator system with input constraint
  Yuh Yamashita; Naoto Adachi; Ryo Nonaka; Koichi Kobayashi
  Systems & Control Letters, 145, 104776, 104776, Elsevier BV, Nov. 2020, [Peer-reviewed]
  English, Scientific journal
• Stochastic Model Predictive Control of Energy Management Systems with Human in the Loop
  Shogo Shimamoto; Koichi Kobayashi; Yuh Yamashita
  Proc. of the 2017 IEEE 9th Global Conference on Consumer Electronics, 69, 70, Oct. 2020, [Peer-reviewed]
  English, International conference proceedings
• Blockchain-Based Optimization of Energy Management Systems with Demand Response
  Daiki Ogawa; Koichi Kobayashi; Yuh Yamashita
  Proc. of the 2017 IEEE 9th Global Conference on Consumer Electronics, 67, 68, Institute of Electronics, Information and Communications Engineers (IEICE), Oct. 2020, [Peer-reviewed]
  English, International conference proceedings
• On Attack Detection in Sensor Networks Using Distributed Moving Horizon Estimation
  Kei Isono; Koichi Kobayashi; Yuh Yamashita
  Proc. of the SICE Annual Conference 2020, 1602, 1605, Sep. 2020, [Peer-reviewed]
  English, International conference proceedings
• LMI-Based Simultaneous Design of Controllers and Decentralized Event-Triggering Conditions
  Koichi Kobayashi; Kyohei Nakajima; Yuh Yamashita
  Proc. of the SICE Annual Conference 2020, 1585, 1588, Sep. 2020, [Peer-reviewed]
  English, International conference proceedings
• Enforcing Security of Power System State Estimation Using Random Sensor Scheduling
  Sho Obata; Koichi Kobayashi; Yuh Yamashita
  Proc. of the SICE Annual Conference 2020, 1163, 1165, Sep. 2020, [Peer-reviewed]
  English, International conference proceedings
• Active Vibration Control of Nonlinear 2DOF Mechanical Systems via IDA-PBC
  Sheng HAO; Yuh YAMASHITA; Koichi KOBAYASHI
  IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, E103.A, 9, 1078, 1085, Institute of Electronics, Information and Communications Engineers (IEICE), 01 Sep. 2020, [Peer-reviewed]
  English, Scientific journal
• Periodic Event-Triggered Control for Extended Plants of Linear Systems - A Convex Approach
  Hiroyuki Ichihara; Kenji Sawada; Koichi Kobayashi; Sophie Tarbouriech
  IFAC World Congress 2020, 53, 2, Paper ID:1021, --, Elsevier B.V., 12 Jul. 2020, [Peer-reviewed]
  English, International conference proceedings
• Deriving a Simple Probabilistic Boolean Network from Incomplete Knowledge
  Koichi Kobayashi; Yuhu Wu
  Proc. of the 39th Chinese Control Conference, 8088, 8091, Jul. 2020, [Peer-reviewed]
  English, International conference proceedings
• ADMM-Based Optimization of Distributed Energy Management Systems with Demand Response
  Daiki Ogawa; Koichi Kobayashi; Yuh Yamashita
  Proc. of the 21st IFAC World Congress, Jul. 2020, [Peer-reviewed]
  English, International conference proceedings
• On Sensor Attack Detection in Control Systems Using Moving Horizon Estimation and Control Performance
  Kei Isono; Koichi Kobayashi; Ryosuke Adachi; Yuh Yamashita
  Proc. of the 21st IFAC World Congress, Jul. 2020, [Peer-reviewed]
  English, International conference proceedings
• On Minimum Time Control for Dynamical Transportation Using ADMM
  Ryosuke Adachi; Yuji Wakasa; Koichi Kobayashi
  Proc. of the 21st IFAC World Congress, Jul. 2020, [Peer-reviewed]
  English, International conference proceedings
• Detection of Defaulting Participants with Time-Varying Failure Rates in Demand Response
  Fangyuan Xu; Shun-ichi Azuma; Koichi Kobayashi; Nobuyuki Yamaguchi; Ryo Ariizumi; Toru Asai
  Proc. of the 21st IFAC World Congress, 13511, 13515, Jul. 2020, [Peer-reviewed]
  English, International conference proceedings
• Optimal Regulators for Nonlinear Systems with Incompatible State and Input Cost Functions
  Yuh Yamashita; Yuta Sakai; Koichi Kobayashi
  Proc. of the 21st IFAC World Congress, 53, 2, 6901, 6906, Elsevier BV, Jul. 2020, [Peer-reviewed]
  English, International conference proceedings
• Passivity-Based Nonlinear Active Suspension Control Utilizing Relative Information
  Sheng Hao; Yuh Yamashita; Koichi Kobayashi
  Proc. of the 21st IFAC World Congress, 53, 2, 5660, 5665, Elsevier BV, Jul. 2020, [Peer-reviewed]
  English, International conference proceedings
• Design of Controller and Observer for Dynamical Network Systems Based on Weighted Degrees
  Ryosuke Adachi; Yuh Yamashita; Koichi Kobayashi
  Proc. of the 21st IFAC World Congress, 53, 2, 3392, 3397, Elsevier BV, Jul. 2020, [Peer-reviewed]
  English, International conference proceedings
• Event-Triggered Control for Extended Plants of Discrete-Time Linear Systems
  Hiroyuki Ichihara; Kenji Sawada; Koichi Kobayashi; Sophie Tarbouriech
  Proc. of the 21st IFAC World Congress, 2756, 2761, Jul. 2020, [Peer-reviewed]
  English, International conference proceedings
• Model Reduction of Boolean Networks Using BDD
  Fuma Motoyama; Koichi Kobayashi; Yuh Yamashita
  Proc. of the 35th International Technical Conference on Circuits/Systems, Computers and Communications, 89, 93, Jul. 2020, [Peer-reviewed], [Corresponding author]
  English, International conference proceedings
• Model Predictive Control of Energy Management Systems with Human Decision Making
  Shogo Shimamoto; Koichi Kobayashi; Yuh Yamashita
  Proc. of the 35th International Technical Conference on Circuits/Systems, Computers and Communications, 84, 88, Jul. 2020, [Peer-reviewed], [Corresponding author]
  English, International conference proceedings
• Dynamic Surveillance by Multiple Agents with Fuel Constraints
  Ryo Masuda; Koichi Kobayashi; Yuh Yamashita
  IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, E103-A, 2, 462, 468, Feb. 2020, [Peer-reviewed]
  English, Scientific journal
• Self-Triggered Pinning Consensus Control for Multi-Agent Systems
  Shun Andoh; Koichi Kobayashi; Yuh Yamashita
  IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, E103-A, 2, 443, 450, Institute of Electronics, Information and Communications Engineers (IEICE), Feb. 2020, [Peer-reviewed]
  English, Scientific journal
• MPC-Based Persistent Surveillance by Heterogeneous Agents Using Mixed Integer Programming
  Koichi Kobayashi
  Proc. of the 25th International Symposium on Artificial Life and Robotics, 414, 417, Jan. 2020, [Peer-reviewed], [Lead author, Corresponding author]
  English, International conference proceedings
• Hierarchical Pinning Control for Consensus of Multi-Agent Systems and Its Application to Vehicle Platooning
  Shun Andoh; Koichi Kobayashi; Yuh Yamashita
  Proceedings of 2020 IEEE/SICE International Symposium on System Integration, 1064, 1069, Jan. 2020, [Peer-reviewed]
  English, International conference proceedings
• Robust Active Vibration Controller Design for a Class of Underactuated Nonlinear Systems
  Sheng Hao; Yuh Yamashita; Koichi Kobayashi
  Proceedings of 2020 IEEE/SICE International Symposium on System Integration, 465, 470, Jan. 2020, [Peer-reviewed]
  English, International conference proceedings
• Distributed Observer over Delayed Sensor Networks for Systems with Unknown Inputs
  ADACHI Ryosuke; YAMASHITA Yuh; KOBAYASHI Koichi
  IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, 103, 2, 469, 477, The Institute of Electronics, Information and Communication Engineers, 2020, [Peer-reviewed]
  English,

  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 Yamashita
  Proc. of the 2019 International Symposium on Nonlinear Theory and Its Applications, 513, 516, Dec. 2019, [Peer-reviewed], [Corresponding author]
  English, International conference proceedings
• Construction Method of Probabilistic Boolean Networks Based on Imperfect Information
  Katsuaki Umiji; Koichi Kobayashi; Yuh Yamashita
  Algorithms, 12, 12, 268 (9 pages), Dec. 2019, [Peer-reviewed]
  English, Scientific journal
• Dynamic Surveillance by Multiple Agents with Fuel Constraints
  Ryo Masuda; Koichi Kobayashi; Yuh Yamashita
  Proc. of the 2019 IEEE International Conference on Systems, Man, and Cybernetics, 3331, 3336, Oct. 2019, [Peer-reviewed]
  English, International conference proceedings
• Stabilization of Nonlinear Systems by Sparse Input with Input Grouping
  Kiminori Sakano; Yuh Yamashita; Koichi Kobayashi
  Proc. of the SICE Annual Conference 2019, 1653, 1656, Sep. 2019, [Peer-reviewed]
  English, International conference proceedings
• Observer-Based Self-Triggered Pinning Control for Consensus of Multi-Agent Systems
  Shun Andoh; Koichi Kobayashi; Yuh Yamashita
  Proc. of the SICE Annual Conference 2019, 1440, 1443, Sep. 2019, [Peer-reviewed]
  English, International conference proceedings
• On the Optimality of Distributed Observer Using Belief Propagation
  Ryosuke Adachi; Yuh Yamashita; Koichi Kobayashi
  Proc. of the SICE Annual Conference 2019, 645, 648, Sep. 2019, [Peer-reviewed]
  English, International conference proceedings
• Control of Bilateral Teleoperation System Consisting of Heterogeneous Manipulators with Communication Delay
  Akihisa Higashino; Yuh Yamashita; Koichi Kobayashi
  Proc. of the 11th IFAC Symposium on Nonlinear Control Systems, 1307, 1312, Sep. 2019, [Peer-reviewed]
  English, International conference proceedings
• Attack Detection in Control Systems Based on Unknown Input Observers and Control Performance
  Kei Isono; Koichi Kobayashi; Ryosuke Adachi; Yuh Yamashita
  Proc. of the 34th International Technical Conference on Circuits/Systems, Computers and Communications, 290, 293, Jun. 2019, [Peer-reviewed]
  English, International conference proceedings
• Effectiveness and Limitation of Blockchain in Distributed Optimization
  Daiki Ogawa; Koichi Kobayashi; Yuh Yamashita
  Proc. of the 34th International Technical Conference on Circuits/Systems, Computers and Communications, 286, 289, Jun. 2019, [Peer-reviewed]
  English, International conference proceedings
• Detection of Defaulting Participants of Demand Response Based on Sparse Reconstruction
  Shun-ichi Azuma; Daisuke Sato; Koichi Kobayashi; Nobuyuki Yamaguchi
  IEEE Transactions on Smart Grid, 11, 1, 368, 378, Institute of Electrical and Electronics Engineers ({IEEE}), Jun. 2019, [Peer-reviewed]
  English, Scientific journal
• Design and Value Evaluation of Demand Response Based on Model Predictive Control
  Kodai Miyazaki; Koichi Kobayashi; Shun-ichi Azuma; Nobuyuki Yamaguchi; Yuh Yamashita
  IEEE Transactions on Industrial Informatics, 15, 8, 4809, 4818, Institute of Electrical and Electronics Engineers ({IEEE}), Jun. 2019, [Peer-reviewed]
  English, Scientific journal
• Decentralized Event-Triggered Control of Discrete-Time Linear Systems Based on Uniformly Ultimate Boundedness
  Koichi Kobayashi; Kyohei Nakajima; Yuh Yamashita
  Proc. of the 12th Asian Control Conference, 1392, 1397, Jun. 2019, [Peer-reviewed]
  English, International conference proceedings
• Distributed Estimation over Delayed Sensor Networks with Cyclic Structure
  Ryosuke Adachi; Yuh Yamashita; Koichi Kobayashi
  Proc. of the 12th Asian Control Conference, 1386, 1391, Jun. 2019, [Peer-reviewed]
  English, International conference proceedings
• Blockchain-Based Distributed Optimization for Energy Management Systems
  Daiki Ogawa; Koichi Kobayashi; Yuh Yamashita
  Proc. of the IEEE International Conference on Industrial Cyber-Physical Systems, 694, 699, May 2019, [Peer-reviewed]
  English, International conference proceedings
• Distributed Estimation over Delayed Sensor Network with Scalable Communication
  Ryosuke Adachi; Yuh Yamashita; Koichi Kobayashi
  IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, E102-A, 5, 712, 720, May 2019, [Peer-reviewed]
  English, Scientific journal
• Design of Fixed Points in Boolean Networks Using Feedback Vertex Sets and Model Reduction
  Koichi Kobayashi
  Complexity, 2019, Article ID 9261793, 1, 9, Hindawi Limited, Mar. 2019, [Peer-reviewed]
  English, Scientific journal
• Computationally Efficient Model Predictive Control for Multi-Agent Surveillance Systems
  Koichi Kobayashi; Mifuyu Kido; Yuh Yamashita
  IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, E102-A, 2, 372, 378, Feb. 2019, [Peer-reviewed]
  English, Scientific journal
• Predictive Pinning Control with Communication Delays for Consensus of Multi-Agent Systems
  Koichi Kobayashi
  IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, E102-A, 2, 359, 364, Feb. 2019, [Peer-reviewed]
  English, Scientific journal
• Observer-Based Predictive Pinning Control for Consensus of Multi-Agent Systems
  Koichi Kobayashi
  Proc. of the 24th International Symposium on Artificial Life and Robotics, 458, 461, Jan. 2019, [Peer-reviewed]
  English, International conference proceedings
• Asymptotic Stabilization of Nonholonomic Four-wheeled Vehicle with Steering Limitation
  Wataru Hashimoto; Yuh Yamashita; Koichi Kobayashi
  IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, E102-A, 1, 227, 234, Jan. 2019, [Peer-reviewed]
  English, Scientific journal
• Information Supervisory Control of Human Behavior - A Formal Model and Simulation -
  Kunihiko Hiraishi; Naoshi Uchihira; Sunseong Choe; Koichi Kobayashi
  Proc. of the 2018 IEEE International Conference on Systems, Man, and Cybernetics, 2021, 2026, Oct. 2018, [Peer-reviewed]
  English, International conference proceedings
• Computationally Efficient Model Predictive Control for Multi-Agent Surveillance Systems
  Koichi Kobayashi; Mifuyu Kido; Yuh Yamashita
  Proc. of the 2018 IEEE International Conference on Systems, Man, and Cybernetics, 2015, 2020, Oct. 2018, [Peer-reviewed]
  English, International conference proceedings
• Active Nonlinear Tuned Mass Damper via IDA-PBC
  Sheng Hao; Yuh Yamashita; Koichi Kobayashi
  Proc. of the 2018 IEEE International Conference on Systems, Man, and Cybernetics, 4383, 4388, Oct. 2018, [Peer-reviewed]
  English, International conference proceedings
• A Graph-Theoretic Approach to Design of Probabilistic Boolean Networks
  Koichi Kobayashi
  Proc. of the 5th IFAC Conference on Analysis and Control of Chaotic Systems, 191, 196, Oct. 2018, [Peer-reviewed]
  English, International conference proceedings
• Observer Design for Distributed Network Systems with Communication Delays
  Ryosuke Adachi; Yuh Yamashita; Koichi Kobayashi
  Proc. of the 5th IFAC Conference on Analysis and Control of Chaotic Systems, 102, 107, Oct. 2018, [Peer-reviewed]
  English, International conference proceedings
• Self-Triggered Predictive Pinning Control for Consensus of Multi-Agent Systems
  Shun Andoh; Koichi Kobayashi; Yuh Yamashita
  Proc. of the SICE Annual Conference 2018 (Position paper), 1806, 1809, Sep. 2018, [Peer-reviewed]
  English, International conference proceedings
• Switching Controller Design for Quantized Event-Triggered Control
  Shumpei Yoshikawa; Koichi Kobayashi; Yuh Yamashita
  Proc. of the SICE Annual Conference 2018 (Position paper), 1797, 1800, Sep. 2018, [Peer-reviewed]
  English, International conference proceedings
• On Model Reduction of Probabilistic Boolean Networks
  Koichi Kobayashi
  Proc. of the SICE Annual Conference 2018 (Position paper), 1411, 1413, Sep. 2018, [Peer-reviewed]
  English, International conference proceedings
• On Opacity Formulation and Verification in Boolean Networks
  Koichi Kobayashi
  Proc. of the SICE Annual Conference 2018 (Position paper), 253, 255, Sep. 2018, [Peer-reviewed]
  English, International conference proceedings
• Asymptotically Stabilizing Controller Generating Sparse Input for Nonlinear Systems
  Yuh Yamashita; Kiminori Sakano; Koichi Kobayashi
  Proc. of the 23rd International Symposium on Mathematical Theory of Networks and Systems, 435, 440, Jul. 2018, [Peer-reviewed]
  English, International conference proceedings
• MPC-Based Design of Demand Response Programs in Energy Management Systems
  Kodai Miyazaki; Koichi Kobayashi; Shun-ichi Azuma; Nobuyuki Yamaguchi; Yuh Yamashita
  Proc. of the 33rd International Technical Conference on Circuits/Systems, Computers and Communications, 620, 622, Jul. 2018, [Peer-reviewed]
  English, International conference proceedings
• Vibration Suppression of Hamiltonian Systems with Velocity and Force Disturbances Using IDA-PBC
  Sheng Hao; Yuh Yamashita; Koichi Kobayashi
  Proc. of the Second IFAC Conference on Modelling, Identification and Control of Nonlinear Systems, Jun. 2018, [Peer-reviewed]
  English, International conference proceedings
• Predictive pinning control with communication delays for consensus of multi-agent systems
  Koichi Kobayashi
  Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018, 593, 598, Institute of Electrical and Electronics Engineers Inc., 01 Jun. 2018, [Peer-reviewed]
  English, International conference proceedings
• MPC-Based Co-Design of Control and Routing for Wireless Sensor and Actuator Networks
  Dai Satoh; Koichi Kobayashi; Yuh Yamashita
  International Journal of Control, Automation and Systems, 16, 3, 953, 960, May 2018, [Peer-reviewed]
  English, Scientific journal
• Optimal Monitoring of Multiple Agents via Time Sequence-Based Modeling
  Ryo Masuda; Koichi Kobayashi; Yuh Yamashita
  SICE Journal of Control, Measurement, and System Integration, 11, 3, 169, 173, May 2018, [Peer-reviewed]
  English, Scientific journal
• A pathfinding problem for search trees with unknown edge length
  Kunihiko Hiraishi; Koichi Kobayashi
  Journal of Discrete Algorithms, 49, 1, 7, Elsevier B.V., 01 Mar. 2018, [Peer-reviewed]
  English, Scientific journal
• Nonlinear system identification by affine coordinate unification of locally identified MIMO linear systems
  Kazuya Nomura; Yuh Yamashita; Koichi Kobayashi
  Proc. of the SICE International Symposium on Control Systems 2018, Mar. 2018, [Peer-reviewed]
  English, International conference proceedings
• Information supervisory control of human behavior - Experiments and formal modeling
  Kunihiko Hiraishi; Naoshi Uchihira; Sunseong Choe; Koichi Kobayashi
  2017 Asian Control Conference, ASCC 2017, 2018-, 1351, 1356, Institute of Electrical and Electronics Engineers Inc., 07 Feb. 2018, [Peer-reviewed]
  English, International conference proceedings
• Quantized event-triggered control of discrete-time linear systems with switching triggering conditions
  Shumpei Yoshikawa; Koichi Kobayashi; Yuh Yamashita
  IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, E101A, 2, 322, 327, Institute of Electronics, Information and Communication, Engineers, IEICE, 01 Feb. 2018, [Peer-reviewed]
  English, Scientific journal
• Model Predictive-Based Demand Response in Energy Management Systems
  Kodai Miyazaki; Koichi Kobayashi; Shun-ichi Azuma; Nobuyuki Yamaguchi; Yuh Yamashita
  Proc. of the 23rd International Symposium on Artificial Life and Robotics, 815, 818, Jan. 2018, [Peer-reviewed]
  English, International conference proceedings
• Markov Chain-Based Modeling Techniques of Appliances for Demand Response
  Kenta Ohashi; Koichi Kobayashi; Yuh Yamashita
  Proc. of the 23rd International Symposium on Artificial Life and Robotics, 805, 808, Jan. 2018, [Peer-reviewed]
  English, International conference proceedings
• IoT時代のシステム制御理論：事象駆動制御と自己駆動制御
  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, Jan. 2018, [Peer-reviewed]
  Japanese, Scientific journal
• Control of Singleton Attractors in Boolean Networks Based on Model Reduction
  Koichi Kobayashi
  Proc. of the 2017 International Symposium on Nonlinear Theory and Its Applications, 18, 21, Dec. 2017, [Peer-reviewed]
  English, International conference proceedings
• Model-Based Approach to Analysis of Human Behavior with Applications to Nursing and Caregiving Services
  Koichi Kobayashi; Kunihiko Hiraishi; Sunseong Choe; Naoshi Uchihira
  Proc. of the 2017 IEEE 6th Global Conference on Consumer Electronics, 804, 807, Oct. 2017, [Peer-reviewed]
  English, International conference proceedings
• Design of Probabilistic Boolean Networks Based on Network Structure and Steady-State Probabilities
  Koichi Kobayashi; Kunihiko Hiraishi
  IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS, 28, 8, 1966, 1971, Aug. 2017, [Peer-reviewed]
  English, Scientific journal
• A Unification Method of Locally Identified Linear Systems and Reconstruction of Nonlinear Dynamical Model
  Kazuya Nomura; Yuh Yamashita; Koichi Kobayashi
  Proc. of the 20th IFAC World Congress, 14569, 14574, Jul. 2017, [Peer-reviewed]
  English, International conference proceedings
• Behavioral Analysis in Nursing and Caregiving Services Using Switched Linear Regression Models
  Koichi Kobayashi; Kunihiko Hiraishi; Sunseong Choe; Naoshi Uchihira
  Proc. of the 20th IFAC World Congress, 4668, 4673, Jul. 2017, [Peer-reviewed]
  English, International conference proceedings
• Data Aggregation based Estimation for Sensor Network with Communication Delay
  Ryosuke Adachi; Yuh Yamashita; Koichi Kobayashi
  Proc. of the 20th IFAC World Congress, 2543, 2548, Jul. 2017, [Peer-reviewed]
  English, International conference proceedings
• Asymptotic Stabilization of Nonlinear Systems with Convex-Polytope Input Constraints and its Inverse Optimality
  Yuh Yamashita; Ryosuke Matsukizono; Koichi Kobayashi
  Proc. of the 20th IFAC World Congress, 1433, 1438, Jul. 2017, [Peer-reviewed]
  English, International conference proceedings
• BMI Approach to Design of Networked Control Systems with Decentralized Event-Triggering
  Kyohei Nakajima; Koichi Kobayashi; Yuh Yamashita
  Proc. of the 18th IEEE International Workshop on Signal Processing Advances in Wireless Communications, 765, 769, Jul. 2017, [Peer-reviewed]
  English, International conference proceedings
• Switched Probabilistic Model of Consumers for Demand Response
  Kenta Ohashi; Koichi Kobayashi; Yuh Yamashita
  Proc. of the 32nd International Technical Conference on Circuits/Systems, Computers and Communications, 143, 146, Jul. 2017, [Peer-reviewed]
  English, International conference proceedings
• マルチホップ制御ネットワークのモデル予測制御
  小林 孝一
  計測と制御, 56, 7, 492, 497, Jul. 2017, [Peer-reviewed]
  Japanese, Scientific journal
• MPC-Based Surveillance over Graphs by Multiple Agents
  Mifuyu Kido; Koichi Kobayashi; Yuh Yamashita
  SICE Journal of Control, Measurement, and System Integration, 10, 3, 253, 258, May 2017, [Peer-reviewed]
  English, Scientific journal
• Approximate MLD System Model of Switched Linear Systems for Model Predictive Control
  Shin Kanazawa; Koichi Kobayashi; Yuh Yamashita
  SICE Journal of Control, Measurement, and System Integration, 10, 3, 136, 140, May 2017, [Peer-reviewed]
  English, Scientific journal
• モデル予測制御のためのハイブリッドシステムの離散抽象化
  小林孝一; 平石邦彦
  システム/制御/情報, 61, 2, 51, 56, Feb. 2017, [Peer-reviewed]
  Japanese, Scientific journal
• Asymptotic Stabilization of Nonholonomic Four-Wheeled Vehicle with Hysteresis Mechanism
  Wataru Hashimoto; Yuh Yamashita; Koichi Kobayashi
  Proc. of the 2017 International Symposium on Nonlinear Theory and Its Applications, 30, 33, Feb. 2017, [Peer-reviewed]
  English, International conference proceedings
• Optimization-Based Approaches to Control of Probabilistic Boolean Networks
  Koichi Kobayashi; Kunihiko Hiraishi
  Algorithms, 10, 1, 31, 31, {MDPI} {AG}, Feb. 2017, [Peer-reviewed]
  English, Scientific journal
• Linear Quadratic Regulator with Decentralized Event-Triggering
  Kyohei Nakajima; Koichi Kobayashi; Yuh Yamashita
  IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES, E100A, 2, 414, 420, Feb. 2017, [Peer-reviewed]
  English, Scientific journal
• Periodic Model Predictive Control of Multi-Hop Control Networks
  Dai Satoh; Koichi Kobayashi; Yuh Yamashita
  IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES, E100A, 2, 406, 413, Feb. 2017, [Peer-reviewed]
  English, Scientific journal
• Quantized Event-Triggered Control of Discrete-Time Linear Systems with Switching Triggering Conditions
  Shumpei Yoshikawa; Koichi Kobayashi; Yuh Yamashita
  2017 56TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE), 313, 316, 2017, [Peer-reviewed]
  English, International conference proceedings
• Optimal Monitoring of Multiple Agents via Time Sequence-Based Modeling
  Ryo Masuda; Koichi Kobayashi; Yuh Yamashita
  2017 56TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE), 168, 171, 2017, [Peer-reviewed]
  English, International conference proceedings
• Stochastic Model Predictive Control of Multi-Hop Control Networks with Packet Dropouts
  Dai Satoh; Koichi Kobayashi; Yuh Yamashita
  2017 56TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE), 164, 167, 2017, [Peer-reviewed]
  English, International conference proceedings
• 遺伝子ネットワークのシステム数理 ―ブーリアンネットワークによるアプローチ
  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, [Peer-reviewed]
  Japanese, Scientific journal
• Event-Triggered and Self-Triggered Control for Networked Control Systems Using Online Optimization
  Koichi Kobayashi; Kunihiko Hiraishi
  IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES, E99A, 2, 468, 474, Feb. 2016, [Peer-reviewed]
  English, Scientific journal
• Diagnosis of Stochastic Discrete Event Systems Based on N-Gram Models with Wildcard Characters
  Kunihiko Hiraishi; Koichi Kobayashi
  IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES, E99A, 2, 462, 467, Feb. 2016, [Peer-reviewed]
  English, Scientific journal
• Linear Quadratic Regulator with Decentralized Event-Triggering
  Kyohei Nakajima; Koichi Kobayashi; Yuh Yamashita
  PROCEEDINGS OF THE IECON 2016 - 42ND ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 2016, IECON, 5374, 5379, 2016, [Peer-reviewed]
  English, International conference proceedings
• Backstepping for Set-valued Upper Control Laws and Its Application to Control Allocation Problem
  Daiki Suzuki; Yuh Yamashita; Koichi Kobayashi
  Proc. of the 2016 IEEE International Conference on Systems, Man, and Cybernetics, 4245, 4250, 2016, [Peer-reviewed]
  English, International conference proceedings
• Periodic Model Predictive Control of Multi-Hop Control Networks
  Dai Satoh; Koichi Kobayashi; Yuh Yamashita
  Proc. of the 2016 IEEE International Conference on Systems, Man, and Cybernetics, 1279, 1284, 2016, [Peer-reviewed]
  English, International conference proceedings
• Information Supervisory Control of Human Behavior - Concept and Experiments Toward Realization -
  Kunihiko Hiraishi; Naoshi Uchihira; Sunseong Choe; Koichi Kobayashi
  Proc. of the 2016 IEEE International Conference on Systems, Man, and Cybernetics, 790, 795, 2016, [Peer-reviewed]
  English, International conference proceedings
• Optimal Real-Time Pricing of Electricity Based on Switched Markov Chain Models and Welfare Maximization
  Koichi Kobayashi
  PROCEEDINGS OF 2016 IEEE 4TH INTERNATIONAL CONFERENCE ON CYBER-PHYSICAL SYSTEMS, NETWORKS, AND APPLICATIONS (CPSNA), 35, 39, 2016, [Peer-reviewed]
  English, International conference proceedings
• Approximate MLD System Model of Switched Linear Systems for Model Predictive Control
  Shin Kanazawa; Koichi Kobayashi; Yuh Yamashita
  Proc. of the SICE Annual Conference 2016 (Position paper), 1745, 1748, 2016, [Peer-reviewed]
  English, International conference proceedings
• Model Predictive Control of Multiple Plants over Communication Networks
  Dai Satoh; Koichi Kobayashi; Yuh Yamashita
  Proc. of the SICE Annual Conference 2016 (Position paper), 1737, 1740, 2016, [Peer-reviewed]
  English, International conference proceedings
• Asymptotic Stabilization of Nonholonomic Four-Wheeled Vehicle with Steering Limitation based on Lyapunov Function Approach
  W. Hashimoto; Y. Yamashita; R. Nonaka; K. Kobayashi
  IFAC PAPERSONLINE, 49, 18, 235, 240, 2016, [Peer-reviewed]
  English, International conference proceedings
• An MILP Approach to Optimal Surveillance over Graphs
  Mifuyu Kido; Koichi Kobayashi; Yuh Yamashita
  Proc. of the 31st International Technical Conference on Circuits/Systems, Computers and Communications, 133, 136, 2016, [Peer-reviewed]
  English, International conference proceedings
• Spatio-Temporal Situation Recognition for Groups in Caregiving Services
  Kaoru Sato; Kunihiko Hiraishi; Koichi Kobayashi
  2016 IEEE INTERNATIONAL MULTI-DISCIPLINARY CONFERENCE ON COGNITIVE METHODS IN SITUATION AWARENESS AND DECISION SUPPORT (COGSIMA), 78, 82, 2016, [Peer-reviewed]
  English, International conference proceedings
• Optimal Control of Multi-Vehicle Systems with Logical Constraints on Graphs
  KOBAYASHI Koichi; HIRAISHI Kunihiko
  Journal of The Society of Instrument and Control Engineers, 55, 11, 966, 971, The Society of Instrument and Control Engineers, 2016, [Peer-reviewed]
  Japanese, Scientific journal
• Verification of Real-Time Pricing Systems Based on Probabilistic Boolean Networks
  Koichi Kobayashi; Kunihiko Hiraishi
  Applied Mathematics, 7, 15, 1734, 1747, 2016, [Peer-reviewed]
  English, Scientific journal
• Attractor-Based Simultaneous Design of the Minimum Set of Control Nodes and Controllers in Boolean Networks
  Koichi Kobayashi
  Applied Mathematics, 7, 14, 1510, 1520, 2016, [Peer-reviewed]
  English, Scientific journal
• Self-Triggered Model Predictive Control for Linear Systems Based on Transmission of Control Input Sequences
  Koichi Kobayashi
  Journal of Applied Mathematics, 2016, Hindawi Limited, 2016, [Peer-reviewed]
  English, Scientific journal
• Notions of Opacity in Hybrid Systems for Cybersecurity
  Koichi Kobayashi
  Proc. of the 21st International Symposium on Artificial Life and Robotics, 83, 86, 2016, [Peer-reviewed]
  English, International conference proceedings
• Optimal Control of Multi-Hop Control Networks Based on the MLD Framework
  Koichi Kobayashi; Kunihiko Hiraishi
  IEEJ TRANSACTIONS ON ELECTRICAL AND ELECTRONIC ENGINEERING, 10, 6, 699, 705, Nov. 2015, [Peer-reviewed]
  English, Scientific journal
• Optimal Control of Multi-Vehicle Systems with Temporal Logic Constraints
  Koichi Kobayashi; Takuro Nagami; Kunihiko Hiraishi
  IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES, E98A, 2, 626, 634, Feb. 2015, [Peer-reviewed]
  English, Scientific journal
• Diagnosis of Stochastic Discrete Event Systems Based on N-gram Models
  Miwa Yoshimoto; Koichi Kobayashi; Kunihiko Hiraishi
  IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES, E98A, 2, 618, 625, Feb. 2015, [Peer-reviewed]
  English, Scientific journal
• Optimal Real-time Pricing of Electricity with Consideration for Decrease in Price Effect
  Koichi Kobayashi; Kunihiko Hirasihi
  2015 INTERNATIONAL CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING (CASE), 539, 544, 2015, [Peer-reviewed]
  English, International conference proceedings
• Mesoscopic Modeling of Airport Surface by Object Petri Nets
  Kenji Uehara; Kunihiko Hiraishi; Koichi Kobayashi
  2015 INTERNATIONAL CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING (CASE), 298, 303, 2015, [Peer-reviewed]
  English, International conference proceedings
• Situation Recognition from Behavior Logs in Caregiving Services
  Kaoru Sato; Koichi Kobayashi; Kunihiko Hiraishi
  Proc. of the 30th International Technical Conference on Circuit/Systems Computers and Communications, 721, 724, 2015, [Peer-reviewed]
  English, International conference proceedings
• アトラクターに着目したブーリアンネットワークの設計
  小林孝一; 平石邦彦
  システム/制御/情報, 59, 7, 250, 255, 2015, [Peer-reviewed]
  Japanese, Scientific journal
• Optimal Control of Probabilistic Logic Networks and Its Application to Real-Time Pricing of Electricity
  Koichi Kobayashi; Kunihiko Hiraishi
  MATHEMATICAL PROBLEMS IN ENGINEERING, 2015, Article ID 952310, 2015, [Peer-reviewed]
  English, Scientific journal
• On Event-triggered and Self-triggered Control Using Online Optimization
  Koichi Kobayashi; Kunihiko Hiraishi
  2015 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS (ICM), 586, 591, 2015, [Peer-reviewed]
  English, International conference proceedings
• Algorithm for Optimal Real-time Pricing Based on Switched Markov Chain Models
  Koichi Kobayashi; Kunihiko Hiraishi
  2015 IEEE Power & Energy Society Innovative Smart Grid Technologies Conference (ISGT), 2015, [Peer-reviewed]
  English, International conference proceedings
• Optimal Real-time Pricing for Energy Management Systems Based on Switched Interval Markov Chains
  Koichi Kobayashi; Kunihiko Hiraishi
  Proc. of the 20th International Symposium on Artificial Life and Robotics, 172, 175, 2015, [Peer-reviewed]
  English, International conference proceedings
• Model predictive control of directed-graph constrained systems
  Koichi Kobayashi; Jun-ichi Imura; Hiromichi Matsushima
  INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 25, 1, 142, 162, Jan. 2015, [Peer-reviewed]
  English, Scientific journal
• ILP/SMT-Based Method for Design of Boolean Networks Based on Singleton Attractors
  Koichi Kobayashi; Kunihiko Hiraishi
  IEEE-ACM TRANSACTIONS ON COMPUTATIONAL BIOLOGY AND BIOINFORMATICS, 11, 6, 1253, 1259, Nov. 2014, [Peer-reviewed]
  English, Scientific journal
• An optimization-based approach to sampled-data control of networked control systems with multiple delays
  Koichi Kobayashi; Kunihiko Hiraishi
  APPLIED MATHEMATICS AND COMPUTATION, 247, 786, 794, Nov. 2014, [Peer-reviewed]
  English, Scientific journal
• Stabilization of deterministic finite automata based on linear state equation representation
  Koichi Kobayashi; Jun-Ichi Imura
  2009 European Control Conference, ECC 2009, 4368, 4373, Institute of Electrical and Electronics Engineers Inc., 26 Mar. 2014
  English, International conference proceedings
• Discrete Abstraction for a Class of Stochastic Hybrid Systems Based on Bounded Bisimulation
  Koichi Kobayashi; Yasuhito Fukui; Kunihiko Hiraishi
  IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES, E97A, 2, 459, 467, Feb. 2014, [Peer-reviewed]
  English, Scientific journal
• Structural control of probabilistic boolean networks and its application to design of real-time pricing systems
  Koichi Kobayashi; Kunihiko Hiraishi
  IFAC Proceedings Volumes (IFAC-PapersOnline), 19, 2442, 2447, IFAC Secretariat, 2014
  English, International conference proceedings
• A Probabilistic Approach to Design of Real-time Pricing Systems over Communication Networks
  Koichi Kobayashi; Kunihiko Hiraishi
  IECON 2014 - 40TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 4732, 4737, 2014, [Peer-reviewed]
  English, International conference proceedings
• On Model Checking of Real-Time Pricing Systems Modeled by Probabilistic Discrete Models
  Koichi Kobayashi; Kunihiko Hiraishi
  Proc. of the SICE Annual Conference 2014 (Position paper), 1278, 1281, 2014, [Peer-reviewed]
  English, International conference proceedings
• Structural Control of Probabilistic Boolean Networks and Its Application to Design of Real-Time Pricing Systems
  Koichi Kobayashi; Kunihiko Hiraishi
  IFAC PAPERSONLINE, 47, 3, 2442, 2447, 2014, [Peer-reviewed]
  English, International conference proceedings
• Simultaneous Design of Prices and Incentives for Demand Response
  Koichi Kobayashi; Kunihiko Hiraishi
  Proc. of the 29th International Technical Conference on Circuit/Systems Computers and Communications, 853, 856, 2014, [Peer-reviewed]
  English, International conference proceedings
• Design of Boolean Networks Based on Prescribed Singleton Attractors
  Koichi Kobayashi; Kunihiko Hiraishi
  2014 EUROPEAN CONTROL CONFERENCE (ECC), 1504, 1509, 2014, [Peer-reviewed]
  English, International conference proceedings
• Detection of Unusual Human Activities Based on Behavior Modeling
  Kunihiko Hiraishi; Koichi Kobayashi
  Proc. of the 12th IFAC International Workshop on Discrete Event Systems, 182, 187, 2014, [Peer-reviewed]
  English, International conference proceedings
• Self-Triggered Optimal Control of Linear Systems Using Convex Quadratic Programming
  Koichi Kobayashi; Kunihiko Hiraishi
  2014 IEEE 13TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL (AMC), 741, 745, 2014, [Peer-reviewed]
  English, International conference proceedings
• Behavior Modeling in Physical and Adaptive Intelligent Services
  Kunihiko Hiraishi; Koichi Kobayashi; Sunseong Choe; Naoshi Uchihira
  2014 IEEE INTERNATIONAL INTER-DISCIPLINARY CONFERENCE ON COGNITIVE METHODS IN SITUATION AWARENESS AND DECISION SUPPORT (COGSIMA), 244, 249, 2014, [Peer-reviewed]
  English, International conference proceedings
• A Polynomial Optimization Approach to Optimal Control of Context-Sensitive Probabilistic Boolean networks
  Koichi Kobayashi; Kunihiko Hiraishi
  Proc. of the 19th International Symposium on Artificial Life and Robotics, 92, 95, 2014, [Peer-reviewed]
  English, International conference proceedings
• A Probabilistic Approach to Control of Complex Systems and Its Application to Real-Time Pricing
  Koichi Kobayashi; Kunihiko Hiraishi
  MATHEMATICAL PROBLEMS IN ENGINEERING, 2014, Article ID 906717, 2014, [Peer-reviewed]
  English, Scientific journal
• Modeling and Design of Real-Time Pricing Systems Based on Markov Decision Processes
  Koichi Kobayashi; Ichiro Maruta; Kazunori Sakurama; Shun-ichi Azuma
  Applied Mathematics, 5, 10, 1485, 1495, 2014, [Peer-reviewed]
  English, Scientific journal
• Large-Scale MPC with Continuous/Discrete-Valued Inputs: Compensation of Quantization Errors, Stabilization, and Its Application
  Koichi Kobayashi; Wai Wai Shein; Kunihiko Hiraishi
  SICE Journal of Control, Measurement, and System Integration, 7, 3, 152, 158, 2014, [Peer-reviewed]
  English, Scientific journal
• Verification and Optimal Control of Context-Sensitive Probabilistic Boolean Networks Using Model Checking and Polynomial Optimization
  Koichi Kobayashi; Kunihiko Hiraishi
  SCIENTIFIC WORLD JOURNAL, 2014, Article ID 968341, 2014, [Peer-reviewed]
  English, Scientific journal
• Modeling and Design of Networked Control Systems Using a Stochastic Switching Systems Approach
  Koichi Kobayashi; Kunihiko Hiraishi
  IEEJ TRANSACTIONS ON ELECTRICAL AND ELECTRONIC ENGINEERING, 9, 1, 56, 61, Jan. 2014, [Peer-reviewed]
  English, Scientific journal
• Self-Triggered Model Predictive Control with Delay Compensation for Networked Control Systems
  Koichi Kobayashi; Kunihiko Hiraishi
  IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES, E96A, 5, 861, 868, May 2013, [Peer-reviewed]
  English, Scientific journal
• An approximation algorithm for box abstraction of transition systems on real state spaces
  Kunihiko Hiraishi; Koich Kobayashi
  FORMAL METHODS IN SYSTEM DESIGN, 42, 2, 175, 192, Apr. 2013, [Peer-reviewed]
  English, Scientific journal
• Optimal Control of Boolean Biological Networks Modeled by Petri Nets
  Koichi Kobayashi; Kunihiko Hiraishi
  IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES, E96A, 2, 532, 539, Feb. 2013, [Peer-reviewed]
  English, Scientific journal
• Analysis and Control of Hybrid Systems with Parameter Uncertainty Using Interval Arithmetic
  小林孝一; 平石邦彦
  計測と制御, 52, 12, 1096, 1101, 計測自動制御学会, 2013, [Peer-reviewed]
  Japanese, Scientific journal
• Optimal Control of Multi-Vehicle Systems with LTL Specifications
  Koichi Kobayashi; Takuro Nagami; Kunihiko Hiraishi
  2013 IEEE 52ND ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC), 7709, 7714, 2013, [Peer-reviewed]
  English, International conference proceedings
• Discrete Abstraction for a Class of Stochastic Hybrid Systems Based on Bounded Bisimulation
  Koichi Kobayashi; Yasuhito Fukui; Kunihiko Hiraishi
  2013 IEEE 52ND ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC), 2641, 2646, 2013, [Peer-reviewed]
  English, International conference proceedings
• Modeling and Optimal Control of Multi-Hop Control Networks Based on the MLD Framework
  Koichi Kobayashi; Kunihiko Hiraishi
  39TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY (IECON 2013), 5656, 5661, 2013, [Peer-reviewed]
  English, International conference proceedings
• Controller design of networked control systems with multiple delays using interval methods
  Koichi Kobayashi; Kunihiko Hiraishi
  IECON Proceedings (Industrial Electronics Conference), 5632, 5637, 2013, [Peer-reviewed]
  English, International conference proceedings
• Hierarchical Implementation of Large-Scale Control Systems and Its Application to Air-Conditioning Systems
  Wai Wai Shein; Koichi Kobayashi; Kunihiko Hiraishi
  2013 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE), 601, 606, 2013, [Peer-reviewed]
  English, International conference proceedings
• An MDP Approach to Modeling and Control of Real-Time Pricing Systems
  Koichi Kobayashi; Ichiro Maruta; Kazunori Sakurama; Shun-ichi Azuma
  Proc. of the SICE Annual Conference 2013 (Regular Paper), 595, 600, 2013, [Peer-reviewed]
  English, International conference proceedings
• Diagnosis of Stochastic Discrete Event Systems Based on N-gram Models with Wildcard Characters
  Kunihiko Hiraishi; Miwa Yoshimoto; Koichi Kobayashi
  Proc. of the 6th IFIP/IEEE International Workshop on Distributed Autonomous Network Management Systems, 1384, 1388, 2013, [Peer-reviewed]
  English, International conference proceedings
• Self-Triggered Optimal Control Based on Optimization with Prediction Horizon One
  Koichi Kobayashi; Kunihiko Hiraishi
  Proc. of the 18th International Symposium on Artificial Life and Robotics, 342, 345, 2013, [Peer-reviewed]
  English, International conference proceedings
• Self-Triggered Model Predictive Control Using Optimization with Prediction Horizon One
  Koichi Kobayashi; Kunihiko Hiraishi
  MATHEMATICAL PROBLEMS IN ENGINEERING, 2013, Article ID 916040, 2013, [Peer-reviewed]
  English, Scientific journal
• Optimal Control of Gene Regulatory Networks with Effectiveness of Multiple Drugs: A Boolean Network Approach
  Koichi Kobayashi; Kunihiko Hiraishi
  BIOMED RESEARCH INTERNATIONAL, 2013, Article ID 246761, 2013, [Peer-reviewed]
  English, Scientific journal
• Verification of Opacity and Diagnosability for Pushdown Systems
  Koichi Kobayashi; Kunihiko Hiraishi
  JOURNAL OF APPLIED MATHEMATICS, 2013, Article ID 654059, 2013, [Peer-reviewed]
  English, Scientific journal
• Discussion on "Theory and computation of discrete state space decompositions for hybrid systems"
  Koichi Kobayashi
  EUROPEAN JOURNAL OF CONTROL, 19, 1, 11, 12, Jan. 2013, [Peer-reviewed]
  English, Scientific journal
• Computational Techniques for Model Predictive Control of Large-Scale Systems with Continuous-Valued and Discrete-Valued Inputs
  Koichi Kobayashi; Kunihiko Hiraishi
  JOURNAL OF APPLIED MATHEMATICS, 2013, Article ID 615060, 2013, [Peer-reviewed]
  English, Scientific journal
• Symbolic approach to verification and control of deterministic/probabilistic Boolean networks
  K. Kobayashi; K. Hiraishi
  IET SYSTEMS BIOLOGY, 6, 6, 215, 222, Dec. 2012, [Peer-reviewed]
  English, Scientific journal
• Probabilistic-Constrained Optimal Control of a Class of Stochastic Hybrid Systems
  Koichi Kobayashi; Koichiro Matou; Kunihiko Hiraishi
  INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 10, 5, 897, 904, Oct. 2012, [Peer-reviewed]
  English, Scientific journal
• Deterministic finite automata representation for model predictive control of hybrid systems
  Koichi Kobayashi; Jun-ichi Imura
  JOURNAL OF PROCESS CONTROL, 22, 9, 1670, 1680, Oct. 2012, [Peer-reviewed]
  English, Scientific journal
• Optimal Control of Probabilistic Boolean Networks Using Polynomial Optimization
  Koichi Kobayashi; Kunihiko Hiraishi
  IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES, E95A, 9, 1512, 1517, Sep. 2012, [Peer-reviewed]
  English, Scientific journal
• Optimization-Based Synthesis of Self-Triggered Controllers for Networked Systems
  Koichi Kobayashi; Kunihiko Hiraishi
  IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES, E95A, 4, 691, 696, Apr. 2012, [Peer-reviewed]
  English, Scientific journal
• A Petri Net-Based Approach to Control of Boolean Networks
  Koichi Kobayashi; Kunihiko Hiraishi
  2012 THIRD INTERNATIONAL CONFERENCE ON NETWORKING AND COMPUTING (ICNC 2012), 399, 403, 2012, [Peer-reviewed]
  English, International conference proceedings
• Self-Triggered Model Predictive Control with Delay Compensation for Networked Control Systems
  Koichi Kobayashi; Kunihiko Hiraishi
  38TH ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS SOCIETY (IECON 2012), 3200, 3205, 2012, [Peer-reviewed]
  English, International conference proceedings
• Design of Networked Control Systems Using a Stochastic Switching Systems Approach
  Koichi Kobayashi; Kunihiko Hiraishi
  38TH ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS SOCIETY (IECON 2012), 3170, 3175, 2012, [Peer-reviewed]
  English, International conference proceedings
• On opacity and diagnosability in discrete event systems modeled by pushdown automata
  Koichi Kobayashi; Kunihiko Hirasihi
  IEEE International Conference on Automation Science and Engineering, 662, 667, 2012, [Peer-reviewed]
  English, International conference proceedings
• Application of Interval Methods to Sampled-Data Control of Uncertain Piecewise Affine Systems
  Koichi Kobayashi; Kunihiko Hiraishi
  SICE Journal of Control, Measurement, and System Integration, 5, 3, 184, 189, 2012, [Peer-reviewed]
  English, Scientific journal
• Stabilization of Finite Automata with Application to Hybrid Systems Control
  Koichi Kobayashi; Jun-ichi Imura; Kunihiko Hiraishi
  DISCRETE EVENT DYNAMIC SYSTEMS-THEORY AND APPLICATIONS, 21, 4, 519, 545, Dec. 2011, [Peer-reviewed]
  English, Scientific journal
• An integer programming approach to optimal control problems in context-sensitive probabilistic Boolean networks
  Koichi Kobayashi; Kunihiko Hiraishi
  AUTOMATICA, 47, 6, 1260, 1264, Jun. 2011, [Peer-reviewed]
  English, Scientific journal
• 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, [Peer-reviewed]
  Japanese, Scientific journal
• ハイブリッドシステムにおける離散ダイナミクスのモデリング
  小林孝一
  システム/制御/情報, 55, 3, 75, 81, 2011, [Peer-reviewed]
  Japanese, Scientific journal
• Probabilistic Control of Boolean Networks with Multiple Dynamics: Towards Control of Gene Regulatory Networks
  Koichi Kobayashi; Kunihiko Hiraishi
  2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC), 4371, 4376, 2011, [Peer-reviewed]
  English, International conference proceedings
• Optimal Control of a Class of Stochastic Hybrid Systems with Probabilistic Constraints
  Koichi Kobayashi; Koichiro Matou; Kunihiko Hiraishi
  2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC), 3307, 3312, 2011, [Peer-reviewed]
  English, International conference proceedings
• A Symbolic Approach to Probabilistic Verification of Boolean Networks
  Koichi Kobayashi; Kunihiko Hiraishi
  IECON 2011: 37TH ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS SOCIETY, 3764, 3769, 2011, [Peer-reviewed]
  English, International conference proceedings
• Optimal Sampled-Data Control of Piecewise Affine Systems with Parameter Uncertainty
  Koichi Kobayashi; Kunihiko Hiraishi
  Proc. of the SICE Annual Conference 2011, 605, 607, 2011, [Peer-reviewed]
  English, International conference proceedings
• Optimal control of a class of networked systems based on MLD framework
  Koichi Kobayashi; Kunihiko Hiraishi
  IFAC Proceedings Volumes (IFAC-PapersOnline), 18, 1, 66, 71, 2011, [Peer-reviewed]
  English, International conference proceedings
• Optimal Control of Asynchronous Boolean Networks Modeled by Petri Nets
  Koichi Kobayashi; Kunihiko Hiraishi
  Proc. of the International Workshop on Biological Processes & Petri Nets, 7, 20, 2011, [Peer-reviewed]
  English, International conference proceedings
• 遷移関係に基づくハイブリッドシステムの近似双模倣
  崔舜星; 平石邦彦; 小林孝一
  計測自動制御学会論文集, 47, 12, 614, 620, 2011, [Peer-reviewed]
  Japanese, Scientific journal
• Optimal Control of Gene Regulatory Networks with External Stimuli
  KOBAYASHI Koichi; HIRAISHI Kunihiko
  Transactions of the Society of Instrument and Control Engineers, 47, 11, 520, 526, The Society of Instrument and Control Engineers, 2011, [Peer-reviewed]
  Japanese, Scientific journal, In this paper, the optimal control problem of gene regulatory networks modeled by Boolean networks is discussed. In the standard problem formulation, we assume that there exist genes corresponding to control inputs in gene regulatory networks. However, in many systems, this assumption is not satisfied. In this paper, two kinds of control inputs are considered. One is the above control input. The other is the control input corresponding to an external stimulus. An external stimulus does not control the detailed behavior, but can switch Boolean functions probabilistically. So genes corresponding to control inputs may not exist, and this problem formulation is more realistic. Furthermore, the optimal control problem is reduced to an integer linear programming problem.
• Mixed-Integer-Programming-Based Approach to Optimal Design of Networked Control Systems
  Koichi Kobayashi; Kunihiko Hiraishi
  SICE Journal of Control, Measurement, and System Integration, 4, 3, 243, 248, 2011, [Peer-reviewed]
  English, Scientific journal
• Optimal Control of Context-Sensitive Probabilistic Boolean Networks Using Integer Programming
  Koichi Kobayashi; Kunihiko Hiraishi
  49TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC), 7507, 7512, 2010, [Peer-reviewed]
  English, International conference proceedings
• MLD-Based Modeling and MPC of Discrete-Time Hybrid Systems with Stochastic Mode Transitions
  Koichi Kobayashi; Kunihiko Hiraishi
  2010 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, 1331, 1336, 2010, [Peer-reviewed]
  English, International conference proceedings
• Reachability Analysis of Probabilistic Boolean Networks using Model Checking
  Koichi Kobayashi; Kunihiko Hiraishi
  Proc. of the SICE Annual Conference 2010, 829, 832, 2010, [Peer-reviewed]
  English, International conference proceedings
• Free-Variable Analysis of Finite Automata Representations for Hybrid Systems Control
  Koichi Kobayashi; Jun-ichi Imura
  Proc. of the 19th International Symposium on Mathematical Theory of Networks and Systems, 483, 488, 2010, [Peer-reviewed]
  English, International conference proceedings
• An Integer Programming Approach to Control Problems in Probabilistic Boolean Networks
  Koichi Kobayashi; Kunihiko Hiraishi
  2010 AMERICAN CONTROL CONFERENCE, 6710, 6715, 2010, [Peer-reviewed]
  English, International conference proceedings
• Optimal Control of Probabilistic Boolean Networks Using Integer Programming
  KOBAYASHI Koichi; HIRAISHI Kunihiko
  Transactions of the Society of Instrument and Control Engineers, 46, 11, 659, 665, The Society of Instrument and Control Engineers, 2010, [Peer-reviewed]
  Japanese, Scientific journal, In this paper, the optimal control problem of probabilistic Boolean networks (PBNs) is discussed. A PBN is one of the significant models in biological networks. Although some control methods of PBNs have been proposed so far, it is necessary to compute the state transition diagram with 2ⁿ 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 optimal control problem is reduced to an integer linear programming problem, which can be computed relatively easier than the existing methods.
• Polynomial-time algorithm for controllability test of a class of Boolean biological networks
  Koichi Kobayashi; Jun-Ichi Imura; Kunihiko Hiraishi
  Eurasip Journal on Bioinformatics and Systems Biology, 2010, 2010, [Peer-reviewed]
  English, Scientific journal
• MLD-Based Modeling of Hybrid Systems with Parameter Uncertainty
  Koichi Kobayashi; Kunihiko Hiraishi
  IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES, E92A, 11, 2745, 2754, Nov. 2009, [Peer-reviewed]
  English, Scientific journal
• Approximate Algorithm for Hybrid Model Predictive Control with Time-Varying Reference
  Koichi Kobayashi; Kunihiko Hiraishi; Nguyen Van Tang
  IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES, E92A, 8, 2046, 2052, Aug. 2009, [Peer-reviewed]
  English, Scientific journal
• Stabilization of Deterministic Finite Automata Based on Linear State Equation Representation
  Koichi Kobayashi; Jun-ichi Imura
  Proc. of the European Control Conference 2009, 4368, 4373, 2009, [Peer-reviewed]
  English, International conference proceedings
• Stabilizing Model Predictive Control of Hybrid Systems with Discrete Dynamics
  Koichi Kobayashi; Jun-ichi Imura; Kunihiko Hiraishi
  Proc. of the ICROS-SICE International Joint Conference 2009, 4831, 4836, 2009, [Peer-reviewed]
  English, International conference proceedings
• Observability Analysis of Boolean Networks with Biological Applications
  Koichi Kobayashi; Jun-ichi Imura
  Proc. of the ICROS-SICE International Joint Conference 2009, 4393, 4396, 2009, [Peer-reviewed]
  English, International conference proceedings
• A Faster Approximation Technique for Predicate Abstraction of Hybrid Systems
  Kunihiko Hiraishi; Koichi Kobayashi
  Proc. of the ICROS-SICE International Joint Conference 2009, 1717, 1721, 2009, [Peer-reviewed]
  English, International conference proceedings
• Analysis and Control of Hybrid Systems with Parameter Uncertainty Based on Interval Methods
  Koichi Kobayashi; Kunihiko Hiraishi
  2009 AMERICAN CONTROL CONFERENCE, VOLS 1-9, 3632, 3637, 2009, [Peer-reviewed]
  English, International conference proceedings
• Polynomial-Time Controllability Analysis of Boolean Networks
  Koichi Kobayashi; Jun-ichi Imura; Kunihiko Hiraishi
  2009 AMERICAN CONTROL CONFERENCE, VOLS 1-9, 1694, +, 2009, [Peer-reviewed]
  English, International conference proceedings
• 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, [Peer-reviewed]
  Japanese, Scientific journal
• Explicit modeling of mode transition constraints for model predictive control
  Koichi Kobayashi; Kunihiko Hiraishi
  Proceedings of the SICE Annual Conference, 1569, 1574, 2008, [Peer-reviewed]
  English, International conference proceedings
• On-line and Off-line Based Approximation Algorithm for Model Predictive Control of Hybrid Systems
  Koichi Kobayashi; Nguyen Van Tang; Kunihiko Hiraishi
  Proc. of the 23rd International Technical Conference on Circuits/Systems, Computers and Communications, 913, 916, 2008, [Peer-reviewed]
  English, International conference proceedings
• Discrete Abstraction of Hybrid Systems for Finite Time Intervals
  HIRAISHI Kunihiko; KOBAYASHI Koichi; CHOE Sunseong
  Transactions of the Society of Instrument and Control Engineers, 44, 9, 751, 759, The Society of Instrument and Control Engineers, 2008, [Peer-reviewed]
  Japanese, Scientific journal, A notion of bounded bisimilarity is introduced for discrete-time piecewise linear systems. Bounded bisimilarity is the same as the usual bisimilarity except that only trajectories of finite length are considered. We can always find a finite set of equvalence classes for bounded bisimilarity. Using bounded bisimilarity, we propose a method for computing control inputs that achieve a state trajectory satisfing given temporal logic formula and also a desirable level for a given objective function.
• Graph-Switching Based Modeling of Mode Transition Constraints for Model Predictive Control of Hybrid Systems
  Koichi Kobayashi; Kunihiko Hiraishi
  SICE Journal of Control, Measurement, and System Integration, 1, 5, 376, 382, The Society of Instrument and Control Engineers, 2008, [Peer-reviewed]
  English, Scientific journal, The model predictive/optimal control problem for 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, is focused, and a new method to represent a directed graph is proposed. The effectiveness of the proposed method is shown by numerical examples on linear switched systems and piecewise linear systems.
• Minimalilty of finite automata representation in hybrid systems control
  Koichi Kobayashi; Jun-Ichi Imura
  HYBRID SYSTEMS: COMPUTATION AND CONTROL, PROCEEDINGS, 4416, 343, +, 2007, [Peer-reviewed]
  English, International conference proceedings
• Model predictive control of directed-graph type hybrid systems
  Koichi Kobayashi; Jun-Ichi Imura
  PROCEEDINGS OF THE 46TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14, 4227, +, 2007, [Peer-reviewed]
  English, International conference proceedings
• Time-sequence based Modeling of finite automata in model predictive control of hybrid systems
  Koichi Kobayashi; Jun-ichi Imura
  2007 AMERICAN CONTROL CONFERENCE, VOLS 1-13, 4339, 4344, 2007, [Peer-reviewed]
  English, International conference proceedings
• Time-sequence Based Modeling of Finite Automata in Hybrid Systems Control
  KOBAYASHI Koichi; IMURA Jun-ichi
  Transactions of the Society of Instrument and Control Engineers, 43, 9, 798, 805, The Society of Instrument and Control Engineers, 2007, [Peer-reviewed]
  Japanese, Scientific journal, In the model predictive control (MPC) of hybrid systems, the problem of reducing the online computational complexity for generating a control input is one of the main issues. Thus focusing on how concisely a model of discrete dynamics is expressed, the authors have recently proposed a minimal representation of a finite automaton, which is given as a linear state equation with the smallest number of free binary variables (called here binary input variables). This representation enables us to reduce the computational time for solving the MPC problem of hybrid systems. This paper proposes a more effective modeling method for the MPC problem. The main idea is to derive an initial-mode-dependent model by using the above minimal representation, which expresses only mode trajectories for a given initial mode to save the number of binary input variables. The effectiveness of the proposed method is shown by numerical examples.
• Minimal Representation of Finite Automata in Hybrid Systems Control
  KOBAYASHI Koichi; IMURA Jun-ichi
  Transactions of the Society of Instrument and Control Engineers, 43, 5, 383, 390, The Society of Instrument and Control Engineers, 2007, [Peer-reviewed]
  Japanese, Scientific journal, 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.
• Efficient modeling of piecewise affine systems in model predictive control
  Koichi Kobayashi; Jun-ichi Imura
  2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13, 3233, +, 2006, [Peer-reviewed]
  English, International conference proceedings
• Modeling of Discrete Dynamics for Computational Time Reduction of Model Predictive Control
  Koichi Kobayashi; Jun-ichi Imura
  Proc. of the 17th International Symposium on Mathematical Theory of Networks and Systems, 628, 633, 2006, [Peer-reviewed]
  English, International conference proceedings
• Minimal representation of finite automata for hybrid systems control
  Koichi Kobayashi; Jun-ichi Imura
  PROCEEDINGS OF THE 45TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14, 930, 935, 2006, [Peer-reviewed]
  English, International conference proceedings
• On the Relation between Analysis/Synthesis Conditions for Robust Control System via Expressions of Summational/Difference Type State Equation
  KOBAYASHI Koichi; KIYAMA Tsuyoshi; KITAMORI Toshiyuki
  Transactions of the Institute of Systems, Control and Information Engineers, 19, 10, 400, 409, THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE), 2006, [Peer-reviewed]
  Japanese, Scientific journal, This paper considers robust control analysis and synthesis problems via the expression of our previously proposed summational type state equation. The summational type state equation is a mathematical expression to solve two essential problems, i.e., one of them is a physical problem of discontinuity in mathematical expressions e.g. the controllable canonical form for different orders of the existing state equation, and the other one is an engineering problem of disunification in which continuous-time and discrete-time systems are not described with consistency. First, this paper introduces the summational type state equation. Next, a robust stability analysis condition and a feasible condition for the scaled H_∞ control synthesis problem are derived from the summational type state equation. Furthermore, the relation between analysis/synthesis conditions based on summational and difference type state equations is clarified. Finally, the effectiveness of the summational type state equation is shown by numerical examples on a sensitivity minimization problem. From these results, this paper points out that the summational type state equation is one of possible important mathematical expressions in control theory.
• Modeling of Discrete Dynamics in Model Predictive Control of Hybrid Systems
  KOBAYASHI Koichi; IMURA Jun-ichi
  Transactions of the Society of Instrument and Control Engineers, 42, 7, 799, 805, The Society of Instrument and Control Engineers, 2006, [Peer-reviewed]
  Japanese, Scientific journal, This paper proposes a new approach to reducing the computational time for solving the model predictive control problem of a class of hybrid systems, by representing a finite automaton with a smaller number of binary variables. First, the technical issue in the modeling on the field of real numbers is pointed out, and an implicit system expression on the binary field GF(2) is presented. Next, a systematic method to transform this system model into the state equation on the field of real numbers by way of the state equation on GF(2) is proposed, which thus enables us to reduce the original control problem into the mixed integer quadratic problem with a smaller number of binary variables. Finally, the effectiveness of the proposed method is shown by numerical examples.
• Integrated Optimal Design of Hierarchical Control Systems and Its Application to Slab Heating Control for Reheating Furnaces
  KOBAYASHI Koichi; IMURA Jun-ichi
  Transactions of the Society of Instrument and Control Engineers, 42, 7, 783, 790, The Society of Instrument and Control Engineers, 2006, [Peer-reviewed]
  Japanese, Scientific journal, This paper proposes an integrated optimal design of a two-level hierarchical system, which is constructed by a discrete-time high-level system such as a production-scheduling system and a continuous-time low-level control system. First, an integrated optimal design problem is formulated using a cost function composed of continuoustime and discrete-time cost functions, and an optimal control input of this problem based on the finite-time optimal control problem is derived. Next, the difference in performance between the proposed and the standard design methods is given explicitly. Finally, the effectiveness of the proposed method is shown by numerical examples on the slab heating control for reheating furnaces.
• Expression of Summational Type State Equation Conformable to Physical/Engineering Actualities : Analysis of Basic Properties and Stability
  KOBAYASHI Koichi; KIYAMA Tsuyoshi; KITAMORI Toshiyuki
  Transactions of the Institute of Systems, Control and Information Engineers, 19, 4, 132, 141, THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE), 2006, [Peer-reviewed]
  Japanese, Scientific journal, This paper proposes a useful expression of summational type state equation conformable to physical and/or engineering actualities. The summational type state equation can solve the following two essential problems in mathematical expressions of the existing state equations : One of them is a physical problem of discontinuity in mathematical expressions for different orders of the existing state equation related to the number of inevitable many parasitic energy elements which always exist in an actual system. The other one is an engineering problem of disunification in mathematical expressions in which continuous-time and discrete-time systems are not described with consistency. First, this paper clarifies and explains the above problems to be solved with a simple example. Next, this paper defines the summational type state equation for the problems and analyzes, for example, basic properties, stability condition and Lyapunov inequality by using the defined state equation. Finally, the effectiveness of the summational type state equation is shown by numerical examples on the stability analysis. From these results, this paper points out that the proposed state equation can overcome difficulties of the above problems and get benefits from the sophisticated results of modern control theory.
• System Representation for Logical Dynamics via a Descriptor Form
  Koichi Kobayashi; Jun-ichi Imura
  Proc. of the SICE Annual Conference 2005, 2041, 2044, 2005, [Peer-reviewed]
  English, International conference proceedings
• A Method of Control Systems Design Removing Non-Minimum Characteristics out of the Loop with No Extra Compensator
  KOBAYASHI Koichi; KIYAMA Tsuyoshi; KITAMORI Toshiyuki
  Transactions of the Society of Instrument and Control Engineers, 42, 10, 981, 983, The Society of Instrument and Control Engineers, 2003, [Peer-reviewed]
  Japanese, Scientific journal, The Smith's method to remove the deadtime of a controlled object out of the control loop is well known. This paper proposes a new method of control system design for an MIMO controlled object having non-minimum characteristics to achieve the same effect with no extra compensator. Design formulae are derived and effectiveness of the method is shown through some numerical examples.

• State Estimation for Distributed Control Systems on Networks with Communication Delays
  足立 亮介; 山下 裕; 小林 孝一, システム制御情報学会研究発表講演会講演論文集, 61, 6p, 23 May 2017
  システム制御情報学会, Japanese
• Switched Linear System and its Approximate Model in Networked Control
  小林 孝一, 電子情報通信学会技術研究報告 = IEICE technical report : 信学技報, 117, 20, 7, 10, 11 May 2017
  電子情報通信学会, Japanese
• Analysis of Cooperative Behavior in Nursing and Caregiving Services
  Koichi Kobayashi; Kunihiko Hiraishi; Sunseong Choe; Naoshi Uchihira, IEICE technical report, 116, 525, 7, 10, Mar. 2017
  Japanese
• Asynchronous Control of Networked Control Systems with Decentralized Event-Triggering Conditions
  中島 共平; 小林 孝一; 山下 裕, 電子情報通信学会技術研究報告 = IEICE technical report : 信学技報, 116, 433, 31, 34, 27 Jan. 2017
  電子情報通信学会, Japanese
• Completion Problem of Probabilistic Boolean Networks and its Solution
  Kobayashi Koichi, Proceedings of the Japan Joint Automatic Control Conference, 60, 777, 778, 2017, [Lead author, Corresponding author]
  The Japan Joint Automatic Control Conference, Japanese
• Value Assessment of Model Predictive-Based Demand Response
  Miyazaki Kodai; Kobayashi Koichi; Azuma Shun-ichi; Yamaguchi Nobuyuki; Yuh Yamashita, Proceedings of the Japan Joint Automatic Control Conference, 60, 344, 347, 2017
  The Japan Joint Automatic Control Conference, Japanese
• Simultaneous Optimization of Control and Routing for Sensor and Actuator Networks (ITS)
  佐藤 大; 小林 孝一; 山下 裕, 電子情報通信学会技術研究報告 = IEICE technical report : 信学技報, 116, 338, 89, 93, 01 Dec. 2016
  電子情報通信学会, English
• Controllability Analysis of Boolean Networks Focusing on Attractors (システム数理と応用)
  小林 孝一, 電子情報通信学会技術研究報告 = IEICE technical report : 信学技報, 116, 96, 61, 66, 16 Jun. 2016
  電子情報通信学会, English
• Periodic Model Predictive Control for Multi-Hop Control Networks (ヘルスケア・医療情報通信技術)
  佐藤 大; 小林 孝一; 山下 裕, 電子情報通信学会技術研究報告 = IEICE technical report : 信学技報, 116, 25, 17, 22, 13 May 2016
  電子情報通信学会, English
• Periodic Model Predictive Control for Multi-Hop Control Networks (高信頼制御通信)
  佐藤 大; 小林 孝一; 山下 裕, 電子情報通信学会技術研究報告 = IEICE technical report : 信学技報, 116, 24, 17, 22, 13 May 2016
  電子情報通信学会, English
• On Behavioral Analysis of Nursing and Caregiving Services Using Switched Linear Regression Models
  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, 03 Mar. 2016
  電子情報通信学会, Japanese
• 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 ～
  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, Mar. 2016, [Peer-reviewed]
  Japanese
• Decentralized Suboptimal Event-triggered Control for Discrete-time Linear Systems
  中島 共平; 小林 孝一; 山下 裕, 電子情報通信学会技術研究報告 = IEICE technical report : 信学技報, 115, 442, 13, 16, 29 Jan. 2016
  電子情報通信学会, Japanese
• Design of Probabilistic Boolean Networks Based on Network Structure and Steady-state Probabilities
  K. Kobayashi; K. Hiraishi, 信学技報, 115, 90, 1, 6, Jun. 2015
  電子情報通信学会, English
• Model Predictive Based Real-time Pricing with Consideration for Asynchronous Behavior (ヘルスケア・医療情報通信技術)
  小林 孝一; 平石 邦彦, 電子情報通信学会技術研究報告 = IEICE technical report : 信学技報, 115, 59, 9, 12, 28 May 2015
  電子情報通信学会, English
• Model Predictive Based Real-time Pricing with Consideration for Asynchronous Behavior (高信頼制御通信)
  小林 孝一; 平石 邦彦, 電子情報通信学会技術研究報告 = IEICE technical report : 信学技報, 115, 58, 9, 12, 28 May 2015
  電子情報通信学会, English
• 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
  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, Apr. 2015, [Peer-reviewed]
  Japanese
• On Self-triggered and Event-triggered Model Predictive Control Based on Transmissions of Control Input Sequences
  KOBAYASHI Koichi; HIRAISHI Kunihiko, IEICE technical report. RCC, Reliable communication and control, 114, 388, 45, 48, 15 Jan. 2015
  In this paper, a new method for self-triggered and event-triggered model predictive control is proposed. In many existing methods, only the control input that is immediately applied to the plant is sent to the plant. In the proposed method, a sequence of the control input is sent to the plant. Therefore, switching of the control input can be realized under a smaller number of transmissions., The Institute of Electronics, Information and Communication Engineers, Japanese
• 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, 第58回離散事象システム研究会予稿集, 1, 5, 2015
  Japanese
• Modeling of Traffic Congestion on Airport Surface using Petri Net
  UEHARA Kenji; HIRAISHI Kunihiko; KOBAYASHI Koichi, IEICE technical report. Circuits and systems, 114, 312, 17, 22, 20 Nov. 2014
  With increasing demands for air transportation, large airports in metropolitan areas, such as Tokyo and Narita international airport, are required to improve their performances and capacities. This paper presents a modeling method for airport surface traffic and its application to simulation using object Petri nets. In addition, we try to identify the bottleneck of airport surface traffic based on the simulation for helping the evaluation of airport capacity., The Institute of Electronics, Information and Communication Engineers, Japanese
• Modeling of Traffic Congestion on Airport Surface using Petri Net
  UEHARA Kenji; HIRAISHI Kunihiko; KOBAYASHI Koichi, Mathematical Systems Science and its Applications : IEICE technical report, 114, 313, 17, 22, 20 Nov. 2014
  With increasing demands for air transportation, large airports in metropolitan areas, such as Tokyo and Narita international airport, are required to improve their performances and capacities. This paper presents a modeling method for airport surface traffic and its application to simulation using object Petri nets. In addition, we try to identify the bottleneck of airport surface traffic based on the simulation for helping the evaluation of airport capacity., The Institute of Electronics, Information and Communication Engineers, Japanese
• Modeling of Traffic Congestion on Airport Surface using Petri Net
  上原 健嗣; 平石 邦彦; 小林 孝一, 研究報告アルゴリズム（AL）, 2014, 4, 1, 6, 13 Nov. 2014
  世界的な航空需要の増加に対応するため，羽田・成田などの大都市圏空港では交通量が増加し続けている．これら混雑空港においては，地上走行中の航空機が渋滞し，遅延および燃料の無駄な消費が発生している．本稿ではオブジェクトペトリネットにより，一般的な空港に適用可能な空港面交通流モデルを作成する．さらに混雑状態のシミュレーションを行うことで，交通流のボトルネックを特定することを試みる．With increasing demands for air transportation, large airports in metropolitan areas, such as Tokyo and Narita international airport, are required to improve their performances and capacities. This paper presents a modeling method for airport surface traffic and its application to simulation using object Petri nets. In addition, we try to identify the bottleneck of airport surface traffic based on the simulation for helping the evaluation of airport capacity., Japanese
• AI-2-3 Design Principles of Real-Time Pricing : III Centralized Pricing
  Kobayashi Koichi, Proceedings of the Society Conference of IEICE, 2014, "SS, 52", 09 Sep. 2014
  The Institute of Electronics, Information and Communication Engineers, Japanese
• A Probabilistic Approach to Design of Real-Time Pricing
  KOBAYASHI Koichi; HIRAISHI Kunihiko, IEICE technical report. RCC, Reliable communication and control, 114, 60, 83, 86, 29 May 2014
  In this paper, a design method of real-time pricing of electricity is proposed. First, the relation between the price and power consumption is modeled by a probabilistic discrete model, which is based on discrete-time Markov chains. Next, the pricing problem is formulated, and is reduced to a mixed integer linear programming problem., The Institute of Electronics, Information and Communication Engineers, Japanese
• A Probabilistic Approach to Design of Real-Time Pricing
  KOBAYASHI Koichi; HIRAISHI Kunihiko, IEICE technical report. MICT, Healthcare and medical information communication technology, 114, 61, 83, 86, 29 May 2014
  In this paper, a design method of real-time pricing of electricity is proposed. First, the relation between the price and power consumption is modeled by a probabilistic discrete model, which is based on discrete-time Markov chains. Next, the pricing problem is formulated, and is reduced to a mixed integer linear programming problem., The Institute of Electronics, Information and Communication Engineers, Japanese
• Customer Behavior Models and Model Checking for Real-Time Pricing
  小林 孝一; 平石 邦彦, システム制御情報学会研究発表講演会講演論文集, 58, 3p, 21 May 2014
  システム制御情報学会, Japanese
• Optimal Control of Networked Control Systems with Multiple Uncertain Delays
  KOBAYASHI Koichi; HIRAISHI Kunihiko, IEICE technical report. Signal processing, 113, 120, 9, 14, 11 Jul. 2013
  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 is considered, where multiple time delays and 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 quadratic programming problem., The Institute of Electronics, Information and Communication Engineers, English
• Optimal Control of Networked Control Systems with Multiple Uncertain Delays
  KOBAYASHI Koichi; HIRAISHI Kunihiko, Technical report of IEICE. VLD, 113, 119, 9, 14, 11 Jul. 2013
  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 is considered, where multiple time delays and 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 quadratic programming problem., The Institute of Electronics, Information and Communication Engineers, English
• Optimal Control of Networked Control Systems with Multiple Uncertain Delays
  KOBAYASHI Koichi; HIRAISHI Kunihiko, IEICE technical report, 113, 121, 9, 14, Jul. 2013
  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 is considered, where multiple time delays and 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 quadratic programming problem., 一般社団法人電子情報通信学会, English
• Event-log Based Analysis of Physical and Adaptive Intelligent Services
  JINDA Takanori; AOTO Wataru; MIYAZAKI Akikazu; CHOE Sunsoeog; KOBAYASHI Koichi; HIRAISHI Kunihiko; UCHIHIRA Naoshi, IEICE technical report, 113, 121, 1, 8, Jul. 2013
  A type of services that require physical actions/movements and intelligent human decision making exist in various real fields, such as nursing in hospitals and cargiving in care homes. The authors call such a type of services "physical and adaptive intelligent services", and are developing an IT-based system that aims to help cooperation and knowledge sharing among workers, to save loads for making work records, and as a result to reduce various kinds of stresses that arises in the work. In this article, we describe methods based on event-log analysis for clarifying changes in the behavior of workers before/after introducing the system, 一般社団法人電子情報通信学会, Japanese
• Optimal Control of Multi-Agent Markov Decision Processes and Its Application to Real-Time Pricing
  小林 孝一; 丸田 一郎; 桜間 一徳, システム制御情報学会研究発表講演会講演論文集, 57, 5p, 15 May 2013
  システム制御情報学会, Japanese
• 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 ～
  福井康仁; 小林孝一; 平石邦彦, 信学技報, 112, 457, 75, 79, Mar. 2013
  Japanese
• Self-Triggered Optimal Control of Linear Systems Focusing on Prediction Horizon One
  KOBAYASHI Koichi; HIRAISHI Kunihiko, Mathematical Systems Science and its Applications : IEICE technical report, 112, 383, 45, 48, 22 Jan. 2013
  Self-triggered control is a control method that the control input and the sampling period are computed simultaneously in sampled-data control systems. In this paper, a new approach for self-triggered control is proposed from the viewpoint of optimal control. First, the optimal control problem with horizon one is formulated. By solving this problem at each sampling interval, self-triggered model predictive control can be realized. Next, the formulated problem is approximately reduced to a convex quadratic programming problem., The Institute of Electronics, Information and Communication Engineers, Japanese
• 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
  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, Jan. 2013
  Japanese
• Diagnosis of Stochastic Discrete Event Systems Based On N-gram Models With Wildcard Characters
  HIRAISHI Kunihiko; YOSHIMOTO Miwa; KOBAYASHI Koichi, Mathematical Systems Science and its Applications : IEICE technical report, 112, 274, 29, 34, 01 Nov. 2012
  In a previous paper by the authors, a new scheme for the diagnosis of stochastic discrete event systems is proposed. From the event logs, N-gram models that approximate the behavior of the target system are extracted. N-gram models are used for discovering discrepancy between the 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 the method cannot separate the event sequence from local event sequences by subsystems. In this paper, we introduce the wildcard character in the short sequences. This contributes to removing the effect by subsystems which may not be related to faults., The Institute of Electronics, Information and Communication Engineers, English
• Diagnosis of Stochastic Discrete Event Systems Based On N-gram Models With Wildcard Characters
  HIRAISHI Kunihiko; YOSHIMOTO Miwa; KOBAYASHI Koichi, IEICE technical report. Circuits and systems, 112, 273, 29, 34, 01 Nov. 2012
  In a previous paper by the authors, a new scheme for the diagnosis of stochastic discrete event systems is proposed. From the event logs, N-gram models that approximate the behavior of the target system are extracted. N-gram models are used for discovering discrepancy between the 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 the method cannot separate the event sequence from local event sequences by subsystems. In this paper, we introduce the wildcard character in the short sequences. This contributes to removing the effect by subsystems which may not be related to faults., The Institute of Electronics, Information and Communication Engineers, English
• AT-1-3 MIXED INTEGER PROGRAMMING PROBLEMS AND OPTIMAL CONTROL
  Kobayashi Koichi, Proceedings of the Society Conference of IEICE, 2012, "SS, 31"-"SS-33", 28 Aug. 2012
  The Institute of Electronics, Information and Communication Engineers, Japanese
• Self-Triggered Model Predictive Control for Network Control Systems
  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, 30 Jul. 2012
  [電子情報通信学会], Japanese
• Computation Method for Optimal Control of Large-Scale Systems with Discrete-Valued Inputs
  KOBAYASHI Koichi; HIRAISHI Kunihiko, Technical report of IEICE. VLD, 112, 114, 155, 158, 25 Jun. 2012
  In this paper, a solution method is proposed for large-scale systems with continuous-valued control inputs and discrete-valued control inputs. In the proposed method, virtual control inputs are introduced for discrete-valued inputs. First, continuous-valued control inputs and virtual control inputs are optimized. Next, using the computed virtual control inputs, discrete-valued control inputs are computed in each subsystem., The Institute of Electronics, Information and Communication Engineers, Japanese
• AS-4-7 SELF-TRIGGERED CONTROL VIA OPTIMIZATION WITH PREDICTION HORIZON ONE
  Kobayashi Koichi; Hiraishi Kunihiko, Proceedings of the IEICE General Conference, 2012, "S, 46"-"S-47", 06 Mar. 2012
  The Institute of Electronics, Information and Communication Engineers, Japanese
• Control of Uncertain Networked Systems with Multiple Random Delays
  KOBAYASHI Koichi; HIRAISHI Kunihiko, Mathematical Systems Science and its Applications : IEICE technical report, 111, 405, 85, 88, 26 Jan. 2012
  In networked systems, there exist multiple delays such as input delays, output delays, and delays occurred by packet losses. In this paper, the modeling method and the optimal control method of networked systems with multiple random delays are proposed. Under some assumption, the optimal control problem is approximately reduced to a linear programming problem, which can be solved fast., The Institute of Electronics, Information and Communication Engineers, Japanese
• Model Predictive Control of stochastic Hybrid Systems with Probabilistic Constraints
  小林 孝一; 間藤 光一朗; 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, 24, 176, 181, 01 Aug. 2011
  [電子情報通信学会], Japanese
• Model Predictive Control for Hybrid Systems Approximate Precomputation Based on Transition Relations
  CHOE Sunseong; HIRAISHI Kunihiko; KOBAYASHI Koichi, IEICE technical report, 111, 105, 97, 102, 23 Jun. 2011
  In this paper, we propose an approximate precomputation algorithm by using graph representations of transition-approximation bisimulations.It is known that model predictive control problem of hybrid systems is reduced to mixed integer programming problem. In some cases, it is difficult to solve problems online because mixed integer programming problem is NP-hard. Therefore, there are precomputational approaches, such as multi-parametric programming, but possible prediction steps is only a few steps in many cases. The proposed algorithm guarantees the worst value of objective function., 一般社団法人電子情報通信学会, Japanese
• A-12-11 CONSTRAINED OPTIMAL CONTROL OF A CLASS OF STOCHASTIC HYBRID SYSTEMS
  Matou Koichiro; Kobayashi Koichi; Hiraishi Kunihiko, Proceedings of the IEICE General Conference, 2011, 192, 192, 28 Feb. 2011
  The Institute of Electronics, Information and Communication Engineers, Japanese
• A-12-12 A NEW ALGORITHM FOR HYBRID MODEL PREDICTIVE CONTROL BASED ON TRANSITION RELATIONS
  Choe Sunseong; Hiraishi Kunihiko; Kobayashi Koichi, Proceedings of the IEICE General Conference, 2011, 193, 193, 28 Feb. 2011
  一般社団法人電子情報通信学会, Japanese
• Transition-Approximatin Bisimulation for Hybrid Systems
  Sunseong Choe; Kunihiko Hiraishi; Koichi Kobayashi, The 47th Workshop on Discrete Event Systems, 53, 58, Aug. 2010
  Japanese
• Computational Techniques for Analysis and Control of Probabilistic Boolean Networks
  KOBAYASHI KOICHI; HIRAISHI KUNIHIKO, 研究報告バイオ情報学（BIO）, 2010, 10, 1, 8, 25 Feb. 2010
  確率ブーリアンネットワーク （PBN） は，遺伝子ネットワークに代表される生体ネットワークのモデルの一つであり，盛んに研究が行われている．本論文では，PBN の可到達性および安全性の解析と最適制御のための計算手法を提案する．最適制御では，整数計画法を用いた手法を提案する．可到達性および安全性の解析では，確率モデル検査ツールを用いた手法を提案する．A probabilistic Boolean network (PBN) is one of the models of biological networks such as gene regulatory networks, and has been extensively studied. In this paper, computational techniques for reachability/safety analysis and optimal control are proposed. In optimal control, an integer programming-based method is proposed. In reachability/safety analysis, a model checking approach is proposed., 情報処理学会, Japanese
• Introduction to Technical Committee on Discrete Event Systems
  KOBAYASHI Koichi, 計測と制御 = Journal of the Society of Instrument and Control Engineers, 48, 11, 840, 840, 10 Nov. 2009
  Japanese
• Polynomial-Time Algorithm for Controllability Test of Boolean Networks
  KOBAYASHI Koichi; IMURA Jun-ichi; HIRAISHI Kunihiko, IEICE technical report, 109, 165, 13, 18, 30 Jul. 2009
  This paper proposes a polynomial-time algorithm to determine if a Boolean network with control nodes and controlled nodes is controllable. Although the proposed algorithm is based on a sufficient condition for controllability, it is easily computable and as a result, is applicable to a wider class of large-scale systems., The Institute of Electronics, Information and Communication Engineers, English
• Controllability analysis of gene regulatory networks by Boolean network models
  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, 21 Apr. 2008
  [電子情報通信学会], Japanese

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• Parametric deformation of control Lyapunov function for nonlinear systems and its applications
  Grants-in-Aid for Scientific Research
  01 Apr. 2023 - 31 Mar. 2026
  山下 裕; 小林 孝一
  非線形系に対し予め与えられた 2つの(局所)制御リアプノフ関数を無数の関数で補間しそれらを最小射影法で合成することで元の2つの制御リアプノフ関数をblendingする手法を明らかにした。そこで現れる部分的な最小化問題は2次方程式を解くことで合成制御リアプノフ関数を得ることができるため、提案法のアルゴリズムではオンラインで計算することが可能である。この方法によって得られた合成局所制御リアプノフ関数さらに複数合成し、ステアリング角制限を持つ移動ロボットの制御問題に応用した。その際に経路設計は非巡回的有効グラフの構造によって指定できる。非巡回的有効グラフの半順序にしたがってオフセットを与えることよって最終的な制御リアプノフ関数を得ることができた。非巡回的有効グラフによって経路設計を大まかに指定できることが利点であり、非巡回的有効グラフやオフセットを変更するだけで経路を動的に再設計できるのが利点である。
  さらに、これを3つ以上の制御リアプノフ関数blendingの場合へと拡張する試みを行った。その際のオンライン計算においては4次方程式を解く必要があることを明らかにし，試験的なプログラムを作成した。
  また、フィードバック対称性を持つ非線形系に対し、その対称性を用いた制御リアプノフ関数合成手法について研究を行った。可制御な1入力線形系は、本研究での意味のフィードバック対称性を持つことを明らかにした。対称性のパラメータを制御リアプノフ関数候補の値そのものの関数で与える場合を考察し、その場合得られる陰的方程式の解の唯一性の仮定の下で得られる関数が制御リアプノフ関数の性質を保持していることを明らかにした。
  Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (B), Hokkaido University, 23K26124
• デマンドレスポンスの実施診断：性能１０倍への挑戦とオンデマンド情報取得学の創成
  科学研究費助成事業
  05 Apr. 2021 - 31 Mar. 2026
  東 俊一; 山口 順之; 小林 孝一
  デマンドレスポンスとは，スマートグリッドにおいて，需要家から報酬と引換えに節電量を得るしくみである．これを実現するためには，各参加者が契約量を確実に供給することが重要であるが，現実には予期せぬ障害により未達の参加者が現れる．その場合，すぐに原因を突き止め解決しなくてはならないが，そのためにはすべての参加者のスマートメーターを検針するという膨大な量の情報取得が必要であった．そこで，すべてのスマートメーターを検針することなく，わずかな回数の検針をオンデマンドで実施するだけで，未達参加者を正確に検出する方法が必要となる．本研究では，従来法の10倍の性能を有する方法の開発と，それを他分野の一般的な推定問題に展開するための基礎理論を構築することを目指している．本年度の成果は以下の通りである．
  （１）既存の実施診断の性能を向上させるためには，需要家の性質を適切に分類し，診断のための事前情報としてモデル化することが重要である．そこで，需要家の性質を多方面から考察し，おおよそ４つの性質に分類できること，また，それらはベクトルのブロックスパース性としてモデル化できることを明らかにした．
  （２）ネットワークシステムにおいては，フィードバック頂点集合と呼ばれる特殊なノードが，制御や観測に重要な役割を演じていることが知られているが，合意制御の場合にその役割を明らかにした．
  （３）未知環境におけるマルチエージェントシステムの被覆制御を対象に，空間重要度の推定方法を検討した．
  日本学術振興会, 基盤研究(A), 名古屋大学, 21H04558
• サイバーフィジカルシステムのセキュアなイベントベースト制御とモビリティへの展開
  科学研究費助成事業
  01 Apr. 2022 - 31 Mar. 2025
  小林 孝一
  日本学術振興会, 基盤研究(C), 北海道大学, 22K04163
• Event triggered control theory establishment for collaborative multi-layered protection system
  Grants-in-Aid for Scientific Research
  01 Apr. 2019 - 31 Mar. 2023
  澤田 賢治; 小林 孝一; 市原 裕之
  本研究は様々な制御機器が協調・連携し，通常・縮退・回復時の制御システムのサイバー攻撃に対するレジリエンスを向上させる“協調多層型防御技術のための事象駆動型制御理論の構築”を目的とする．2021度は課題a)「事象駆動型制御の有向グラフ上の最適経路探索表現」，課題b)「誤り訂正符号に基づくセキュアな制御機器の状態管理」，課題c)「状態遷移時の制御機器の同期方法」の成果拡張を実施した．課題a)について，2021年度はマルチエージェント型の制御対象に対して，制御入力の印加タイミングをセルフトリガ型に拡張するマルチレート制御手法について着手した．1つの拡張として，大規模エージェント系に対する群体制御手法も検討した．課題b)については，制御システムの仕様と脆弱性の関係をスーパーバイザ制御理論の観点から検討した．制御システム側にとっての制御アルゴリズムの不透明度（Opacity）が攻撃ポイントになる可能性とその対策方法の基礎的な検討を行った．また，システムを有限オートマトンで表現し，システムの通常状態と攻撃状態をBDDで表現する方法についても検討を行った．同手法を残業制御システムで実装するために，制御システムの3Dシミュレータ上での検討を行った．課題c)については，合意制御に基づく分散協調全状態オブザーバの拡張を実施した．推定対象が時変になる場合の分散協調全状態オブザーバのオンライン更新法をスパースモデリングの観点から明らかにした． また，同手法のReceding Horizon Estimationへの拡張も開始した．
  Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (B), The University of Electro-Communications, 19H02158
• Energy saving control using discontinuous or non-positive definite input cost
  Grants-in-Aid for Scientific Research
  01 Apr. 2019 - 31 Mar. 2022
  Yamashita Yuh
  Considering an energy-saving optimal control problem when the target value of the state does not coincide with the stationary point of minimum energy consumption, we formulated the problem by slightly modifying the input cost function from the natural energy consumption and constructed a nonlinear optimal regulator that guarantees asymptotic stability. In addition, when actuators require standby power, the operation of deactivating inefficient actuators according to the value of the state values contributes to energy conservation in redundant input systems. We proposed an optimal controller design method that performs such an operation. We also proposed a control method that includes suspending the communication of sensor values according to output values.
  Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (B), Hokkaido University, 19H02157
• Development of Control and Verification Methods for Secure Cyber-Physical Systems
  Grants-in-Aid for Scientific Research
  01 Apr. 2017 - 31 Mar. 2022
  Kobayashi Koichi
  A cyber-physical system (CPS) is a system in which a physical system and an information system are interconnected. It is possible to construct a high-performance control system that utilizes the computational power of information systems. A CPS has a wide range of applications such as electric power, medical care, and transportation. Furthermore, in a society where many devices are connected via the Internet, there is an increasing need for control methods that take into account external attacks. Therefore, in this research, we focus on the control / verification method for constructing a secure CPS. Specifically, I worked on the following three points. (1) Distributed event-driven control, (2) Cyber attack detection in power networks, (3) Distributed optimization of energy management systems using blockchain.
  Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (C), Hokkaido University, 17K06486
• Input allocation control using control Lyapuov function
  Grants-in-Aid for Scientific Research
  01 Apr. 2016 - 31 Mar. 2019
  Yamashita Yuh
  The problem of selecting the optimum input under the constraint of guaranteeing the stability in redundant input systems is called the input allocation problem, and its quality is directly linked to energy saving. Instead of the conventional method of specifying the time derivative of the state, this research adopts the method of giving a state-dependent general input-candidate set using a control Lyapunov function, and gives a flexible and practical input alocation method to satisfy various requirements. In the method of constructing an additional potential function for the dynamic extented system, we got results on the derivation of continuous constraint set, two-stage constraints, setting of cost coefficients, omission of offset function, application to vehicle system etc. In addition, in the method of solving linear and quadratic programming probrem every instance, we got results of sparse-input stabilization, best-effort-type control, chattering prevention mechanism etc.
  Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (B), Hokkaido University, 16H04380
• Research on Awareness Platform by Smart Voice Messaging System for Improving the Quality of Nursing and Care Services
  Grants-in-Aid for Scientific Research
  01 Apr. 2015 - 31 Mar. 2018
  Uchihira Naoshi
  We have developed core technologies for the awareness platform by smart voice messaging system: (1) construction of care knowledge structure (care process model), (2) awareness process mining (establishment of behavior pattern analysis method and behavior control method), (3) support of awareness inducing (investigation of awareness inducing mechanism model) (4) organizational learning for awareness (proposal of organizational learning model), and presented these results at domestic and international conferences. Then, we have developed (5) awareness support system (method / tool) and generalized it as the awareness platform based on the above core technologies. Finally, we have apply it to several domains (greenhouse agriculture, event security, ship equipment maintenance etc.) and evaluated their effectiveness.
  Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (B), Japan Advanced Institute of Science and Technology, 15H02785
• Simultaneous Optimization of Communication and Control for Cyber-Physical Systems
  Grants-in-Aid for Scientific Research
  01 Apr. 2014 - 31 Mar. 2017
  Kobayashi Koichi
  In cyber-physical systems, plants and controllers are connected through a communication network. In control design, it is important to enhance the control performance under low communication loads. In this research, researches on simultaneous optimization of communication and control in cyber-physical systems have been studied. As the main results, new methods on model predictive control of multi-hop control networks, self-triggered model predictive control based on transmission of control input sequences, and decentralized event-triggered control have been proposed.
  Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (C), 26420412
• Control of Stochastic Hybrid Systems and Its Applications to Systems Biology
  Grants-in-Aid for Scientific Research
  2011 - 2013
  KOBAYASHI Koichi
  In this research, optimal control and discrete abstraction for stochastic hybrid systems have been addressed. Control of probabilistic Boolean networks has also been addressed. As main results, a solution method of the optimal control problem with probabilistic constraints, and a discrete abstraction method in finite time interval have been proposed. In addition, an application to biological systems has also been discussed based on numerical simulations. Furthermore, for a probabilistic Boolean network, a control method under multiple drugs and a verification method using a probabilistic model checker have been proposed.
  Japan Society for the Promotion of Science, Grant-in-Aid for Young Scientists (B), Japan Advanced Institute of Science and Technology, 23760387
• Safety Verification Based on Fluidification of Discrete Dynamics
  Grants-in-Aid for Scientific Research
  2009 - 2011
  HIRAISHI Kunihiko; KOBAYASHI Koichi
  For generalized stochastic Petri nets with exponentially distributed firing delay, we propose a method for approximating variance of the probability distribution in each place by introducing interval firing speeds on the fluid model. We next show that the models are equivalently represented by piecewise linear systems with interval parameters. For simulation of the models, two methods are proposed : one is an extension of the interval methods for ordinary differential equations, and the other is acceleration technique for the computation in the box abstraction, a discrete abstraction technique for continuous-state systems.
  Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (C), Japan Advanced Institute of Science and Technology, 21500009
• Control Theory of Hybrid Systems Based on a New Model of Finite Automata
  Grants-in-Aid for Scientific Research
  2008 - 2010
  KOBAYASHI Koichi
  In this research, fast computation algorithms for hybrid systems control have been addressed. As important results, a stabilizing model predictive control method using stabilization of finite automata, and an approximate algorithm using both offline and online computations have been proposed. In addition, the effectiveness of the proposed methods has been shown by numerical examples. Furthermore, analysis and control of gene regulatory networks has been addressed using Boolean network models.
  Japan Society for the Promotion of Science, Grant-in-Aid for Young Scientists (B), Japan Advanced Institute of Science and Technology, 20760278