Realization of 3-degree-of-freedom control using fine-grain parallel processing

Hiroki Kurumatani, Seiichiro Katsura

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


The article reports a sprout of 3-degree-of-freedom (DOF) control. The limitation of feedback control, including 2-DOF control, has been raised for a long time; however, a suitable control theory for overcoming those limitations has still not been formulated. An underlying reason is that the disturbance-suppression performance and noise sensitivity cannot be decoupled. Several researches have tried to tackle this problem using a hardware approach, as a noise level depends on a hardware configuration. It should be noted that the hardware design expands spatiotemporal resolution of a system. This approach helps in reducing noise, namely, it works as the 3rd-DOF for a control system. Therefore, an improvement in the hardware design could be a new angle for solving a mixed-sensitivity problem. This article quantitatively presents the relation between noise-reduction performance and the spatiotemporal resolution, and provides a foothold for the 3-DOF control.

Original languageEnglish
Pages (from-to)52-63
Number of pages12
JournalElectrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)
Issue number1-4
Publication statusPublished - 2020 Dec 1


  • FPGA
  • motion control
  • robust control

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Electrical and Electronic Engineering


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