Japanese/English

Nobutaka WADA
和田　信敬 (Nobutaka WADA), 博士（工学）
広島大学, 大学院工学研究院, 機械システム・応用力学部門, 制御工学研究室
広島県東広島市鏡山1-4-1, 〒739-8527
Tel/Fax:  082-424-7584
略歴：
1994年広島大学工学部第一類（機械系）卒業，1996年同大学大学院工学研究科博士課程前期修了，2000年同大学大学院工学研究科博士課程後期修了．1996年から1998年，三井造船株式会社にてメカトロシステムの開発に従事．2001年広島大学工学部第一類助手，2009年鳥取大学工学研究科機械宇宙工学専攻准教授，2011年広島大学工学研究科機械システム工学専攻准教授，2018年より同教授となり現在に至る．
所属学会：
  • 計測自動制御学会(SICE)
  • システム制御情報学会(ISCIE)
  • 日本ロボット学会(RSJ)
  • 日本機械学会(JSME)
  • 電気学会(IEEJ)
  • 米国電気電子学会(IEEE)
    担当講義：
  • メカニカルシステム制御（工学部）
  • 機械工学実験II（工学部）
  • 非線形制御特論（工学研究科）
  • Control System Design（工学研究科）
    過去に担当した講義：
  • 計算機プログラミング（Fortranプログラミング）
  • 情報工学（C言語プログラミング）
  • 計測工学
  • 制御工学演習（古典制御）
  • 機械設計製図I
  • 制御工学特論（現代制御）
    研究領域：
    ロバスト制御，数値的最適化を活用した制御，および，その機械システムへの応用．
  • モデル予測制御（ロバスト設計，計算効率の改善，実時間実装など）
  • 拘束を有する制御システムの解析と設計（Anti-windup制御，リファレンスガバナ，可変ゲイン制御，リセット制御など）
  • 共振機械系に対する高速トラッキング制御
  • 耐故障制御（実時間最適化に基づく最適配分，車両制御への応用など）
  • 自動車の運動制御（直接ヨーモーメント制御，アクティブ前輪操舵，スリップ率制御など）

    タイヤの摩擦力に関する情報を活用したロバストAFS制御 (wmv 5.84MB)
    赤い車両は提案法，青い車両は従来法により制御された車両を表しています．

      モデル予測制御による障害物回避支援 (mov 35.2MB)
      前方障害物の観測情報を基に，モデル予測制御による衝突回避支援制御を実現しています．
      障害物回避支援制御をオンにした場合，ハンドルを左右に振っていますが，コーンに接触せず通過しています．
      障害物回避支援制御をオフにした場合にはコーンへ衝突しています．

        入力拘束システムへのリファレンスガバナと可変ゲイン制御則の適用 (mpg 2.98MB)
        広島大佐伯研究室所有のツインロータヘリを用いた検証実験の様子です．

          ビジョンセンサの観測遅延を考慮した画像フィードバック制御 (avi 32.7MB)
          画像情報の取得・処理に要する時間的遅れに対してロバストなフィードバック制御手法の検証実験の様子です．

            ピエゾアクチュエータの精密位置決め制御

              二慣性系の振動抑制制御
              板バネを介して負荷とDCモータが接続された共振機械系実験装置．
              この装置は，自動車の駆動トルク伝達系やロボットアームの駆動系などの模擬モデルです．
              ねじれ振動の発生を抑制しつつ，負荷軸の回転角度や角速度を素早く目標信号へ追従させる実験を行っています．

                査読付き雑誌論文：

                1. N. Wada, Y. Li, D. Miyake and S. Khonjun: Permanent Magnet Synchronous Motor Torque Control by Gain-scheduled Feedback with State Resets,
                  IEEJ Transactions on Electrical and Electronic Engineering, to appear
                2. N. Wada: On the improvement of l2-performance by controller resets,
                  IEEJ Transactions on Electrical and Electronic Engineering, to appear
                3. M. Saeki, K. Hinokimoto, N. Wada and S. Satoh: A data-driven design method of PID controller with noise filter,
                  IEEJ Transactions on Electrical and Electronic Engineering, to appear
                4. N. Wada, H. Miyahara and M. Saeki: Constrained Tracking Control by Gain-Scheduled Feedback with Optimal State Resets: A General Servo Problem and an Online Optimization Method,
                  ASME Journal of Dynamic Systems, Measurement, and Control, doi: 10.1115/1.4034243 (2016)
                5. N. Wada, and S. Tsurushima: Constrained MPC to track time-varying reference signals: Online optimization of virtual reference signals and controller states,
                  IEEJ Transactions on Electrical and Electronic Engineering, to appear
                6. N. Wada, and M. Saeki: Anti-windup Synthesis for a Model Predictive Control System,
                  IEEJ Transactions on Electrical and Electronic Engineering, to appear
                7. N. Wada, N. Kawaoka, and M. Saeki: A Gain-scheduled Control Algorithm for Input Constrained Systems to Track Time-varying References Using Controller State Resets,
                  IEEJ Transactions on Electrical and Electronic Engineering, to appear
                8. M. Saeki, N. Wada and S. Satoh: Stability analysis of feedback systems with dead zone nonlinearities by circle and Popov criteria,
                  Automatica, Vol. 66, pp. 96-100, (2016)
                9. N. Wada: Model Predictive Tracking Control for Constrained Linear Systems Using Integrator Resets,
                  IEEE Transactions on Automatic Control, Vol. 60, No. 11, pp. 3113-3118, DOI: 10.1109/TAC.2015.2411915 (2015)
                10. N. Wada, K. Satoh and M. Saeki: An LMI Based Controller Design Method for a Discrete-time Linear System with Time-varying State Delays,
                  IMA Journal of Mathematical Control and Information, doi: 10.1093/imamci/dnv052 (2015)
                11. N. Wada, M. Saeki and I. Masubuchi: A Constrained Tracking Control Algorithm for Linear Systems Based on a Spline-type Parameter-dependent Lyapunov Function,
                  International Journal of Robust and Nonlinear Control, Vol. 25, No. 12, pp. 1877-1896, DOI: 10.1002/rnc.3183 (2015)
                12. M. Saeki, Y. Kurosaka, N. Wada and S. Satoh: Parameter space design of a nonlinear filter by volume rendering,
                  Trans. of the Institute of Systems, Control and Information Engineers, Vol.28, No.10, (2015)
                13. N. Wada: Constrained tracking control by continuous resets of the state of a gain-scheduled controller,
                  Mechanical Engineering Journal, Vol. 1, No. 3 p. DR0012 (2014)
                14. M. Saeki, N. Yamanari, N. Wada and S. Satoh: Selection of a Reference Model for Model-matching Data-driven Control Design,
                  Trans. of the Institute of Systems, Control and Information Engineers, Vol.27, No.3, pp.73-79 (2014)
                15. M. Saeki, Assi Mouhammad, and N. Wada: Robust Performance Design of a State Predictive Controller on Parameter Space,
                  IEEJ Transactions on Electrical and Electronic Engineering, Vol.9, No.1, pp.24-30 (2014)
                16. T. Iwamoto, M. Saeki, S. Satoh, and N. Wada: Speeding Up of Calculation for mu-synthesis of Low Order H-infinity Controllers,
                  SICE Journal of Control, Measurement, and System Integration, Vol.6, No.3, pp.202-207 (2013)
                17. N. Wada, K. Fujii and M. Saeki: Reconfigurable Fault-tolerant Controller Synthesis for a Steer-by-wire Vehicle Using Independently Driven Wheels,
                  Vehicle System Dynamics, Vol.51, No.9, pp.1438-1465 (2013)
                18. N. Wada, H. Tomosugi and M. Saeki: Model predictive tracking control for a linear system under time-varying input constraints
                  International Journal of Robust & Nonlinear Control, Vol.23, No.9, pp.945-964 (2013)
                19. M. Saeki, N. Wada and S. Sato: Gain Estimation with Filterbank Using a Transient Response and Extension Theorem,
                  Trans. of the Society of Instrument and Control Engineers, Vol.49, No.4, pp.425-431 (2013)
                20. N. Wada, A. Takahashi, M. Saeki and M. Nishimura: Vehicle Yaw Control Using an Active Front Steering System with Measurements of Lateral Tire Forces,
                  Journal of Robotics and Mechatronics, Vol.23, No.1 pp. 83-93 (2011)
                21. N. Wada, M. Minami, M. Saeki and M.Nishimura: Tracking Control of Input Constrained Discrete-Time Systems Considering Transient Response,
                  Trans. of the Japan Society of Mechanical Engineers C,　Vol.76, No.772, pp.3612-3621 (2010)
                22. N. Wada, A. Takahashi, I. Masubuchi and M.Saeki: A Design Method of an Active Front Steering Controller Using Measurement of Lateral Tire Forces,
                  Trans. of the Japan Society of Mechanical Engineers C, Vol.76, No.770, pp.2528-2535 (2010)
                23. N. Wada, H. Tomosugi, M. Saeki and M.Nishimura: Model Predictive Tracking Control Using State-dependent Gain-scheduled Feedback,
                  Journal of System Design and Dynamics, Vol.4, No. 4, pp.590-600 (2010)
                24. S. Takamatsu, U. Wasiwitono, M. Saeki and N.Wada: Design of Static Anti-Windup Compensator Considering Controller State,
                  Trans. of the Japan Society of Mechanical Engineers C, Vol.76, No.769, pp.2248-2254 (2010)
                25. M. Saeki, M. Ogawa and N. Wada: Low order H-infinity controller design on the frequency domain by partial optimization
                  International Journal of Robust & Nonlinear Control, Vol. 20, Issue 3, pp.323-333 (2010)
                26. U. Wasiwitono, S. Takamatsu, M. Saeki, K. Ochi and N. Wada: Dynamic Anti-windup Compensator Design Considering Behavior of Controller State,
                  Journal of System Design and Dynamics, Vol.4, No.4, pp.601-615 (2010)
                27. N. Wada, M. Minami, Y. Matsuo and M. Saeki: Tracking Control of a Twin-rotor Helicopter Model with Actuator Constrains,
                  Journal of the Robotics Society of Japan, Vol.27, No.2, pp.199-208 (2009)
                28. N. Wada: Stabilization of Linear Systems with Time-varying Input Saturation: An Approach Based on Saturation-level-dependent Gain-scheduled Feedback,
                  Trans. of the Society of Instrument and Control Engineers, Vol.44, No.12, pp.1046-1048 (2008)
                29. N. Wada and M. Saeki: An LMI Based Scheduling Algoritm for Constrained Stabilization Problems
                  Systems and Control Letters, Vol.57, pp.255-261 (2008)
                30. N. Wada and M. Saeki: Tracking Control of Input Constrained Discrete-Time Systems: A Method Based on State-Dependent Gain-Scheduling and Reference Management,
                  Trans. of the Japan Society of Mechanical Engineers C, Vol.74, No.743, pp.1725-1733 (2008)
                31. N. Wada and M. Saeki: Disturbance Attenuation for Input Constrained Systems by Gain-Scheduled Feedback Control
                  Trans. of the Institute of Systems, Control and Information Engineers, Vol.20, No.9, pp.361-366 (2007/09)
                32. N. Wada and M. Saeki: Nonlinear Anti-windup Control Based on a Gain-Scheduling Algorithm,
                  Trans. of the Japan Society of Mechanical Engineers C, Vol.73, No.733, pp.2441-2448 (2007/09)
                33. M. Saeki, O. Hamada and N. Wada: PID Gain Tuning based on Falsification using Bandpass Filters,
                  Trans. of the Institute of Systems, Control and Information Engineers, Vol.20, No.8, pp.347-354 (2007/08)
                34. N. Wada, S. Tagami and M. Saeki: Path-following Control of a Mobile Robot in the Presence of Actuator Constraints
                  Advanced Robotics, Vol.21, No.5-6, pp.645-659 (2007)
                35. N. Wada and M. Saeki: A Scheduling Algorithm for Constrained Control Systems with Considering Computational Delay and Structured Uncertainties
                  Trans. of the Japan Society of Mechanical Engineers C, Vol.73, No.728, pp.1127-1133 (2007)
                36. N. Wada, K. Saito and M. Saeki: Model Predictive Control for Linear Parameter Varying Systems using Parameter Dependent Lyapunov Function
                  IEEE Transactions on Circuits and Systems, Vol.II-53, No.12 (2006/12)
                37. M. Yamashita, M. Saeki, N. Wada and I. Masubuchi: Gain Scheduling Controller Design for the Two Rotor Hovering System and Its Experimental Verification,
                  Journal of Robotics and Mechatronics, Vol.18, No.5, pp.589-597 (2006)
                38. N. Wada and M. Saeki: Global Asymptotic Stabilization and Disturbance Attenuation of the Double Integrator Using Multi-level Varying Saturations,
                  Trans. of the Institute of Systems, Control and Information Engineers, Vol.19, No.3, pp.120-122 (2006/03)
                39. N. Wada, D. Sugiyama and M. Saeki: Optimal Output Regulation of Linear Systems with Input Constraints
                  Trans. of the Japan Society of Mechanical Engineers C, Vol.72, No.717, pp.1514-1520 (2006/05)
                40. N. Wada, M. Saeki and H. Chen: Robust Tracking Control of a Nonholonomic Mobile Robot in the Presence of Disturbances,
                  JSME International Journal Series C, Vol.47, No.2, pp.694-701 (2004)
                41. N. Wada, K. Saito and M. Saeki: Constrained Model Predictive Control in the Presence of $l_2/l_\infty$ Disturbances and Parametric Uncertainties,
                  Trans. of the Society of Instrument and Control Engineers (2004)
                42. M. Saeki and N. Wada: Synthesis of a Static Anti-windup Compensator via Linear Matrix Inequalities,
                  International Journal of Robust & Nonlinear Control, Vol.                  12, pp.927/953 (2002)
                43. N. Wada and M. Saeki: Design of a Static Anti-windup Compensator Based on $L_2$ Performance Criterion,
                  Trans. of the Society of Instrument and Control Engineers, Vol.38, No.6 (2002)
                44. N. Wada and M. Saeki: Synthesis of a static anti-windup compensator for systems with magnitude and rate limited actuators,
                  Trans. of the Society of Instrument and Control Engineers, Vol.37, No.4, pp.331/337 (2001)
                45. N. Wada and M. Saeki: Design of a static anti-windup compensator which guarantees robust stability,
                  Trans. of the Institute of Systems, Control and Information Engineers, Vol.12, No.11, pp.664/670 (1999)                   (English Version)
                46. M. Saeki, N. Wada and M. Tsuchiya: Design of anti-windup controller considering the response during saturation,
                  Trans. of the Society of Instrument and Control Engineers, Vol.35, No.6, pp.754/761 (1999)
                47. N. Wada and M. Saeki: Design of Anti-Windup compensator considering robust stability,
                  Trans. of the Institute of Electrical Engineer of Japan, Vol.119-C, No.6, pp.734/739 (1999)
                国際会議論文：
                1. N.Wada, K.Fujii and M.Saeki: Reconfigurable Fault-tolerant Control of a Vehicle with a Steer-by-wire System
                  Proc. International Conference on Advanced Mechatronics, (2012/09)
                2. N.Wada, A.Takahashi, M.Saeki and M.Nishimura: Vehicle Yaw Control Using an Active Front Steering System with Measurements of Lateral Tire Forces
                  Proc. International Conference on Advanced Mechatronics, (2010/10)
                3. S.Takamatsu, U.Wasiwitono, M.Saeki, N.Wada: Anti-Windup Compensator Design Considering Behavior of Controller State
                  Proc. IEEE Multi-conference on Systems and Control, (2010/09)
                4. N.Wada, H.Tomosugi, M.Saeki and M.Nishimura: Model Predictive Tracking Control Using a State-dependent Gain-scheduled Feedback
                  Proc. International Conference on Modelling, Identification and Control, (2010/07)
                5. M. Saeki, K. Kawanishi and N. Wada: A Search Method for a Fixed-Order Controller of H2/Hinfinity Control Problems,
                  Proceedings of the SICE Annual Conference, pp.3024-3029, (2010)
                6. M.Nishimura, T.Murao and N.Wada: Basic Study on Active Acoustic Shielding : Phase 2 Noise Reducing Performance for a Small Open Window
                  Proc. International Congress and Exposition on Noise Control Engineering, (2010/06)
                7. N.Wada, M.Minami, Y.Matsuo and M.Saeki: Tracking Control of a Twin-rotor Helicopter Model under Thrust Constrains Using State-Dependent Gain-Scheduling and Reference Management
                  Proc. of IEEE International Conference on Mechatronics and Automation, (2008/08) to appear
                8. N.Wada and M.Saeki: Tracking Control with Saturating Actuators: A Method Based on State-Dependent Gain-Scheduling and Reference Management
                  Proc. of 17th IFAC World Congress, (2008/07) to appear
                9. N.Wada and M.Saeki: A Scheduling Algorithm for Constrained Control Systems: An Approach Based on a Parameter Dependent Lyapunov Function
                  Proc. of American Control Conference, (2007/07)
                10. M.Saeki, N.Wada: Design of multivariable H-infinity PID controller using frequency response
                  Proc. of IEEE Multi-conference on Systems and Control, (2007/10)
                11. N.Wada, Y.Matsuo and M.Saeki: Output Regulation in the Presence of Actuator Constraints: A Gain-Scheduled Control Approach
                  Proc. of IEEE International Conference on Mechatronics, (2007/05)
                12. N.Wada and M.Saeki: Constrained Control of Planar Systems Using Multi-level Variable Saturation Function
                  Proc. of International Symposium on Mathematical Theory of Networks and Systems, pp.1824-1828 (2006/07)
                13. M.Saeki and N.Wada: PID gain tuning based on falsification using bandpass filters
                  Proc. of SICE Annual Conference, (2006/10)
                14. N.Wada and M.Saeki: Optimal Design of a Feedback Controller that Achieves Output Regulation in the Presence of Actuator Saturation
                  Proc. of IEEE Conference on Decision and Control, pp.7576-7580 (2005/12)
                15. N.Wada and M.Saeki: Local Output Regulation of Feedback Systems with Saturation Nonlinearities
                  Proc. of SICE Annual Conference, pp.683-688 (2005/08)
                16. N.Wada and M.Saeki: $l_\infty$ Performance Analysis of Feedback Systems with Saturation Nonlinearities: An Approach Based on Polytopic Representation
                  Proc. of American Control Conference, (2005/06)
                17. N.Wada, K.Saito and M.Saeki: Robust Model Predictive Control for Linear Parameter Varying Systems using Parameter Dependent Lyapunov Function,
                  Proc. of IEEE Midwest Symposium on Circuit and Systems (2004)
                18. M.Saeki, A.Takahashi, O.Hamada and N.Wada: Unfalsified parameter space design of PID controllers for nonlinear plants
                  Proc. of IEEE Conference on Control Application (2004)
                19. M.Yamashita, M.Saeki, N.Wada and I.Masubuchi: Gain Scheduling Controller Design for Two Rotor Hovering System
                  Proc. of SICE Annual Conference (2004)
                20. N.Wada and M.Saeki: l2-Gain Analysis of Input Constrained Discrete-Time Linear Systems Using Parameter Dependent Lyapunov Function
                  Proc. of the 43rd IEEE Conference on Decision & Control (2004)
                21. N.Wada and M.Saeki: Design of a Static Anti-windup Compensators that Optimizes L2 Performance: An LMI Based Approach,
                  Proc. of IEEE International Conference on Robotics and Automation , pp.2628/2633 (2003)
                22. N.Wada and M.Saeki: Anti-windup Design Based on L2 Performance Criterion and Its Numerical Verification,
                  Proc. of SICE Annual Conference (2002)
                23. N.Wada and M.Saeki: Design of an anti-windup compensator that maximizes the region of attraction -A method based on the normalization of linear constraints-,
                  Proc. of SICE/ICASE Workshop -Control Theory and Applications-, pp.31/36, (2001)
                24. N.Wada and M.Saeki: Synthesis of a static anti-windup compensator for systems with magnitude and rate limited actuators,
                  Preprints of the 3rd IFAC Symposium on Robust Control Design, (2000)
                25. M.Saeki and N.Wada: Synthesis of a static anti-windup compensator via linear matrix inequalities,
                  Preprints of the 3rd IFAC Symposium on Robust Control Design, (2000)
                26. M.Saeki and N.Wada: Design of Anti-Windup Controller Based on Matrix Inequalities,
                  Proc. of the 35th IEEE Conference on Decision & Control, pp.261/262, (1996)

                解説：

                1. N.Wada and M.Saeki: Anti-windup Control of Systems with Input Saturation,
                  Systems, Control and Information , Vol.46, No.2, pp.84-90 (2002)
                2. N.Wada: On Optimization of Anti-windup Performance,
                  Systems, Control and Information , Vol.46, No.2, pp.84-90 (2003)
                3. N.Wada: On the tracking controller synthesis in model predictive control ,
                  Systems, Control and Information , to appear

                その他：

                1. N.Wada, H.Tomosugi and M.Saeki: Model predictive tracking control for a system under time-varying input constraints
                  Proc. SICE Symposium on Control Theory, (2011/09)
                2. D. Toyota, N.Wada and M.Saeki: Direct Yaw Moment Control System Considering Tire Force Saturation,
                  Proc. of 49th Conference of Chugoku-Shikoku Chapter of JSME, pp.135-136 (2011/03)
                3. H. Tomosugi, N.Wada and M.Saeki: Model Predictive Tracking Control under Time-varying Input Constraints,
                  Proc. of 49th Conference of Chugoku-Shikoku Chapter of JSME, pp.133-134 (2011/03)
                4. Y. Matsuoka, M.Nishimura, N.Wada and M.Saito: Basic Study on Active Acoustic Filter by Combined Use of Feedback and Feedforward Control for Radiator Cooling Fan,
                  Proc. of 49th Conference of Chugoku-Shikoku Chapter of JSME, pp.325-326 (2011/03)
                5. T. Yamada, K.Ito, S.Ikeo, M. Nishimura and N.Wada: Application of Simple Adaptive Control to a Water Hydraulic Servo Cylinder System,
                  Proc. of 49th Conference of Chugoku-Shikoku Chapter of JSME, pp.355-356 (2011/03)
                6. N.Wada, M.Minami, M.Saeki and M.Nishimura: Control System Design based on on-line optimization,
                  Proc. of 2010 JSME Conference on Robotics and Mechatronics, (2010)
                7. K. Ishikura, M.Nishimura, N.Kanamori, and N.Wada: Develpment of Weeding Mechanism for Reduction of Farm Work,
                  Proc. of 2010 JSME Conference on Robotics and Mechatronics, (2010)
                8. T. Onishi, M.Nishimura and N.Wada: Develpment of attitude control of an UAV by stators in the downwash,
                  Proc. of 2010 JSME Conference on Robotics and Mechatronics, (2010)
                9. K. Nishikage, M. Nishimura and N.Wada: Development of a high-speed signal processing board with FPGA for ANC,
                  Proc. of 48th Conference of Chugoku-Shikoku Chapter of JSME, pp.207-208 (2010/03)
                10. N.Wada, A.Takahashi, I.Masubuchi and M.Saeki: A Design method of an Active Front Steering Controller Using Measurements of Lateral Tire Forces,
                  Proc. JSME MOVIC, pp.41-46 (2009/09)
                11. N.Wada: Stabilization of Linear Systems with Time-varying Input Saturation -An Approach Based on Saturation-level-dependent Gain-scheduled Feedback-,
                  Proc. of 17th Symposium of Chugoku Chapter of SICE, (2008/11)
                12. N.Wada, M.Minami and M.Saeki: Constrained Control of a Twin-Rotor Helicopter Model Considering Disturbances,
                  Proc. of 17th Symposium of Chugoku Chapter of SICE, (2008/11)
                13. N.Wada, M.Minami, Y.Matsuo and M.Saeki: Tracking Control of a Twin-rotor Helicopter Model under Thrust Constrains Using State-Dependent Gain-Scheduling and Reference Management,
                  Proc. of JSME Dynamics and Design Conference, (2008/09)
                14. N.Wada and M.Saeki: Disturbance Attenuation for Input Constrained Systems by a State-Dependent Gain-Scheduling Control Law,
                  Proc. of 16th Symposium of Chugoku Chapter of SICE, (2007/11)
                15. N.Wada and M.Saeki: Nonlinear Anti-windup Control Based on a Gain-Scheduling Algorithm,
                  Proc. of JSME Dynamics and Design Conference, (2007/09)
                16. N.Wada and M.Saeki: $l_2$-Disturbance Attenuation for Input Constrained Systems by a Gain-Scheduled Feedback Control Law,
                  Proc. of SICE Annual Conference on Control Systems, (2007/03)
                17. N.Wada and M.Saeki: An LMI Based Scheduling Algorithm for Constrained Stabilization Problem,
                  Proc. 49th Japan Joint Automatic Control Conference, (2006/11)
                18. N.Wada and M.Saeki: A Scheduling Control Algorithm for Discrete-time Systems with Input Constraints:
                  An Optimal Gain Scheduling Method Based on On-line Optimization,
                  Proc. of 15th Symposium of Chugoku Chapter of SICE, (2006/11)
                19. N.Wada and M.Saeki: Local Output Regulation of Feedback Systems with Saturation Nonlinearities,
                  Proc. of 13th Symposium of Chugoku Chapter of SICE, (2004)
                20. N.Wada, T.Oomoto and M.Saeki: l2-Gain Analysis of Input Constrained Discrete-Time Linear Systems Using Parameter Dependent Lyapunov Function,
                  Proc. of the 4th SICE Annual Conference on Control Systems, pp.145/150 (2004)
                21. N.Wada, K.Saito and M.Saeki: Model Predictive Control for Linear Parameter Varying Systems using Parameter Dependent Lyapunov Function,
                  Proc. of the 4th SICE Annual Conference on Control Systems, pp.51/56 (2004)
                22. N.Wada, K.Saito and M.Saeki: Robust Model Predictive Control in the Presence of l_2/L_infinity Disturbances -An LMI Based Approach-,
                  Proc. of the 42nd Symposium of Chugoku-Shikoku Chapter of JSME, pp.169/170 (2004)
                23. N.Wada, M.Saeki and H.Chen: Robust Tracking Control of a Nonholonomic Mobile Robot in the Presence of Disturbances and Parametric Uncertainties,
                  Proc. of the 3rd SICE Annual Conference on Control Systems, pp.615/618 (2003)
                24. T.oomoto, N.Wada and M.Saeki: Local Performance Analysis and Optimal Design of Anti-windup Control Systems,
                  Proc. Japan Joint Automatic Control Conference, (2003/11)
                25. N.Wada and M.Saeki: Robust Tracking Control of a Nonholonomic Mobile Robot in the Presence of L_infinity Disturbances,
                  Proc. of the 41st Symposium of Chugoku-Shikoku Chapter of JSME, pp.337/338 (2003)
                26. H.Yoshisako, N.Wada and M.Saeki: Identification of Hammerstein Models via Mixed-Integer Programming,
                  Proc. of 12th Symposium of Chugoku Chapter of SICE , pp.246/247 (2003)
                27. N.Wada and M.Saeki: Anti-windup Design Based on LMIs and Its Application to Vibration Isolation Control Problem,
                  Proc. of the 7th JSPE Workshop on Intelligent Mechatronics, pp.55/60 (2002)
                28. T.Oomoto, N.Wada and M.Saeki: L2 Anti-windup Design and Its Application to the Motion Control of a 2-mass-spring system,
                  Proc. of 11th Symposium of Chugoku Chapter of SICE , pp.228/229 (2002)
                29. N.Wada and M.Saeki: On Optimization of Anti-windup Performance,
                30. N.Wada and M.Saeki: Anti-windup Compensator Synthesis Based on L2 Performance Criterion,
                  Proc. of 10th Symposium of Chugoku Chapter of SICE , pp.204/205 (2001)
                31. N.Wada and M.Saeki: Dynamic Anti-windup Compensator Synthesis Based on LMIs,
                  Proc. of the 30th SICE Symposium on Control Theory, pp.219/222 (2001)
                32. N.Wada and M.Saeki: Design of an anti-windup compensator that maximizes the region of attraction -A method based on the normalization of linear constraints-,
                  Proc. of the 23rd SICE Symposium on Dynamical System Theory (2000)
                33. K.Fukae, N.Wada and M.Saeki: A design of a dynamic anti-windup compensator considering robust performance,
                  Proc. of 9th Symposium of Chugoku Chapter of SICE (2000)
                34. N.Wada and M.Saeki: Design of a static anti-windup compensator that satisfies robust performance,
                  Proc. of the 28th SICE Symposium on Control Theory, pp.283/288 (1999)
                35. N.Wada and M.Saeki: Synthesis of a static anti-windup compensator for systems with magnitude and rate limited actuators,
                  Proc. of the 22nd SICE Symposium on Dynamical System Theory, pp.137/142 (1999)
                36. N.Wada and M.Saeki: Robust controller design for the system with input saturation,
                  Proc. of the 21st SICE Symposium on Dynamical System Theory, pp.221/226 (1998)
                37. M.Saeki, M.Tsuchiya and N.Wada: Design of Anti-Windup Controller by $H_2$ Norm Minimization,
                  Proc. of the 26th SICE Symposium on Control Theory, pp.183/188 (1997)
                38. N.Wada and M.Saeki: Design of Anti-Windup Controller Based on Matrix Inequalities,
                  Proc. of the 25th SICE Symposium on Control Theory, pp.89/94 (1996)

                学会・社会活動：

                1. 日本機械学会　情報・知能・精密機器部門代議員　2005年度〜2006年度
                2. 計測自動制御学会　中国支部評議員（庶務・会計担当）　2007年度〜2008年度
                3. 日本機械学会メカライフ編修委員会コレスポンデント　2010年度
                4. 計測自動制御学会論文集　編集委員　2011年度
                5. 計測自動制御学会論文集　Associate Editor　2012年度〜2013年度
                6. 第16回計測自動制御学会中国支部学術講演会　運営委員
                7. 第17回計測自動制御学会中国支部学術講演会　実行委員
                8. 第9回計測自動制御学会制御部門大会　実行委員
                9. 日本機械学会中国四国支部第42回学生員卒業研究発表講演会2012　実行委員
                10. 日本機械学会中国四国支部第50期総会・講演会2012　実行委員
                11. SICE Annual Conference 2005, Program Committee
                12. 2010 International Conference on Modelling, Identification and Control, Program Committee
                13. 2011 International Conference on Advanced Mechatronic Systems, Program Committee
                14. 2012 International Conference on Advanced Mechatronic Systems, Program Committee
                15. 2013 International Conference on Advanced Mechatronic Systems, Program Committee
                16. 2014 International Conference on Advanced Mechatronic Systems, Program Committee
                17. 2015 International Conference on Advanced Mechatronic Systems, Program Committee
                18. 2016 International Conference on Advanced Mechatronic Systems, Program Committee
                19. モデルベース開発人材養成研修（主催：ひろしま産業振興機構カーエレクトロニクス推進センター）　講師　2009年度
                20. 計測自動制御学会中国支部　2009年度チュートリアル講演会　講師
                21. 日本機械学会中国四国支部　第87回講習会「機械システム制御の最新動向」　講師
                22. 計測自動制御学会中国支部　第16回システム制御に関する産学連合講演会　講師
                Last updated in February 26, 2010