The damping of large power systems may be poor at heavy system loading condltions. Thls may occur even with traditional supplementary damping controls in service. This paper presents a practical coordinated system-wide approach to this problem. Multlvariable control techniques. tnvolving many machines and associated measurements and controls, are applied on a large scale system wlth realistic dynamlcs.A unique iterative design method, with multtple tasks, is presented.Use of elgenvector based dynamic reduction, sub-optimal state space control design, reconstitution of design to full system representation, and verlflcatlon is shown. The resulting hierarchical controller Is shown, with time slmulatlons and eigenvalues. to stabilize the system for heavy power transfer without adverse slde effects.

In this paper, a nonlinear model predictive control (MPC) scheme for constrained mechanical systems with state discontinuity, or state jump, is considered, and a control method which extends a fast numerical algorithm based on continuation and GMRES methods, allowing online implementation for mechanical systems possible, is applied for. The validity of the strategy is demonstrated by a landing control for an acrobat robot based on a commercially avairable humanoid robot, KHR-1, where a general purpose compact computer system named C-CHIP developed at BMC is installed in the system.

Traditionally, an inverted pendulum has been used as a reduced biped locomotion system, whereas this paper proposes a different approach. The essence of dynamic biped gait generation is mechanical energy restoration, and parametric excitation approach is a good idea for it. Our novel approach does not require any rotational actuation and thus enables to be free from the constraint of zero moment point (ZMP). This paper considers some basic methods of parametric excitation and shows that energy-efficient biped locomotion can achieved very easily without taking the ZMP condition into account. We then conduct parametric studies by adjusting the control and physical parameters, and determine how well the basic gait perform by introducing some performance indices.

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