This paper deals with a plant output tracking design problem of perturbed nonlinear plants by using robust right coprime factorization approach. One of the interesting control system design schemes, which was given by G. Chen and Z. Han, uses robustness of the right coprime factorization for robust stability of the closed-loop system with perturbation. Unfortunately, the robust right coprime factorization cannot easily improve the tracking performance of the control system except for simple cases. I n this paper, nonlinear operatorbased design method for nonlinear plant output to track a reference input is given. Examples are presented to support the theoretical analysis.

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In container yard terminals, containers brought by trucks arrive in the random order. Since each container has its own destination and it cannot be rearranged after shipping, containers have to be loaded into a ship in a certain order. Therefore, containers have to be rearranged from the initial arrangement into the desired arrangement before shipping. In the problem, the number of container-arrangements increases by the exponential rate with increase of total count of containers. Therefore, conventional methods have great difficulties to determine desirable movements of containers in order to reduce the run time for shipping. In this paper, a Q-Learning algorithm based on the number of container-movements for the material handling in the container yard terminal is proposed. In the proposed method, each container has several desired positions, so that the learning performance can be improved. In order to show effectiveness of the proposed method, simulations for several examples are conducted.

This paper proposes a new generalized minimumvariance controller (GMVC) having new design parameters by using coprime factorization approach for multiinput multi-output (MIMO) case. The method is directly extended from a conventional GMVC and to construct the controller, it needs to solve only one Diophantine equation as in the conventional method. In this paper, by using double-coprime factorization, a simple formula for closed-loop system given by the parametrized controller is obtained and using the formula, it is proved that the closed-loop characteristic from reference signal to plant output is independent of the selection of the design parameters and the poles of the controller can be chosen by the design parameters without changing the closed-loop system.

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