@article{oai:muroran-it.repo.nii.ac.jp:00009537,
 author = {KAJIWARA, Hidekazu and 梶原, 秀一 and HANAJIMA,  Naohiko and 花島, 直彦 and 青柳, 学 and AOYAGI, Manabu},
 issue = {10},
 journal = {計測自動制御学会論文集},
 month = {Oct},
 note = {application/pdf, When periodic external force is inputted to van der Pol equation, its self-excitation vibration is suppressed, and its oscillatory frequency synchronizes with frequency of the external force. This behavior is called forced entrainment. We proposed periodic input control method that can control energy of system using forced entrainment, and controlled periodic motion of various systems (such as pendulum, quasi passive walking robot and hopping robot). Because a periodic input control system whose energy is controlled by our method, vibrates without external force continuously, it is supposed that the system is a self-excitation vibration system. Therefore, we analyzed structure and characteristics of the system. First, we analyze whether periodic input system has characteristics as self-excitation vibration system. Next, we derive the condition that forced entrainment is caused by periodic external force. Finally, we show the result that inspected validity of our analysis by experiments.},
 pages = {573--579},
 title = {周期入力制御系の数理構造と強制引き込み現象},
 volume = {52},
 year = {2016},
 yomi = {カジワラ, ヒデカズ and ハナジマ, ナオヒコ and アオヤギ, マナブ}
}