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Programmable Logic Controllers (PLCs) are widely used in industrial world. In PLC-based control systems, low-resolution (especially ON/OFF) sensors and actuators are commonly used since they are compatible with programming languages used in PLCs. PLC switches ON/OFF of the actuators as ON/OFF of the sensors changes. In designing PLC-based systems, the design of parameters of these sensors and actuators (e.g., position of limit switches, torque of motors, and so on.) is important problem since they affect to overall performance of the system. This problem, however, has not been fully discussed yet (conventionally, these parameters were designed through a trial and error by the designer who has enough knowledge about the system). In this paper, the systematic design method for this problem is developed. Firstly, an identification method for unknown parameters in input matrix of the plant is developed. Secondly, the system is modeled as Mixed Logical Dynamical System (MLDS), which is suitable modeling method for numerical optimization. Based on the model, the design problem of sensor/actuator parameters is formulated as Mixed Integer Programming (MIP) problem. The design and control policy developed in this paper is as follows: Design 1. At first, design the control logic implemented in PLC. 2. Design the parameters of the sensors and actuators by solving MIP problem with fixing some unknown parameters of the plant. Control 3. As the control begins, identify the unknown parameter of the plant. 4. According to the identified unknown parameter, apply the designed parameters of the sensors and actuators. Finally, the developed idea is applied to line following control of two-wheeled vehicle (Fig. 1). This vehicle has two ON/OFF sensors which can detect edge of the line. And the actuator of the vehicle can command turning left or right. For various radius of the line R and width of the line WL = 0.1 [m], the position of the sensors αy,l and αy,r, and turning radius of the vehicle when turning left/right are designed by the proposed method (Table 1). This results shows that turning radius is designed depending on the radius of the line. Fig. 2 shows that the trajectory of the vehicle tracking the line which has two radius R = 1.5,∞ [m]. This vehicle identifies the radius of the line when the sensor detects the edge of the line. The Fig. 1. Two wheeled vehicle

Parameter Design of Logic-Based Controller for Two-Wheeled Vehicle