To provide a control unit which secures stability by suppressing vibration by a state feedback system without need of excessive sensors, and positively performs followability to a target value.
An observer C estimates a state variable α which represents a state of a specific part desired to be actually controlled. It has a reference model D covering from operation input to the specific part. It is provided with a compensator E which corrects the operation input based on a difference between an estimator α∼ of a state variable of a specific part outputted by an observer C and an ideal response value α* of a specific part outputted from the reference model D. By this correction of operation input, the ideal response value α* of the specific part which is an output from the reference model D and the estimator α∼ estimated by the observer C are controlled to agree with each other. Furthermore, the output α∼ of the observer C is fed back and deviation with the target command αR of a specific part is found, controlled in a controller A, and so controlled that the specific part may follow the target command value. Vibration is suppressed, and control without steady-state deviation can be achieved.
KATO TETSURO
ARITA SOUICHI
Hideo Sugiyama
Koichi Yuda
Uozumi Takahiro
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