PURPOSE: To decrease an arithmetic quantity by directly utilizing a state space model for a controlled system by determining the correction quantity at current time according to time-series data and the state space model for the controlled system so that an evaluation function regarding a deviation predicted value, a deviation, and a correction quantity up to specific sampling future become minimum.
CONSTITUTION: A subtracter 10 finds the difference e(i-D) between a target command r(i-D) stored in a memory 2 and an output y(i-D). A subtracter 11 finds the difference η(i-D) between state vectors x(i'-D) and x(i-D) stored in a memory 3. Memories 5 and 6 are stored with past deviations and state vectors and newly stored with the outputs e(i-D) and η(i-D) of the subtracters 10 and 11. A computing element 9 determines the correction quantity cy (σi) at the current time according to the time-series data and the state space model for the controlled system so that the evaluation function regarding the deviation predicted value e*, deviation e(i-D), and correction quantity up to M sampling future becomes minimum. Consequently, the arithmetic quantity is decreased.
ANDO SHINGO
SHIMURA ETSUJIROU
