To reduce the generation of vibration by updating the filter factor of an FIR filter so that an addition signal level from an adding part is minimized.
A controller 1 to control operation of an actuator 3 comprises an FIR filter 14 to generate a control waveform signal S (t) having the same frequency and amplitude and opposite phase as those of vibration 5 through regulation of the phase and amplitude of a signal R (t); and a simulation part 7 for updating relating factors. The simulation part 7 comprises a first model forming part 8 to be inputted a signal R' (t) from a sign wave producing part 17; and an adaptive FIR filter 12 to update the filter factor of an FIR filter 14 to which a signal X (t) is inputted. An output signal N (t) from a first adding part 15 and an output signal Y (t) from the adaptive FIR filter 12 are added to generate an error signal e (t). A second addition part 16 is provided to output a signal to the adaptive FIR filter 12 so that the error signal e (t) is minimized.
INAGAKI MITSUO
ANDO YORIAKI
MATSUOKA HISANAGA
