To control a control object with a processing load smaller than in the past.
In generation of a control program, a transfer function to be adopted is subjected to partial fraction decomposition at first and converted to a sum of fractional expressions (partial fractions) represented by denominators of degree lower than the degree of denominator constituting the transfer function before decomposition (S110). A partial fraction with small gain out of the partial fractions constituting the transfer function is determined as a partial fraction to be extended in arithmetic period (S130). The coefficient of the partial fraction to be extended in arithmetic period is corrected according to a newly set arithmetic period (S150). Then, an arithmetic program corresponding to each partial fraction is designed according to the arithmetic period, and the resulting arithmetic programs are combined to create a control program for controlling the control object (S170).
KATAOKA MOTOAKI
WATABE DAIJI
| JPS63204303A | 1988-08-24 |