To limit the number of times of convergence to the practical number of times, by obtaining the displacement of respective hydraulic vibration exciters of one sampling time before, obtaining a table posture obtained by the repetitive arithmetic operation of a previous time from a delay storage device, and performing the repetitive arithmetic operation including inverse coordinate transformation.
A controlled variable is obtained from a target posture and the posture of a controlled system for which the fed-back displacement of the respective hydraulic vibration exciters is inversely coordinate transformed and a convergence arithmetic operation is performed and the controlled variable is forward coordinate transformed and turned to the displacement command of the respective hydraulic vibration exciters. For the fed-back displacement of the hydraulic vibration exciters, the displacement of one sampling cycle before is used for the arithmetic operation of an initial time at the time of the convergence arithmetic operation and the posture of the controlled system computed in the previous time is used for the posture of the controlled system in the convergence arithmetic operation. That is, in this device, by obtaining the displacement of the respective hydraulic vibration exciters of one sampling time before from the delay storage device 103 and obtaining the table posture obtained by the repetitive arithmetic operation of the previous time from the delay storage device 22, the repetitive arithmetic operation including the inverse coordinate transformation is performed.
| WO/2005/091088 | PLANT CONTROL DEVICE AND CONTROL METHOD USING MODULATION ALGORITHM |
| WO/1990/013375 | METHOD AND MEANS FOR MONITORING OF CONTINUOUS CASTING |
| JPS57103505 | DEVICE NUMBER CONTROLLER |
MAEKAWA AKIHIRO
SAKUNO MAKOTO
HISAIE MAKOTO
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