To improve control performance by performing control in consideration of the dead time.
A target track is set based on a target value and a measured value for controlled variable (S1-S2). The change in quantity of the controlled variable is calculated in the case of no change of the controlled variable thereafter (S3). The deviation between the controlled variable and the target track is required in the case of no change of the control amount (S4). Restriction conditions are set according to the situation of a plant (S5). The control input deviation amount for compensating for the deviation is optimized based on the restriction conditions(S6). The operating input is found by adding the control input deviation amount to the operating amount in the last control period(S7). The controlled object is operated by the found operating input (S8).
COPYRIGHT: (C)2004,JPO
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