| 摘要 |
PURPOSE:To attain a robust control having a stable and strong constraint in which chattering is little and consequently, an electric power can be saved by providing two linear parts to increase and decrease linearly an output from a positive and negative saturating value and a step part sandwiched between them as the output signal changing-over means at the time of controlling a sliding condition. CONSTITUTION:At a positive side linear part (a), a negative side linear part (b) and between both linear parts, the device has a border layer area composed of a step part (c) in which an output is non-continuously changed. At the time of controlling the sliding condition of respective joints, the changing-over width of the step part (c) comes to be made smaller and the chattering is prevented by adopting a short step relay in a border layer area near a changing-over line by an output signal changing-over means 10. By providing both positive and negative linear parts (a) and (b) before and after the step part (c), the constraint to a strong changing-over line that even when the load, etc., to exceed the width of the step part (c) are added, the chattering is suppressed and constrained to the step part (c) can be executed, and the robust control system can be obtained.
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