| 摘要 |
<p>PURPOSE:To improve the accuracy of estimation, by feeding back a difference between the output of a controlled object and its estimate value to an integrator which outputs a load disturbance torque estimate value and an input side. CONSTITUTION:The load disturbance torque estimate value is outputted by inputting controlled input 2 and load disturbance torque to the integrator 1/S, and the output 5 of the controlled object 1 and the estimate value 9 of the controlled object 1 estimated by a state estimator 6 are inputted to a feedback gain K1, and the difference between them is outputted to the integrator 1/S via a feedback gain K2.</p> |
