| 摘要 |
PROBLEM TO BE SOLVED: To provide a servo controller and method for accurately and quickly estimating disturbance, and for accurately realizing servo control even at the time of suppressing disturbance and feedback controlling an object to be controlled by inexpensively and easily constituting a servo control system by using an observer whose constitution is simple. SOLUTION: This servo controller is provided with an observer 5b for estimating disturbance to be impressed from the outside part to an object to be controlled in a spring system such as a focus actuator, and for generating a disturbance estimate, and the disturbance is compensated based on the disturbance estimate, and the object to be controlled is feedback controlled in this servo controller. The observer 5b estimates the disturbance by using an inner model in an inertial system defined by a characteristic equation including only a second-order term as an inner model indicating the object to be controlled in at least a frequency band with the specific oscillation frequencies of the object to be controlled or more.
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