| 摘要 |
The device (1) has a sliding mode controller portion (20) executing a sliding mode control process to output a position amount to a controlled path unit so that control amount reaches a reference amount. The controller portion represents a difference between current deviation amount and an earlier deviation amount, which are computed in an earlier cycle before a current cycle for a fixed time interval. The current deviation amount and current deviation change amount for state amounts are used to compute a value of a switching function of the device. |
