| 摘要 |
PROBLEM TO BE SOLVED: To prevent an unstable zero point from occurring in a model obtained through identification in identifying the control target represented by a transfer function model of a discrete-time system having no unstable zero point. SOLUTION: At a control part 57 for controlling paper feed, a control system of a two-degree-of-freedom system adopting an adaptive control technique is constructed. An adaptive parameter computing part 88 identifies a discrete-time system transfer-function model P(z) of the control target and obtains an identification model P^(z). A feed forward control part 87 creates a feed forward operation value while using the reverse model 1/P^(z) of the identification model P^(z) as a transfer function. The numerator of the discrete-time system transfer-function model P(z) is represented by b(z + 1)<SP>4</SP>. In order to identify (estimate) each coefficient of the P(z), the adaptive parameter computing part 88 does not estimate the coefficient for each degree by subjecting the numerator to polynomial expansion, but estimates one unknown coefficient (b) while fixing the numerator as it is, i.e., holding a zero point (-1 in this case). COPYRIGHT: (C)2008,JPO&INPIT |
