| 摘要 |
A control device includes a feedback controller that determines an operation amount of an actuator by feedback control such that an actual value of a state quantity becomes closer to a target value, and a reference governor that modifies the target value such that an amount of change in the state quantity per unit time is equal to or less than an upper limit value β. The reference governor calculates a modified target value by adding one of 2ζβ/ωn and β{(T2/T1) T2/(T1-T2) -(T2/T1) T1/(T1-T2) } to a current value of the state quantity (ζ, ωn : an attenuation coefficient, a natural angular frequency of a model formula in a case where a dynamic characteristic of a closed-loop system is modeled as a dead time plus second-order vibration system, T1, T2 = - ωn -1(-ζ±√(ζ2-1))-1), and determines the smaller one of the modified target value and an original target value as a final target value of the state quantity. |
