| 摘要 |
PURPOSE:To estimate parameters only with angle and velocity without using acceleration neither taking the inverse matrix of an inertial matrix by using specific state space converting function filters. CONSTITUTION:(s+mu)<-1> filters 12a-12c are so constituted that the output of a function device 10 is inputted to a part of these filters and an input having no parameters to a controlled system is directly inputted to another part, and mu(s+mu)<-1> filters 11a-11c are so constituted that the output of the function part 10 is inputted to a part of these filters and the output of a detecting means which detects the extent of motion of the controlled system 6 is directly inputted to another part. Outputs from (s+mu)<-1> filters 12a-12c and mu(s+mu)<-1> filter 11a-11c are inputted to an estimating or adjusting device. Thus, an acceleration term is eliminated to obtain terms up to speed, and parameters are processed as they are linear, thus facilitating estimating parameters.
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