| 摘要 |
PROBLEM TO BE SOLVED: To achieve a backup technique for compensating abnormality in advanced control by lower side control and a technique of difference absorption for absorbing errors in advanced control by the lower side control.SOLUTION: A control device includes: an upper side control operation part 10 for calculating a control input MV1 by advanced control operation; a control input conversion part 11 for calculating a control input lower limit value OL and a control input upper limit value OH by giving a prescribed control input width to the control input MV1; an upper and lower limit value setting part 12 for changing the control input lower limit value OL and control input upper limit value OH used for lower side limit processing to a value calculated in the control input conversion part 11; a lower side control operation part 20 for calculating a control input MV2 by feedback control operation; a limit processing part 21 for performing limit processing of limiting the control input MV2 calculated by the lower side control operation part 20 to a value that is at least control input lower limit value OL but less than the control input upper limit value OH; and a control input output part 22 for outputting the control input MV2 subjected to limit processing to a control object. |
