| 摘要 |
A device for controlling a position of a motor comprises a state observation unit and a controller. The state observation unit receives an output including a portion of a state of a motor to estimate an entire state of the motor therefrom, outputs a state observation value, and operates an output observation value based on the state observation value. The controller receives an instruction to control the motor, is given feedback on the state observation value and the output observation value from the state observation unit, and compensates for an error between the instruction and the output of the motor by operating the instruction, the state observation value, and the output observation value using a gain parameter combination including predetermined multiple gains, thereby minimizing an error in a normal state and improving control precision in the normal state by reducing influence of disturbance. |
