| 摘要 |
PROBLEM TO BE SOLVED: To achieve excellent transient response characteristics while satisfying constraints.SOLUTION: A plant control apparatus comprises: a feedback controller (FBC) which decides a control input of a plant by feedback control so as to bring an output value of a controlled variable of the plant close to a target value; and a reference governor (RG) which calculates a future prediction value of a specific state amount of the plant by use of a model of a closed-loop system including the plant and the FBC, to correct a target value to be applied to the FBC on the basis of the prediction value and the constraints on the specific state amount. The RG searches for an optimal value of the evaluation function using a correction target value candidate as a variable, by repeated calculation using steepest descent method, and decides it as a correction target value. In optimal value search, the correction target value candidate is updated with an amount of updateψ(inverted delta) which is proportional to gradient (inverted delta) of the evaluation function. When the gradient (inverted delta) is smaller than a first threshold, a proportionality coefficientψis increased or reduced according to the amount of change in gradient (inverted delta). |
