| 摘要 |
PROBLEM TO BE SOLVED: To prevent reduction in sufficiency of constraint to be caused by a modeling error of a prediction model to be used by a reference governor, in plant control.SOLUTION: A plant control apparatus includes a feedback controller (FBC), a reference governor (RG), and an observer (OBS). The FBC decides a control input so as to bring an output value of a controlled variable of a plant close to a target value. The RG calculates a prediction value of specific state amount by use of a model of a closed-loop system including the plant and the FBC, to correct the target value to be applied to the FBC, on the basis of the prediction value of specific state amount and constraint applied thereto. The RG uses an evaluation function represented by an objective function and a penalty function to search a correction target value for optimization. The RG calculates an error between the estimation value of specific state amount estimated by the OBS and an actual value, and increases weight of penalty in the penalty function according to increase of the error. |
