| 摘要 |
PROBLEM TO BE SOLVED: To expand a control range of a plant to an almost limit range not infringing of a restriction by improving accuracy of a plant model by an effective utilization of a multi-core processor.SOLUTION: A target value is corrected using a reference governor so as to satisfy a restriction imposed on a state quantity or the like of a plant. The reference governor defines a plurality of correction target value candidates on the basis of a target value of a controlled variable of the plant, and predicts a future value such as a specific state quantity or the like of the plant for every correction target value candidate using a plant model. A calculation (a future prediction task) for future prediction of a specific state quantity by the reference governor and a calculation (a parameter learning task) for learning a parameter of a plant model are allocated to different cores of a multi-core processor. The number of cores to which the future prediction task is allocated and the number of cores to which the parameter learning task is allocated are adjusted according to the dimension of a prediction error relating to the plant model. |
