MOTOR CONTROLLER

摘要

A motor controller is provided with: a normative model unit (1) for generating, on the basis of a target value for tracking a control output of a controlled object, a model output representing a desired operation of the controlled object, and a model input for driving the controlled object in the desired operation; a feedback unit (2) for generating feedback for a control output to track the model output; and an adder (3) for adding the model input and feedback, and generating a control input to the controlled object; wherein the normative model unit includes a storage unit for retaining, as vectors, a current target value and one or a plurality of previous values; a numerical model for simulating a characteristic of the controlled object and generating, on the basis of the model input, the model output and a state variable; a model controller for generating the model input on the basis of a vector and the state variable; and a controller determination unit for determining the model controller from a plurality of candidates designated on the basis of the vector and the state variable.