| 摘要 |
The present invention addresses the problem of improving the convergence of the I-term after the restriction on the PI-term by guards has been lifted while also preventing divergence of the I-term in a state in which the PI-term is restricted by guards, in a feedback control system for calculating the P-term and the I-term on the basis of the deviation between the measured value and the target value of the control amount and calculating, on the basis of the PI-term which is the sum of the P-term and the I-term, the corrective amount with respect to the operation amount to be controlled. To achieve this, this feedback control system computationally obtains a value, obtained by subtracting the difference between the values of the PI term before and after the restriction by the guards from the value of the I-term, as the amended previous value. Then, an update amount calculated from the deviation between the measured value and the target value of the control amount is added to the amended previous value of the I-term, whereby the value of the I-term is updated. |
