| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a feedback control device capable of suitably suppressing an overshoot of an actual controlled variable when a response delay increases owing to stagnation of the actual controlled variable nearby a value at a start of control. <P>SOLUTION: The feedback control device includes an observer 6 which detects and estimates a quantity of state of a CSC 2 including actual displacement RY of a second piston, and a sliding mode controller 4 having an integrator 5 which operates a supply current of a master cylinder 1 based upon the quantity of state so that the actual displacement RY have a transition following up a target track and also operates the supply current according to an error integrated value Z as a cumulative value of the actual displacement RY and a deviation E from the target track. The feedback control device further includes a stagnation monitor part 7 which determines whether the actual displacement RY stagnates nearby the value at the start of the control, and instructs the target track and estimated quantities X0, X1, and X2 of state to be initialized. <P>COPYRIGHT: (C)2012,JPO&INPIT |
