| 摘要 |
<P>PROBLEM TO BE SOLVED: To automatically calculate a switching line in a sliding mode control. <P>SOLUTION: An optimal response design section 11 calculates a time response of a controlled variable when a first control input, which is a maximum limit value of a control input during a predetermined control input saturation time, is inputted, and then an input waveform is inputted to input a second control input corresponding to a stability load factor, to a model of a control object 40. A value of the predetermined evaluation function is calculated based on the calculated time response. Time responses and evaluation function values for a plurality of control input saturation times are calculated, and an evaluation function value for each control input saturation time is calculated. One control input saturation time for which the calculated evaluation function value satisfies a predetermined condition is selected. An optimal switching line calculation section 12 calculates an inclination of a switching line in sliding mode control based on a controlled variable in the selected control input saturation time, a differential value thereof, and a target value. A sliding mode control calculation section 20 calculates a parameter of the switching line in the sliding mode control according to the calculated inclination. <P>COPYRIGHT: (C)2012,JPO&INPIT |
