SERVO CONTROL DEVICE

摘要

Disclosed is a servo control device for causing an object to be controlled to follow an arbitrary target value at high speed with high precision without causing saturation of control input or saturation of a rate of change to occur. The disclosed servo control device is provided with a reference model unit into which is input a target value for generating model output and model input; a feedback control unit for generating feedback input so that control output of the object to be controlled follows the model output; and an adder for adding the model input to the feedback input to generate control input of the object to be controlled; wherein the reference model unit includes a formula model for simulating the characteristics of the object to be controlled to generate, from the model input, the model output and a state variable; a model input memory for outputting the past model input; a model controller for receiving the target value, the state variable, and the model input of the past to generate the first-mentioned model input; and a model controller determination unit for determining the model controller on the basis of the target value, the state variable, and the past model input.