| 摘要 |
PROBLEM TO BE SOLVED: To achieve sliding control without measuring and feeding back of first order differential (for example, speed DX(t)/Dt) of a state variable for an object to be controlled.SOLUTION: The value for a constant λ appearing in a formula for the sliding control is made "f". Furthermore, the value for the constant λ is suitably corrected according to the first order differential (for example, target speed DX(t)/Dt) in a state where the value for the constant λ is made into a target for the object to be controlled by using a state variable X(t) for the object to be controlled (for example, position) and a state X(t) to be target of the object to be controlled (for example, target position). Thus, a term for the first order differential (for example speed DX(t)/Dt) in the state variable for the subject to be controlled which appears in the formula for the sliding control can be eliminated and the sliding control can be achieved without measuring or feeding back the first order differential (for example, speed DX(t)/Dt) of the state variable for the subject to be controlled. |
