| 摘要 |
A controller capable of immediately and high accurately controlling a detected value to a desired value in a controlled object having a large delay characteristic is provided. The controller for controlling a plant comprises a predictor (511) for calculating a predicted value (PREDNTH3EXS) of the future of a control output value based on a provisional value (DGUREA—EXS) of a control input value including a periodic reference signal by using a plant model indicating the dynamic characteristics of the control output value from the control input value of the plant, an evaluation function value calculator (512) for calculating an evaluation function value (J) including the predicted value (PREDNH3EXS) of the future of the calculated control output value, an extreme value search optimizer (513) for calculating a provisional value (DGUREA—OPT) of such a control input value as that the evaluation function value (J) becomes the extreme value on the basis of a product (CR) of the calculated evaluation function value (J) and a periodic reference signal (SREF), and an adder (54) for calculating a control input value (GUREA) including the provisional value (DGUREA—OPT) of the calculated control input value.
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