| 摘要 |
<P>PROBLEM TO BE SOLVED: To generate a state quantity command trajectory that reliably reaches a specified state quantity at a specified time even if initial state quantity is indefinite by designating the trajectory with an arbitrary reference waveform. Ž<P>SOLUTION: The state quantity command trajectory is generated, which has a reference waveform function for determining a time-series waveform of a trajectory, wherein a difference between a designated state quantity and the state quantity command trajectory is constant multiple of the reference waveform function. The procedure of the method is as follows: a present reference value is calculated for each predetermined control period by substituting the present time into the reference waveform function; the next reference value is calculated by substituting the time of the next control period into the reference waveform function; a state quantity deviation is calculated by subtracting designated state quantity from state quantity measured by a sensor; and a state quantity command value is calculated by dividing the next reference value by the present reference value, multiplying the state quantity deviation and adding the designated state quantity. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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