| 摘要 |
In a feedback control system in which a base gain having a constant value or a variable gain is set as a feedback gain in accordance with the state of the system and an input value is calculated based on a function having, as variables, a proportional term and an integral term, the integral term is recalculated when a discriminant value obtained by substituting a base proportional term calculated using the base gain for the proportional term and a normal integral term calculated using the feedback gain for the integral term in the function is larger than an upper limit value. The integral term is recalculated in such a way that a value obtained by substituting the base proportional term for the proportional term and the recalculated integral term for the integral term in the function becomes equal to or smaller than the upper limit value. |
