| 摘要 |
It is possible to establish an estimation method capable of logically and optimally deciding a forgetting coefficient and develop an estimation algorithm and a high-speed algorithm which are numerically stable. Firstly, a Processing section reads out or receives an upper limit value gammaf from a storage section or an input section (S101). The.processing section decides a forgetting coefficient rho by equation (15) (S103). After this, according to the forgetting coefficient rho, the processing section executes a hyper H∞ filter of equations (10-13) (S105). The processing section (101) calculates the existence condition of equation (17) (or equation (18) which will be given later) (S107). When the existence condition is satisfied at all the times (S109), gammaf is decreased by Deltagamma and the same processing is repeated (S111). On the other hand, when the existence condition is not satisfied by a certain gammaf (S109), the Deltagamma is added to the gammaf and the sum is output to an output section and/or stored in the storage section as an optimal value gammafOP of the gammaf (S113).
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