SERVO CONTROL METHOD AND DEVICE SUITABLE FOR IT

摘要

PROBLEM TO BE SOLVED: To provide a servo control method and to provide a device suitable for it.

SOLUTION: This servo control method is characterized by including: a step for preparing a polynomial expressing a desired reference locus of a plant and its derivative; a step for sampling a plant output with respect to a plant input; a step for generating a reference signal and its derivative signal by referring to a relative time between samples; and a step for determining a plant input at the sampling by using the generated reference signal, its derivative signal, a delayed plant input and a delayed plant output. Thereby, the plant can be controlled with high accuracy so as to follow the reference locus by using the derivative signal in addition to the reference signal.

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