ROBUST DIGITAL CONTROLLER AND ITS DESIGNING DEVICE

摘要

[PROBLEMS] A robust digital controller incorporating a novel two-freedom-degree robust digital control system which has a high degree of approximation and does not need to take account of the magnitude of the control inputs and a designing device for the same are provided. [MEANS FOR SOLVING PROBLEMS] Control compensating means (70A) determines, as a higher-approximation second-order approximated model transfer function W<SUB>m</SUB> (z), a discrete transfer function W<SUB>ry</SUB> (z) between a target value r and a controlled variable y, and is configured according to the model transfer function W<SUB>m</SUB> (z) as an integral control system in which computation is carried out in a digital controller (70). A designing device automatically calculates parameters constituting the control system. With this, compared to conventional approximated digital control systems realizing first-order approximation model, a digital controller (70) which has a high degree of approximation and is strong to output noise can be easily realized.