| 摘要 |
PROBLEM TO BE SOLVED: To provide a controller capable of promptly compensating and suppressing an influence of periodic disturbance on the output of a controlled object, and improving stability of controlling and controlling accuracy, even when controlling the controlled object receiving the periodic disturbance wherein disturbance is periodically changed. SOLUTION: The controller is equipped with an ECU2. The ECU2 calculates disturbance compensation values Rcyc_cin, Rcyc_lin, Rcyc_cr for compensating the periodic disturbance, at the generation timing of a CRK signal, by map search and table search (steps 1 to 15). At a predetermined control periodΔt, according to the disturbance compensation values Rcyc_cin, Rcyc_lin, Rcyc_cr read at the control periodΔt, controlling input Ucain, Uliftin, Ucr are respectively calculated by predetermined controlling algorithms (expressions 1 to 8, 10 to 16, 21 to 33, and 42 to 54) (steps 26 to 28). COPYRIGHT: (C)2006,JPO&NCIPI
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