| 摘要 |
A controlling device of high follow-up accuracy is provided, the prediction accuracy of which is not degraded by an FF signal when the controlled object is feedforward-controlled. The prediction controlling device 1 has a feedforward signal generation command filter 2 for generating a future command increment which is an increment from one sampling period to the next sampling period of a target command signal from the present to a multiple-sampling future and the feedforward signal from the future target command signal. A prediction controller 3 receives the future command increment, the feedforward signal, and a controlled object output at the past sampling time over zero sampling, and determines the future error prediction value by using a transfer function model from the feedforward signal and the control input to the controlled object output.
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