CONTROLLER AND CONTROLLING METHOD AS WELL AS CONTROL STATE DETERMINING DEVICE AND METHOD

摘要

PROBLEM TO BE SOLVED: To provide a controller which can perform appropriate control irrespective of an object to be controlled and disturbance even while the object is affected by periodic disturbance or oscillates due to control. SOLUTION: The controller unit which adjusts the quantity of an operation based on a deviation from a target value of the quantity of control and control parameters is characterized by comprising a behavior characteristic quantity calculating part 56 which detects the periods or frequencies of predetermined types of behaviors performed by the object, a state determination basic data calculating part 57 which calculates the quantities of variations of the periods or frequencies, and a control parameter setting part 62 which changes the control parameters based on the quantities of the variations. COPYRIGHT: (C)2005,JPO&NCIPI