| 摘要 |
A control system that constantly and accurately controls a control variable so that it remains within an allowable range is provided. The control system in accordance with the present invention estimates a steady-state deviation d in a controlled object as a steady-state deviation estimation value d' on the basis of a control variable y and a final desired value y2. A control variable y in a controlled object based on the initial desired value y1 is estimated as the primary estimation value y1' on the basis of at least the initial desired value y1 and the steady-state deviation estimation value d'. If a primary estimation value y1' is within an allowable range, then a final desired value y2 agreeing with an initial desired value y1 is determined, while, if the primary estimation value y1' is out of the allowable range, then the final desired value y2 is determined on the basis of at least a boundary value of the allowable range. A manipulation variable x is determined on the basis of the final desired value y2. <IMAGE>
|
