| 摘要 |
A control system that constantly and accurately controls a controlled variable to within an allowable range. The control system estimates a steady-state deviation d in a controlled object as a steady-state deviation estimation value d' based on a controlled variable y and a final target value y2. A controlled variable y in a controlled object according to an initial target value y1 is estimated, based on an initial target value y1 and a steady-state deviation estimation value d', as a primary estimation value y1'. When a primary estimation value y1' is within an allowable range, a final target value y2 agreeing with an initial target value y1 is determined, while, when a primary estimation value y1' is out of an allowable range, a final target value y2 is determined based on at least the boundary value of the allowable range. And, a manipulate variable x is determined according to a final target value y2.
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