| 摘要 |
PROBLEM TO BE SOLVED: To solve a conventional problem of wasting adjusting time because of a trial and error decision of the value of a weighting factor and generating variation in performance after the adjustment because of the individual difference in the conventional method. SOLUTION: A pre-read section is defined as M1 to M so that an output of a controlled object becomes equal to a target command when present sampling is defined as ith. An evaluation function J comprises a detection delay K, the weighting factor w<SB>m</SB>, the weighting factorα, the weighting factor C, the weighting factor Cd, position deviation ew(i-K) of present time, a predicted value e*(i+m) of the deviation of m ahead, a control input v(i) and an increment valueΔv every control cycle Ts of the control input v(i). The control input v(i) is calculated with an equation using the increment valueΔr every control cycle Ts of a command r(i) and the increment valueΔy for every control cycle Ts of the output y(k) of the controlled object. Then, the weighting factor C contained in the evaluation function J is automatically computed in a estimation controlling method outputting to the controlled object. COPYRIGHT: (C)2003,JPO
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