| 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 feedforwardsignal 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, determines the control input so that the performance function of the error prediction value and the control input may be minimized, and the control input is given to the controlled object 9. <IMAGE>
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