| 摘要 |
PROBLEM TO BE SOLVED: To solve problems that a control program or a control circuit is separately formed for each control in loading each of control rules on actual equipment conventionally as a calculating expression of a manipulated variable uref from each other in accordance with combination of each of the controls, that a series of processing such as to download a software by correcting it, debugging it and compiling it by newly adding a parameter in applying a new algorithm, etc., and that consequently, considerable time and labor are required. SOLUTION: The manipulated variable uref to give to a control object is formed by giving each element of each matrix to use for all matrix calculation previously as a control parameter, forming a command matrix by a command matrix forming means 3, forming a state quantity matrix by a state quantity matrix forming means 4 and carrying out matrix calculation by a matrix calculation means 2 under a method to control a servo motor in accordance with a command value and a state quantity detection value.
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