| 摘要 |
PROBLEM TO BE SOLVED: To ensure quick response to input variation while keeping stability of control system by altering the degree of moderation through a moderation altering means based on an input signal and an output signal. SOLUTION: The moderation filter 20 comprises a moderation operating unit 22 receiving an input signal (u) and an output signal (y) and comparing the absolute difference between both signals sequentially with threshold values S1, S2,..., Sk. These threshold values are set larger for a sensor having a larger measurement error and set smaller for a sensor having a smaller measurement error. When a decision is made that the absolute difference is larger than any one threshold value, a moderation factor f(n) is set at a value corresponding to that threshold value. When the absolute difference is smaller than the threshold value S1 but larger than the threshold value S2, for example, the moderation factor f(n) is set at a value 2 corresponding to the threshold value S2 based on the decision that the absolute difference is larger than the threshold value S2. All output signal (y) is then calculated using that moderation factor f(n) and outputted.
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