| 摘要 |
PROBLEM TO BE SOLVED: To perform an effective digital filtering process even in the case of frequencies nearby a Nyquist rate with respect to the feedback control unit, which performs feedback control so that a physical quantity such as the position, attitude, or speed of a movable mechanism part or reaches a desired value. SOLUTION: This feedback control unit is equipped with an input hold circuit 157 which outputs an inputted feedback signal or held feedback signal in order in cycles shorter than sampling cycles while holding a digital feedback signal inputted sequentially in the sampling cycles in the sampling cycles, a notch filter 158 which filters the feedback signal outputted from the input hold circuit, and an output hold circuit 159 which passes the filtered feedback signal in the same cycles with the sampling cycles in order while thinning out the feedback signal.
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