| 摘要 |
To output the manipulated variable calculated by an arithmetic unit (U) including a nonvolatile memory device (M) by inputting a desired value (S), a controlled variable (R), and a disturbance value (D), a response function is identified by using data of when the (R), (C), and (D) vary greatly though not abnormally, the (R) is predicted by using the (R), (C), and (D)s of the past, present, and future (plan), and the correction value of the (C) for equalizing the (R) to the (S) is calculated, as the present value of the differential of the (C), based on the predicted valuable of the (R). The product of the correction value, the coefficient which is the remainder obtained by subtracting the uncertainty of the response function and the model unsuitability from 1, and the noise compressibility is made the differential of the present output value, and the differential is added to the output value of previous control period, thus outputting the sum. The data, such as the response function, obtained during a control is stored in the (M). Any sudden failure occurring during conventional digital control where a response function is identified and controlled and any noise amplification state are avoided. Feedforward is realized, and control disorder due to a knowable disturbance is prevented. |
