| 摘要 |
Control characteristics of a control object including a specimen (10), a hydraulic cylinder (12), and a servo valve (16) are expressed in a model, and stored in a model storage section (34). In modeling, dynamical characteristic values (a mass M, a damping coefficient C, a spring constant K) of a specimen (10) are expressed is variables. After substituting the actual characteristic values of a specimen (10) to be tested in the variables of the model, a simulation is run using the model to obtain an optimal feedback gain. When the optimal feedback gain is determined, the pole position of the corresponding system to be controlled is specified. Thereafter, when different specimens (10) having different characteristics are tested, optimal feedback gains for the respective systems are determined by calculating a value which ensures the respective systems the same pole position as the above.
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