| 摘要 |
PROBLEM TO BE SOLVED: To overcome static friction in a setting element to resist a change in an operation variable by further changing a control signal until the operation variable desirably actually changes from a steady state of the setting element when a change in the operation variable is desired. SOLUTION: A compensating means 36 is actuated in a steady state where a throttle valve rests, that is, a setting element rests. Next, when a target position changes, that is, a change in a control deviationΔis imparted, the so-called starting pulse is imparted from the compensating means 36. Since the time length and/or amplitude of the starting pulse is selected extremely small, the starting pulse acts on the setting element only when friction of the setting element exists in a typical lower limit value. A second pulse is imparted when the setting element does not move though the starting pulse is imparted. The action of this pulse is repeated by using a gradually increasing pulse until the setting element starts to move.
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