| 摘要 |
PROBLEM TO BE SOLVED: To provide a controller such as an H∞controller capable of preventing the increment of device capacity. SOLUTION: The controller is provided with a compensating computing element 103 for inputting the practical value 106 of a controlled variable and weighting a frequency characteristic, a subtracter 105 for subtracting the output of the computing element 103 from the objective value 102 of the controlled variable to find out a deviation, and an adjuster 104A having an amplitude limiting function for a manipulated variable to be outputted to a controlled target 101. A 1st transmission function G(s) from the input of the computing element 103 up to the output of the adjuster 104A is divided into a 2nd transmission function G1 (s) having one or more poles close to an origin on a Laplace plane or one or more poles close to the origin and one or more zero points and a 3rd transmission function G2 (s) obtained by dividing the function G(s) by the function, G1 (s). The function G, (s) is set up on the adjuster 104A and the function G2 (s) is set up on the computing element 103.
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