CONTROLLER AND CONTROL METHOD

摘要

PROBLEM TO BE SOLVED: To stably maintain the performance of the control device/method as designed against the nonlinear controlled systems by eliminating the mutual interference between the partial systems of a nonlinear control model, linearizing the behaviors of the partial systems and controlling individually the linear behaviors of partial systems by means of the linear control model. SOLUTION: This controller consists of plural nonlinear controlled system parts 11-1 to 11-n and controls the nonlinear controlled systems 11 which have the nonlinear behaviors and interfere with each other. A nonlinear control model part 12 constructs a nonlinear control model, and a nonlinear control model generation part 13 generates a nonlinear control model. A non-interference linearization feedback design part 14 decides a linear control model. A non-interference linearization feedback controller 15 calculates the nonlinear state feedback (u) and the linearization state quantumξ. A linear control model part 16 constructs a linear control model, and a control gain calculation part 17 designs a linear controller. Then a linear control part 18 includes plural linear controllers 18-1 to 18-n.