| 摘要 |
PURPOSE: To improve the control ability of an adaptive controller and to eliminate a normal deviation. CONSTITUTION: In the adaptive controller having a PID controller 51 executing proportional differential integral control based on a control deviation (ep(t)) 52 between the controlled variable of a process 1 and a target value and obtaining the controlled variable of the process, the control deviation (ep(t)) 52 is inputted to a coefficient unit 56, a coefficient value (k) is multiplied, a multiplier 58 multiplies a value byτ, a differentiator 60 executes differentiation and an adder 57 adds the value with the output of the coefficient unit 56. The output of a phase delay compensator 63 is subtracted from the output of the adder 57, and a gain computing element 67 executes gain calculation. The output (K(t)) 68 of the gain computing element 67 is multiplied by the output (ea(t)) 65 of a subtracter 62 by a multiplier 66. The multiplied result is added with the output (u'(t)) 53 of a PID controller 51 by an adder 55 and it becomes the controlled variable (u(t)) 3 of the process 1.
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