| 摘要 |
<p>PURPOSE:To enable specified optimum control even for a control object with redundant time by predicting the output vector of the controlled system with a specified state space model and minimizing deviation while satisfying input/ output limiting conditions. CONSTITUTION:For example, the control object having a redundant time is expressed by a discrete state space model shown by an expression, namely, a state space model composed of a state equation for predicting a state in the next control cycle of the control object corresponding to the present state of the control object and an input showing a manipulated variable for control at such a time and an output equation showing an output as the operated result of the control object from this state of the control object. While using this state space model, the output of the control object is predictively calculated toward the future just for prescribed control cycles in the control of the control object, difference between this predicted output vector and a target vector is calculated and while satisfying applied inequality limiting conditions, the value of an input is decided by using a second-order planning method so as to minimize the norm of this differential vector.</p> |
