| 摘要 |
PURPOSE:To keep expected excellent control performance by providing the controller which receives a detection signal issued from a sensor for the number of revolution in a rotative driving system and a set value signal for the number of revolution to deliver a controlling input signal to an engine, and thereby coping with fluctuation in the response characteristics of the rotative driving system. CONSTITUTION:Controlling input u(k) is composed by passing an input and an output signal u(k), y(k) through filters 9, 10, and then multiplying them by a regulated gain. The use of the above controlling input can automatically regulate a controlling parameter, if a parameter for the engine of an underwater cruising body has changed, to keep the excellent performance of a control system.
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