| 摘要 |
PURPOSE:To improve the controllability and stability, by providing compensators for external disturbance and control deviation so that an output of a PID controller acts just like an optimum regulator. CONSTITUTION:Controlled variables y1, y2 of a controlled system 1 are detected at detectors 21, 22 and they are compared 41, 42 with reference values r1, r2 of the controlled variables y1, y2. The outputs are inputted to compensators 711, 721, 712, 722 respectively, and a disturbance (w) from a disturbance source 6 is inputted to compensators 713, 723 and each output of the compensators is summed at adders 131, 132. The outputs are inputted to controllers 51, 52 to output manipulated signals u1, u2 of the controlled system 1. In this case, the compensators 711, 712, 713, 721, 722, 723 are so designed that the output of the PID controller acts just like the optimum regulator approximately. |
