METHOD FOR DESIGNING SHAFT TORQUE CONTROLLER AND FEEDBACK CONTROLLER OF TEST SYSTEM, AND SHAFT TORQUE CONTROLLER DESIGNED ON BASIS OF SAME DESIGN METHOD

摘要

This design method is provided with a design process for a computer to design a μ controller K satisfying a prescribed design condition in a feedback control system provided with the μ controller K and a generalized plant P provided with a nominal plant N. Set in the design process are: a first disturbance input port 81; an integration operation amount calculation unit 90 which integrates a deviation input between a first disturbance input and an output from the nominal plant N, and calculates an integration operation amount by multiplying the integration result by an integration gain Ki of a designated value; a summing unit 91 which sums the output from the μ controller K and the integration operation amount and generates an input to the nominal plant N; a first control amount output port 84 which outputs, as a first control amount output z1, an output obtained by multiplying the deviation input by a first output weight function Ge(s); and a second control amount output port 85 which outputs, as a second control amount output z2, an output obtained by multiplying the output from the μ controller K by a second output weight function Gip(s).