CONTROLLER DESIGNING METHOD, CONTROLLER AND AXIAL TORQUE CONTROLLER

摘要

To provide a controller designing method enabling a designing with the variable range of a parameter that characterizes the input and output characteristic of a to-be-controlled object being specified as a positive range.SOLUTION: A controller designing method designs, in a feedback control system that includes: a generalization plant including a nominal plant N simulating the input and output characteristic of a to-be-controlled object, and a variable unit Δ that gives a variability to at least one model parameter contained in the nominal plant N; and a controller that gives an input to a generalization plant p on the basis of the output by the generalization plant p, the controller so as to satisfy a predetermined design condition. The nominal plant N includes: a nominal value multiplying unit that multiplies an input signal η by the nominal value of the model parameter: and a summing unit that sums a variable output signal ξ by the variable unit Δ and the output signal by the nominal value multiplying unit. The variable unit Δ creates the variable output signal ξ by utilizing a map Δp by Cayley transform on an unbounded complex variability Δg.SELECTED DRAWING: Figure 6