Method for designing the controller for suppressing the maximum amplitude of trajectory tracking errors and Controller using the same

摘要

A method of designing a controller for calculating an error value of an output value of a control object with respect to an input value through a predetermined calculation equation to provide a control value of the control object includes the steps of tracking a target motion trajectory Calculating a tracking motion trajectory of the control object, calculating a maximum amplitude of the error of the target motion trajectory and the tracking motion trajectory ("orbit tracking error"), and calculating a parameter of the controller so that the maximum amplitude of the trajectory tracking error decreases Adjust.