PURPOSE: To match the both of a system output and a dynamic characteristic with a target orbit not only by controlling the normal system output but also controlling the part of the dynamic characteristic of the system, for the nonlinear system where the dynamic characteristic of the system changes by a control input. ;CONSTITUTION: A calculation means 1 is provided with the part 1a corresponding to the dynamics of a nonlinear system 2 and the part 1b corresponding to the dynamic characteristic to be controlled. When a control input 3 is imparted to the calculation means 1, the means 1 generates the output corresponding to the dynamics of the nonlinear system 2 and the output corresponding to the dynamic characteristics (a viscosity characteristic, an elastic characteristic and mass). When a target orbit is imparted to the means 1, a comparator 4 compares the output corresponding to the dynamics of the nonlinear system 2 and the output corresponding to the dynamic characteristic that the calculation means 1 outputs and each target orbit and determines an error. The error is reversely propagated to the calculation means 1, the means 1 calculates the corrected value of a control input reducing the error, and the determined control input is inputted in the nonlinear system.;COPYRIGHT: (C)1995,JPO
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