MODEL FOLLOWING CONTROLLING SYSTEM AND FORCE-POSITION CONTROLLER FOR ROBOT

摘要

PURPOSE:To realize a control system to follow a normative model in response to input by using a high-gain element for a forward transfer element. CONSTITUTION:The control system to suppress the influence of the variation of a parameter by enhancing robustness is provided with a fuzzy normative model 2 for obtaining a desired response for some input information. Then, the output information of a plant and the output information of the fuzzy normative model 2 are compared with each other by a comparator 3. A compared result is made the input information of a first high-gain means 1 and the fuzzy normative model 2. The high-gain means 1 compares the input information and the information of a target value gamma with each other by the comparator 4, and inputs the compared result to a second high-gain means 5. The output information of the high-gain means 5 controls the plant as operating information.