CONTROLLER FOR SUBJECT HAVING NONLINEAR DYNAMIC CHARACTERISTIC

摘要

PURPOSE:To obtain a controller which excels in the response and the stability by forming a control part with a linearizing part and a controller part controls the latter dynamic characteristic. CONSTITUTION:A controller 10a consists of an operating part 2 and a control part 3. A conversion computing element 5 inputs the control signal of a control subject 1 and outputs a virtual controlled variable signal Z. At the same time, a linearizing computing element 6 outputs a linearizing feedback signal. Then a target value computing element 7 inputs the target value and outputs a target value signal SZ of the virtual output, and a servo system controller 8 inputs both signals SZ and Z and outputs the virtual action command value V. Furthermore an input converter 9 inputs the value V and a feedback signal and outputs the action command value U. In such a constitution, a control process having the nonlinear dynamic characteristic is converted into the virtual linear dynamic characteristic and controlled. Thus it is possible to obtain a controller which excels in the response and the stability.