Importance

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Abstract

A conventional design method intended for repetitive target values utilizes a tracking error of one period before or such a error at the time t' at the preceding trial corresponding to the present time t. The error from the time of one period before up to the present or what is the time t' after has not been utilized, though it is very useful when the present invention uses an algorithm for making the output of a controlled system follow up a periodic target value in an optimum determined manner with only four fundamental arithmetic operations, using an incremental amount of modification at individual sampling time, tracking errors of one period before and thereafter, the present tracking error, the past incremental amounts of modification, the control input of one period before and preset constants. The control method according to the present invention is characterized by minimizes the weighting square sum of estimated values of a future tracking error, using a control input at individual sampling time, tracking errors of one period before and thereafter, the amounts of past modification, data (indicial response) pertaining to the dynamic characteristics of a controlled object, and the control input of one period before or its equivalent for the controlled object having target a value repeating the same pattern.

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First Claim