Patent ID: 8452424
Filing Date: 2013-05-28
Classification: G05B

Abstract:
1. A moving object feed-forward control method that is used for a positioning control that positions a moving object among a plurality of control objects, and that computes a control input (U(z)) of a feed-forward control for the moving object by inputting a position command (Rc(z)) to a digital filter that is configured from a finite impulse response filter (Nf(z)/Z n ), the moving object feed-forward control method comprising: wherein a numerator polynomial expression (Nf(z)) of the finite impulse response filter (Nf(z)/Z setting a coefficient (ak) of the numerator polynomial expression (Nf(z)) of the finite impulse response filter (Nf(z)/Z reducing a gain of the finite impulse response filter (Nf(z)/Z determining a weighting matrix (Qfk) that performs constraint of the specified frequency in a positive definite matrix (Q) of the evaluation function (J) by substituting the specified frequency into a function that is expressed by a square of a gain characteristic of the finite impulse response filter (Nf(z)/Z