Patent ID: 11835929

Abstract:
Disclosed is a control device of a plant. The control device of a plant according to an embodiment includes a communication device configured to communicate with a plant; a processor configured to, based on receiving a command input for the plant, generate a control input for the plant and provide the control input to the plant, and the processor may calculate a feedforward control input of the plant using the command input and prestored first parameter, calculate an error based on a difference value of the command input and output of the plant, calculate a feedback control input of the plant using the calculated error and prestored second parameter, calculate a estimated disturbance of the plant based on the control input of the plant, output of the plant, and the prestored first parameter, generate the control input of the plant based on control input of the feedforward, control input of the feedback, and the estimated disturbance, and simultaneously adjust the first parameter and the second parameter based on an initial output of the plant during initial driving of the plant.