Patent ID: 11422064

Abstract:
In this control apparatus design method, a feedback control system comprises a generalization plant including a nominal plant N representing the input/output characteristic of an object to be controlled and a fluctuation unit Δ for making at least one model parameter included in the nominal plant N fluctuate, and a controller for applying input to the generalization plant P on the basis of output from the generalization plant P. The controller is designed so as to satisfy a prescribed design condition. The nominal plant N comprises a nominal value multiplication unit for multiplying an input signal η by a nominal value for the model parameter and an addition unit for adding a fluctuation output signal ξ from the fluctuation unit Δ and an output signal from the nominal value multiplication unit. Further, the fluctuation unit Δ generates the fluctuation output signal ξ using a mapping Δp obtained from a Cayley transform of unbounded complex fluctuation Δg.