Patent ID: 7643930

Claim:
A control system for controlling an output of a controlled object to which is applied a periodic disturbance an amplitude of which periodically changes, by a control input, comprising: disturbance compensation value-storing means for storing a plurality of disturbance compensation values for compensating for the periodic disturbance, the disturbance compensation values having been set in advance in time series according to a result of prediction of a change in the amplitude of the periodic disturbance; disturbance compensation value-selecting means for selecting, in timing of selection at a repetition period corresponding to 1/n (n is an integer not smaller than 2) of a repetition period of occurrence of the periodic disturbance, one disturbance compensation value corresponding to the timing of selection, from the stored disturbance compensation values; model parameter-identifying means for identifying model parameters of a model defining relationships between the disturbance compensation value, the control input, and the output of the controlled object, with a predetermined identification algorithm; and control input-calculating means for calculating the control input, with a predetermined algorithm including a predetermined control algorithm based on the model, according to the identified model parameters and the selected disturbance compensation value.