Patent ID: 7158874

Claim:
A controller comprising: control amount-detecting means for detecting a control amount of a controlled object; target control amount-setting means for setting a target control amount as a target of the control amount; estimated control amount-calculating means for calculating an estimate of the control amount as an estimated control amount, with a predetermined estimation algorithm based on a controlled object model obtained by modeling the controlled object; first disturbance estimate-calculating means for calculating a first disturbance estimate by carrying out processing including at least one of a predetermined filtering process, a predetermined limiting process, and a predetermined gain-setting process on a first difference as a difference between the detected control amount and the calculated estimated control amount; second disturbance estimate-calculating means for calculating a second disturbance estimate based on a second difference as a difference between the first difference and the calculated first disturbance estimate, with a predetermined disturbance estimation algorithm; and control input-calculating means for calculating a control input to the controlled object based on the calculated first disturbance estimate, the calculated second disturbance estimate, and the detected control amount, with a predetermined control algorithm, such that the control amount converges to the target control amount.