Patent ID: 8890452

Claim:
A control device of an electrically driven door opened or closed by an electric motor, the control device comprising: a driving force instruction value producing unit that outputs a driving force instruction value of the electrically driven door; a state observing unit that estimates a mechanical resistant force to a door driving system of the electrically driven door; a reference model that determines a dynamic characteristic of the electrically driven door to the mechanical resistant force estimated by the state observing unit; a subtractor that calculates a difference between the output of the reference model and an actual speed of the door; a gain compensator that computes, using the calculated difference, a thrust compensation value for making an output of the reference model coincide with the actual speed of the electrically driven door; and an adder that adds the thrust compensation value computed by the gain compensator to the driving force instruction value outputted by the driving force instruction value producing unit; wherein the reference model includes a model related to at least one of a lighter door model and a soft edged door model.