Patent ID: 7813867

Claim:
A control apparatus for controlling a controlled variable of a controlled object by a control input, comprising: controlled variable-detecting means for detecting the controlled variable; target controlled variable-setting means for setting a target controlled variable serving as a target to which the controlled variable is controlled; first input value-calculating means for calculating a first input value for performing feedback control of the controlled variable such that the controlled variable is caused to converge to the target controlled variable, with a predetermined feedback control algorithm; modulated input value-calculating means for calculating a modulated input value by modulating the first input value with a predetermined modulation algorithm such that the modulated input value has a higher frequency as an absolute value of the first input value is smaller; operating state parameter-detecting means for detecting an operating state parameter indicative of an operating state of the controlled object, except for the controlled variable; error parameter-calculating means for calculating an error parameter indicative of an error of the control input with respect to an estimated value of the control input at which the controlled variable is estimated to become equal to the target controlled variable; modification value-calculating means for calculating a plurality of modification values respectively associated with a plurality of regions formed by dividing a region within which the operating state parameter is variable, with a predetermined control algorithm, such that the error parameter becomes equal to a predetermined target value; model-modifying means for modifying a correlation model representative of a relationship between a second input value for feedforward-controlling the controlled variable and the operating state parameter, using the plurality of modification values; second input value-calculating means for calculating the second input value using the modified correlation model and the operating state parameter; and control input-calculating means for calculating the control input based on a sum of the second input value and the modulated input value such that the control input performs a periodic fluctuating behavior.