Patent ID: 7725201

Claim:
A feedback control apparatus for carrying out a feedback control to cause a control output to follow a target input for a control system having a delay element in a control object or in a controller, said feedback control apparatus comprising: a controller which includes at least a main controller and a delay element of the controller; a control object which receives an output from the delay element of the controller, and an observer which receives the control output so as to follow the target input for the controller, said observer comprising: a first element model having no-delay element of the control object; a second element model, having a delay element model of the controller, which receives an output of the first element model; a third element model, having a delay element model of the control object, which receives an output of the second element model; a subtracter which receives an output of the third element model and the control output of the control object so as to output the subtracted signal thereof, and an observer compensator which receives said subtracted signal from the subtracter, wherein an output signal of the main controller and the feedback signal of the observer compensator are added and input to the first element model, and wherein an error signal is produced in the observer through the observer compensator, and fed back to the control object through the controller.