Patent ID: 6961627

Claim:
A control system for controlling a control variable y of a controlled object through a manipulation variable x, comprising: a steady-state deviation estimating means for estimating a steady-state deviation d in a controlled object as a steady-state deviation estimation value d′ based on the control variable y and a final desired value y 2 ; a primary estimating means for estimating the control variable y of the controlled object according to an initial desired value y 1 as a primary estimation value y 1 ′ based on at least the initial desired value y 1 and the steady-state deviation estimation value d′; a desired value determining means for determining a final desired value y 2 agreeing with the initial desired value y 1 if the primary estimation value y 1 ′ is within an allowable range, while determining the final desired value y 2 based on at least a boundary value of the allowable range if the primary estimation value y 1 ′ out of the allowable range; and a manipulation variable determining means for determining a manipulation variable x according to the final desired value y 2 .