Patent Document ID: 20130035914
Application ID: 13641888
Patent Flag: 0

Claim One:
1. A servo controller, comprising: a reference model unit which inputs a reference to generate a model output and a model input; a feedback control unit which inputs a control output, which is output from a plant, and the model output to generate a feedback input so that the control output follows the model output; and an adder which adds the model input and the feedback input to generate a control input to be input to the plant, wherein the reference model unit comprises: a mathematical model which simulates characteristics of the plant, and generates the model output and a state variable from the model input; a model input memory which inputs the model input and which outputs, as a past model input, a stored signal of the model input of past; a model controller which inputs the reference, the state variable, and the past model input to generate the model input; and a model controller determining unit which determines the model controller based on the reference, the state variable, and the past model input.