Patent Document ID: 4785780
Application ID: 07069514
Patent Flag: 1

Claim One:
1. A control apparatus comprising: (a) means for detecting a state value related to operating state of a controlled object; (b) an actuator adjusting the operating state of the controlled object; and (c) means for determining a target control quantity of the actuator on the basis of the detected state value and controlling the actuator in accordance with the determined target control quantity; wherein the determining/controlling means comprises: means for storing the detected state value and the determined target control quantity; and means for calculating a new target control quantity of the actuator on the basis of a vector of predetermined optimal feedback gain and a vector of state variables, wherein the optimal feedback gain depends on model constants in a dynamic model which is an approximation to the operating state of the controlled object, and wherein the state variables are composed directly of the state value stored in the storing means and the control quantity stored in the storing means.