Model predictive control device, method of controlling model predictive control device, information processing program, and recording medium

A model predictive control device that predicts an amount of control of a control target corresponding to a command value generated for each control period from a target track using a model of the control target, the model predictive control device comprising:

• a logic circuit;
• and
• a memory, wherein
• the logical circuit determines presence/absence of periodicity of changes in a predicted error, which is an error between an actually-measured value of the amount of control of the control target and a predicted value of the amount of control predicted using the model, with respect to time;
• the logical circuit drives an equation representing changes in an amplitude with respect to time in a waveform representing changes in the predicted error with respect to time when the presence of periodicity is determined by the determination unit;
• and
• the logical circuit corrects the predicted value in a current period using the equation and the predicted error in a period previous to the current period in the waveform,
• the logical circuit calculates an amplitude variation ratio for each period up to the period previous to the current period in the waveform,
• the logical circuit derives the equation representing changes in the amplitude with respect to time in the waveform as a sum of values respectively acquired by multiplying amplitude variation ratios for periods up to the period previous to the current period by coefficients for the periods.