Control system

A control system for causing an output of a predetermined control target that is a servo control target to follow a predetermined command, comprising:

• a first processing device comprising a first processor and a prediction model that defines a correlation between a predetermined state variable with respect to the predetermined control target and a control input to the predetermined control target comprising a predetermined state equation, the first processing device performing model predictive control on the basis of the prediction model according to a predetermined evaluation function in a prediction interval having a predetermined duration using the first processor and outputting a servo command corresponding to the control input at at least an initial time point of the prediction interval;
• and
• a second processing device comprising a second processor different from the first processor and a predetermined feedback system including one or a plurality of controllers to which a feedback signal related to an operation of the predetermined control target is input, and receiving the servo command output from the first processing device, the second processing device performing feedback control according to the predetermined feedback system on the basis of the received servo command using the second processor, wherein
• the second processing device further comprises a second processing side control model unit including a control model which models the predetermined feedback system and the predetermined control target,
• the first processing device includes an upper model corresponding to the control model included in the second processing side control model unit and creates the servo command on the basis of the control input using the upper model, and
• the second processing device performs model follow-up control as the feedback control according to the control model included in the second processing side control model unit using the second processor.