Computational model of reference response profile

A control method executable by a control system including a controller configured to output a command to a control target, the method comprising:

• storing, into a storage, a computational model of a reference response profile representing, as a reference frequency characteristic, a frequency characteristic of a reference state of the control target corresponding to a first command;
• calculating a first actual response profile representing, as a first frequency characteristic, a frequency characteristic of a first actual state of the control target having responded to the first command;
• acquiring an error between the reference response profile and the first actual response profile;
• setting, as an identification range, a limited band that is part of a frequency band of the first actual response profile and includes a frequency corresponding to the error;
• causing the controller to output, to the control target, a second command that is based on a frequency at which the error is greater than a predetermined threshold, wherein the second command is based further on a frequency component within the identification range;
• calculating a second actual response profile representing, as a second frequency characteristic, a frequency characteristic of a second actual state of the control target having responded to the second command;
• replacing a part of the reference response profile corresponding to the identification range with the second actual response profile to update the reference response profile;
• and
• executing a fitting operation based on the updated reference response profile to update the computational model.

A non-transitory computer-readable storage medium storing processor-executable instructions to:

• store, into a storage, a computational model of a reference response profile representing, as a reference frequency characteristic, a frequency characteristic of a reference state of a control target corresponding to a first command;
• calculate a first actual response profile representing, as a first frequency characteristic, a frequency characteristic of a first actual state of the control target having responded to the first command;
• acquire an error between the reference response profile and the first actual response profile;
• set, as an identification range, a limited band that is part of a frequency band of the first actual response profile and includes a frequency corresponding to the error;
• cause a controller to output, to the control target, a second command that is based on a frequency at which the error is greater than a predetermined threshold, wherein the second command is based further on a frequency component within the identification range;
• calculate a second actual response profile representing, as a second frequency characteristic, a frequency characteristic of a second actual state of the control target having responded to the second command;
• replace a part of the reference response profile corresponding to the identification range with the second actual response profile to update the reference response profile;
• and
• execute a fitting operation based on the updated reference response profile to update the computational model.