Control device

A control device that causes an output of a target device to be servo-controlled to follow a predetermined command in a predetermined working coordinate system, the target device having one or more control axes, an independent generalized coordinate system being set for each of the one or more control axes, the independent generalized coordinate system being used to servo-control each of the one or more control axes, the control device comprising:

• a target model controller possessing a target model in which the target device is modeled based on the predetermined working coordinate system, the target model controller configured to simulate an output according to the predetermined working coordinate system by using the target model and to output a simulation result;
• a state acquisition unit configured to acquire a value of a predetermined state variable based on the predetermined working coordinate system, the predetermined state variable being related to the target model possessed by the target model controller;
• a model predictive controller possessing a predictive model in which a correlation between the predetermined state variable and a control input to the target model controller is defined in a form of a predetermined state equation based on the predetermined working coordinate system, the model predictive controller configured to receive the predetermined command, to perform the model predictive control within a predictive zone having a predetermined time width in accordance with a predetermined evaluation function and based on the predictive model, and to output a value of the control input at least at an initial time of the predictive zone, as the control input to the target model controller, the control input being related to the predetermined command;
• a calculator configured to calculate a target command for each control axis from the output of the target model controller which is based on the predetermined working coordinate system, the output of the target model controller being obtained by inputting an output of the model predictive controller to the target model, the target command according to a geometric relationship of a machine structure related to the one or more control axes in the target device and being based on the generalized coordinate system set for each of the one or more control axes;
• and
• a supply unit configured to supply the target command to each of the one or more control axes to the target device.