Control mechanism employing internal model coordination feedforward method

In a control mechanism arranged to obtain a manipulation variable by comparing a desired value or a reference value with a feedback variable into which a controlled variable is transformed to provide an error signal, sequentially transmitting said error signal to an internal model which is composed of the same number of elements as its order, each of said elements including at least a means for storing a state variable, adding the outputs of a plurality of gain controllers into which the state variables of said respective elements are input, and comparing the result of said addition with another feedback variable supplied from a first regulator, said control mechanism employing an internal model coordination feedforward method and comprising:

• a plurality of second regulators arranged to receive as their inputs a plurality of branched signals of said error signal;
• first means for adding the outputs of said plurality of second regulators to the state variables of said respective elements of said internal model;
• an additional additional regulator arranged to receive as its input a branched signal of said desired value or said reference value;
• and
• second means for adding the output of said additional regulator to a predetermined state variable of said internal model, an output of said second adding means being input to one of said gain controllers.