Method and apparatus of two-degrees-of-freedom time difference comparison compensator

In a control system using a controller or a regulator for executing the stabilization of perturbations and the regulation of responses to a desired value or a reference value, an apparatus of two-degrees-of-freedom time difference comparison compensator, comprising:

• a versatile time difference compensator disposed upstream of said controller or said regulator and including
• (a) means for branching said desired value or said reference value into a primary branch and an n-number of branches (wherein n designates a positive integer except for one);
• (b) means for comparing said primary branch directly with a feedback variable to obtained a primary difference value;
• (c) means for transmitting said n-number of branches of said reference value into lag elements having various delay times;
• (d) means for comparing the outputs of the respective said lag elements with said feedback variable respectively to obtain an n-number of difference values;
• (e) means for transmitting said primary difference value and said n-number of difference values into various weighting elements to multiply said primary difference value and said n-number of difference values by various weights thereby to obtain weighted signals;
• (f) means for calculating the sum of said weighted signals to obtain a sum signal;
• and
• (g) means for transmitting said sum signal into a gain adjustment element to re-adjust a gain for said sum signal to be outputted to said controller or said regulator thereby to produce an operation value;
• and
• means for producing said feedback variable from a controlled variable controlled by said controller or said regulator and feeding back said feedback variable to said versatile time difference compensator.