Numeric control apparatus for machine tools

A numeric control method for controlling machine tools having a moveable member which is operated by a servomotor, comprising the steps of:

• setting a reference input value;
• transmitting a command value to a first controller;
• supplying the reference input value from the first controller to a servomotor in response to receiving the command value;
• measuring an output of the servomotor;
• storing the measured output of the servomotor;
• setting system parameters for a model;
• supplying the reference input value from the first controller to the model in response to receiving the command value;
• measuring an output of the model;
• storing the measured output of the model;
• a first comparing step of comparing the measured output of the servomotor to the measured output of the model;
• adjusting gains of the model;
• setting design parameters of a second controller;
• setting a simulation current;
• transmitting the command value to the second controller;
• supplying the simulation current from the second controller to the model in response to receiving the command value;
• comparing the command value with the measured output of the model;
• and
• adjusting the design parameters of the second controller.