Control apparatus

A control apparatus for controlling a controlled variable of a controlled object having a first or higher order lag characteristic by a control input, comprising:

• reference parameter-detecting means for detecting a reference parameter which influences the lag characteristic;
• weight function value-calculating means for calculating, according to the detected reference parameter, M weight function values (M represents an integer not smaller than 2) associated with the reference parameter;
• estimated controlled variable-calculating means for calculating an estimated controlled variable, which is an estimated value of the controlled variable, using a control target model of a discrete-time system defining a relationship between the controlled variable and the control input of the controlled object;
• error-calculating means for calculating an error between the calculated estimated controlled variable and the controlled variable;
• range identification error-calculating means for calculating M first products by multiplying the calculated error by the calculated M weight function values, and calculating M range identification errors using the M first products;
• modification value-calculating means for calculating M modification values such that the calculated M range identification errors are each minimized;
• identification means for calculating M second products by multiplying the calculated M modification values by the M weight function values, respectively, and identifying onboard a model parameter of the control target model using a total sum of the M second products;
• and
• control input-calculating means for calculating the control input using the identified model parameter and a control algorithm derived based on the control target model,
• wherein the M weight function values are associated with M ranges of the reference parameter, respectively, the M weight function values each being set to values other than 0 in an associated range and set to 0 in ranges other than the associated range, and adjacent ones of the M ranges overlap each other.

A control apparatus for controlling a controlled variable of a controlled object having a first or higher order lag characteristic, by a control input, comprising:

• first reference parameter-detecting means for detecting a first reference parameter which influences the lag characteristic;
• second reference parameter-detecting means for detecting a second reference parameter which influences the lag characteristic;
• reference model parameter-calculating means for calculating, according to the detected first reference parameter, a reference model parameter as a reference value of a model parameter of the control target model;
• weight function value-calculating means for calculating, according to the detected second reference parameter, M weight function values (M represents an integer not smaller than 2) associated with the second reference parameter;
• estimated controlled variable-calculating means for calculating an estimated controlled variable which is an estimated value of the controlled variable using a control target model of a discrete-time system defining a relationship between the controlled variable and the control input of the controlled object;
• error-calculating means for calculating an error between the calculated estimated controlled variable and the controlled variable;
• range identification error-calculating means for calculating M first products by multiplying the calculated error by the calculated M weight function values, and calculating M range identification errors using the M first products;
• modification value-calculating means for calculating M modification values such that the calculated M range identification errors are each minimized;
• identification means for calculating M second products by multiplying the M calculated modification values by the M weight function values, respectively, and identifying onboard the model parameter by adding a total sum of the M second products to the calculated reference model parameter;
• and
• control input-calculating means for calculating the control input using the identified model parameter and a control algorithm derived based on the control target model,
• wherein the M weight function values are associated with M ranges of the first reference parameter, respectively, the M weight function values each being set to values other than 0 in an associated range and set to 0 in ranges other than the associated range, and adjacent ones of the M ranges overlap each other.

A control apparatus for controlling a controlled variable of a controlled object having a first or higher order lag characteristic by a control input, comprising:

• reference parameter-detecting means for detecting a reference parameter which influences the lag characteristic;
• reference model parameter-calculating means for calculating N reference model parameters as reference values of the N model parameters (N represents an integer not smaller than 2) in a control target model of a discrete-time system which represents a dynamic characteristic of the controlled object, according to the detected reference parameter;
• estimated controlled variable-calculating means for calculating an estimated controlled variable which is an estimated value of the controlled variable, using the control target model;
• error-calculating means for calculating an error between the calculated estimated controlled variable and the controlled variable;
• modification value-calculating means for calculating N modification values associated with the N reference model parameters, respectively, such that the calculated error is minimized;
• identification means for identifying onboard the N model parameters by adding the calculated N modification values to the N reference model parameters, respectively;
• and
• control input-calculating means for calculating a control input for controlling the controlled variable using the identified N model parameters and a control algorithm derived based on the control target model,
• wherein said reference model parameter-calculating means calculates one of the N reference model parameters according to the detected reference parameter, and calculates the reference model parameters other than the one reference model parameter such that a predetermined restraint condition is satisfied between the one reference model parameter and the other reference model parameters.