569084 A7 B7 五、發明説明（1) (技術領域） 本發明係關於一種在控制器或控制對象存有延遲要素 (請先閱讀背面之注意事項再填寫本頁) ’或在控制對象之輸入、輸出存有白費時間的反饋控制方 法及裝置。 (脅景技術） 在伺服或處理控制等大部分之控制系統中，於控制器 或控制對象存有白費時間或濾波器等之延遲要素。第3圖 係表示普通之反饋控制系統的方塊線圖。 在第3圖中，2係主控制器（例如p I d控制器等） ;3係控制器之控制要素；4係控制對象之延遲要素；5 係沒有控制對象之延遲的要素。在此種控制系統，延遲要 素之相位會延遲之故，因而無法提昇控制器之增益而無法 得到充分之嚮應特性。在此，對於相位延遲之補償控制成 爲必需° 經濟部智慧財產局員工消費合作社印製 如第4圖所示地，習知，爲了補償相位延遲，常用串 聯地施加相位進位補償要素1 2。如T a > T b地適當地 設定T a、T b，則相位進位使得補償要素」2之相位成 爲進位，提升主控制器2之增益，而可提高控制性能。 然而’在上述習知之相位補償控制法，相位進位補償 要素之局頻帶的增益變大之故，因而有容易產生高頻之振 動的問題。 又，在伺服或處理控制等之大部分控制系統中，於輸 入或輸出存有白費時間。第8圖係表示習知之反饋控制系 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） -4 - 569084 A7 B7 經濟部智慧財產局員工消費合作社印製 五、發明説明（2) 統之方塊線圖。在第8圖中，2 2係一 P I D控制器等）；2 3係包括白費時 此種控制系統，白費時間要素之相位會 法提高控制器之增益，而無法得到充分 ，對於白費時間之補償控制成爲必需。 習知，如第9圖所示地，爲了對於 使用史密斯補償器。在第9圖中，2 5 模型；2 6係白費時間要素。注意控制 則如第6圖所示地，可將第9圖之控制 藉由第6圖所示，反饋系統之穩定性係 間的系統同樣，提昇控制器C ( s )之 出y精度優異地追隨目標輸入r。 考察上述習知的史密斯法之除去干 圖所示地，若在控制輸入端存有干擾d 控制輸出y的傳達函數係 ⑴-⑽ 般之控制器（例如 間的控制對象。在 延遲之故，因而無 之嚮應特性。在此 白費時間之補償常 係控制對象之預測 輸入與反饋信號， 系統等値地重寫。 成爲與沒有白費時 增益，可將控制輸 擾特性。如第1 0 ，從干擾d —直到 (1) 將對於步驟干擾d ( s ) = 1 / s的控制輸出y的穩定値 作爲y s d時，則成爲 :lim569084 A7 B7 V. Description of the invention (1) (Technical field) The present invention relates to a type of delay element that exists in the controller or control object (please read the precautions on the back before filling this page) 'or input in the control object, A feedback control method and device for outputting vain time. (Threat view technology) In most control systems such as servo or process control, there are delay elements such as wasted time or filters in the controller or control target. Fig. 3 is a block diagram showing a general feedback control system. In the third figure, 2 is the main controller (such as p I d controller, etc.); 3 is the control element of the controller; 4 is the delay element of the control object; 5 is the element without the delay of the control object. In such a control system, the phase of the delay element is delayed, so the gain of the controller cannot be improved and sufficient response characteristics cannot be obtained. Here, compensation control for phase delay is necessary. Printed by the Consumer Cooperative of Intellectual Property Bureau of the Ministry of Economic Affairs As shown in Figure 4, it is common to apply phase carry compensation elements 12 in series to compensate for phase delay. If T a > T b appropriately set T a, T b, the phase carry makes the phase of the compensation element ″ 2 into a carry, which improves the gain of the main controller 2 and improves the control performance. However, in the conventional phase compensation control method described above, the gain of the local band of the phase carry compensation element becomes large, and therefore there is a problem that high-frequency vibration is liable to occur. In addition, in most control systems such as servo or process control, wasteful time is stored in input or output. Figure 8 shows the conventional feedback control system. The paper size applies the Chinese National Standard (CNS) A4 specification (210X297 mm) -4-569084 A7 B7. Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs. 5. Description of the invention (2) Block diagram of the system. In Figure 8, 2 2 is a PID controller, etc.); 2 3 includes such a control system in vain, the phase of the time component in vain will increase the controller's gain, but it cannot be fully compensated for in vain time. Control becomes necessary. Conventionally, as shown in Figure 9, in order to use the Smith compensator. In Figure 9, 2 5 model; 2 6 is a waste of time. Note that the control is as shown in Fig. 6. The control of Fig. 9 can be used as shown in Fig. 6. The stability of the feedback system is similar to the system, and the accuracy of the controller C (s) is improved. Follow the target input r. Examining the conventional dry method to remove the dry graph, as shown in the conventional Smith method, if there is a transfer function 干扰 -⑽-like controller (such as a control object) between the control input and the disturbance d control output y, for the reason of delay, Therefore, there is no response characteristic. In this case, the time-consuming compensation is often a rewrite of the predictive input and feedback signal of the control object, the system, etc. The control and interference characteristics can be controlled with no time-consuming gain. From disturbance d to (1) when the stability of control output y for step disturbance d (s) = 1 / s is taken as ysd, it becomes: lim
尸OK (2) 請 先 閲 讀 背 面 之 注 意 事 項 η 奢 訂 -ir uc(^)P(5) uc(5)P(5) 本紙張尺度適用中國國家標準（CNS ) A4規格（210X 297公釐） -5- 569084 A7 B7 五、發明説明（3) 若C ( S )具有積分器，則成立 (請先閱讀背面之注意事項再填寫本頁) ^ ...(3) 一(丨 .τ-(Ι 若P ( S )在S = 〇具有極，則成爲y s d共〇。亦即’在 上述史密斯法中，對於具有s = 〇之極的控制對象’有產 生穩定偏差之問題。又，由式（1 )，若P ( s )不穩定 ，即使小千擾，也有輸出發散之缺點問題。 本發明之目的係在於提供一種提高控制增益’嚮應性 良好的控制裝置。 本發明之另一目的係在於提供一種對於控制器或控制 對象存有延遲要素的控制系統，補償延遲要素之相位延遲 .使之不會產生高頻之振動，而可將控制輸出精度優異地追 隨目標輸入的反饋控制裝置。 本發明之又一目的係在於提供一種對於具有s = 〇之 極的控制對象，不會產生穩定偏差，而對於不穩定之控制 對象也可構成穩定之控制系統的補償反饋控制裝置。 經濟部智慧財產局員工消費合作社印紫 (發明之揭示） 爲了達成上述之目的，本發明係屬於由控制器，及利 用該控制器被控制的控制對象，及輸入來自該控制對象之 控制輸出與上述控制器之輸出，並將控制對象模型輸出作 爲反饋信號的觀測器所構成的反饋控制裝置，其特徵爲： 上述觀測器係將輸入上述控制輸出與要素模型之輸出之相 本紙張尺度適用中國國家標準（CNS ) A4規格（210X 297公釐） 一 " - -6 - 569084 A7 B7 經濟部智慧財產局員工消費合作社印紫 五、發明説明（4) 差的觀測補償器，及將該觀測補償器之輸出與來自上述控 制器之輸出之總和輸入於上述控制對象模型；又，屬於對 於在控制器或控制對象存有延遲要素的控制系統，進行將 控制輸出追隨於目標輸入之反饋控制的控制裝置，其特徵 爲：將控制輸出與觀測器之輸出的相差輸入於上述觀測器: 之補償器，相加上述觀測器之補償器之輸出與主控制器之 輸出並輸入於上述控制對象之沒有延遲要素的模型，將上 述控制對象之沒有延遲要素的模型之輸出經上述控制器之 延遲要素的模型及上述控制對象之延遲要素的模型的信號 成爲上述觀測器之輸出地構成觀測器，從上述目標輸入減 去上述控制對象之沒有延遲要素的模型之輸出後輸入於上 述主控制器，並將上述主控制器之輸出經上述控制器之延 遲要素的信號作爲控制輸入，俾將控制對象予以控制；又 ，本發明係屬於對於在輸入或輸出存有白費時間的控制對 象，將控制輸出能追隨於目標輸入的反饋控制裝置，其特 徵爲：將上述控制輸出與控制對象之白費時間要素之輸出 的相差輸入於觀測器之補償，相加該觀測器之補償器之輸 出與控制輸入後輸入於上述控制對象之預測模型，將上述 控制對象之預測模型之輸出，在其中一方輸入於上述控制 對象之白費時間要素，而在另一方成爲上述控制輸出之預 測値地構成上述觀測器，從上述目標輸入減去上述控制輸 出之預測値後輸入於控制器，俾將控制器之輸出作爲上述 控制輸出。 請 先 閲 讀 背 面 之 注 意 事 項 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） 569084 經濟部智慈財產局員工消費合作社印紫 A7 B7 五、發明説明（5) (實施發明所用之最佳形態） 利用圖式說明本發明之實施形態。第1圖係表示本發 明的控制系統之構成原理的方塊線圖。在第1圖中；2係 主控制器，3係控制器之延遲要素，4係控制對象之延遲 要素，5係控制對象之沒有延遲之要素，7係控制對象之 沒有延遲之要素的模型，8係控制器之延遲要素的模型， 9係控制對象之延遲要素的模型，1 1係觀測器之補償器 〇 一般性地，構成控制器時爲了除去雜訊必須裝入濾波 器。又，在控制對象中有白費時間或暫時延遲要素存在於 控制輸入或控制輸出。若未分離此些延遲要素，則較難同 時地滿足穩定性且控制性能地構成主控制器。在此，將控 .制器分成主控制器2與控制器之延遲要素3，依據主控制 器之輸出1：:與控制輸出y構成包括控制器之延遲要素的觀 測器，將觀測器之沒有延遲的輸出作爲反饋信號y f。 具體而言，相加主控制器2之輸出u i與觀測器之補償 器1 1之輸出，並輸入於控制對象之沒有延遲要素之模型 7。控制對象之沒有延遲要素的模型7之輸出係其中一方 作爲控制系統之反饋信號y f，並將從目標輸入r利用減算 器1減去反饋信號y ί之信號輸入於主控制器2，又將主控 制器2之輸出u i經控制器之延遲要素3後輸入於控制對象 ，俾將控制對象予以控制，另一方，經控制器之延遲要素 的模型8及控制對象之延遲要素之模型9後輸入於減算器 1〇，再將從控制輸出y所減算之信號輸入於觀測器之補 本紙張尺度適用中國國家標隼（CNS ) A4規格（210X297公釐） (請先閲讀背面之注意事項再填寫本頁) -8- 569084 A7 B7 五、發明説明（6) 償器1 1。 由第1 1圖，在控制系統之間回路中，從主控制器2 之輸出u 直到反饋信號y f之傳達函數係成爲 經濟部智慧財產局員工消費合作社印製 之故，因而可將第1圖之控制系統等値地重寫成如第2圖 所示。由第2圖，反饋控制系統之穩定性係成爲與沒有延 遲之系統同樣，可提高主控制器2之增益。又，從目標輸 入r 一直到控制輸出y之傳達函數係成爲 巾）ι+ς⑷尸(/⑴'⑴ · · ·（5) 之故，因而藉由提高主控制器2之增益，可將輸出y精度 優異地追隨目標輸入r。 又，在觀測器之回路具延遲要素，惟由式5，輸入輸 出特性係觀測器之補償器1無關之故，因而將觀測器之補 償器1 1之增益設定較低也無所謂。因此可容易地構成穩 定之觀測器。 利用圖式說明本發明之其他實施形態。第5圖係表示 本發明之第二控制系統之構成原理的方塊線圖。在第5圖 中；2 2係控制器，2 3係包括白費時間的控制對象， 2 5係控制對象之預測模型，2 6係白費時間要素，2 8 係觀測器2 0之補償器。 由第5圖，從控制輸入u —直到反饋信號y f之傳達函 數係成爲 (請先閱讀背面之注意事項再填寫本頁) 本纸張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） -9- 569084 A7 B7 經濟部智慧財產局員工消費合作社印繁 五、發明説明（7)Corpse OK (2) Please read the precautions on the back η Extra-ir uc (^) P (5) uc (5) P (5) This paper size is applicable to China National Standard (CNS) A4 size (210X 297 mm) ) -5- 569084 A7 B7 V. Description of the invention (3) If C (S) has an integrator, then it is true (please read the notes on the back before filling this page) ^ ... (3) 一 (丨 .τ -(Ι If P (S) has poles at S = 〇, it becomes ysd total 〇. That is, in the above-mentioned Smith method, there is a problem that a stable deviation is generated for a control object having a pole of s = 〇. Also, According to formula (1), if P (s) is unstable, even if it is a small disturbance, there is a disadvantage of output divergence. The object of the present invention is to provide a control device that improves the control gain and has good responsivity. One objective is to provide a control system that has a delay element for a controller or a control object, and compensates for the phase delay of the delay element so that it does not generate high-frequency vibrations, but can follow the feedback of the target input with excellent control output accuracy. Control device. Another object of the present invention is to provide a control device for Control objects with s = 〇 will not cause stability deviations, and the unstable control objects can also form a compensation feedback control device for a stable control system. Employee Consumer Cooperative Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs, Yinzi (Disclosure of Invention) In order to achieve the above object, the present invention belongs to a controller and a control object controlled by the controller, and inputs a control output from the control object and the output of the controller, and uses the output of the control object model as feedback. The feedback control device constituted by a signal observer is characterized in that: the above-mentioned observer is the input paper of the above-mentioned control output and the output of the element model. The paper size is applicable to the Chinese National Standard (CNS) A4 specification (210X 297 mm). ;--6-569084 A7 B7 Employee Cooperative Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs Yin Zi 5. Description of the invention (4) Poor observation compensator, and input the sum of the output of the observation compensator and the output from the above controller into The above-mentioned control object model; and belongs to control for which a delay element exists in a controller or a control object The system performs a feedback control control device that follows a control output to a target input, and is characterized in that the phase difference between the control output and the output of the observer is input to the above-mentioned observer: a compensator, and the compensator of the above-mentioned observer is added. The output and the output of the main controller are input to the model of the control object without a delay element, and the model of the control object without a delay element is output through the model of the delay element of the controller and the model of the delay element of the control object The signal that becomes the output of the observer constitutes the observer, and the output of the model without the delay element of the control object is subtracted from the target input and input to the main controller, and the output of the main controller passes the controller. The signal of the delay element is used as a control input, and the control object is controlled. Furthermore, the present invention belongs to a feedback control device for a control object that has no time in input or output, and the control output can follow the target input. To: waste the time control elements and control objects The phase difference of the output is input to the compensation of the observer, and the output of the compensator of the observer and the control input are added to the prediction model of the control object, and the output of the prediction model of the control object is input to one of the above controls. The object is a waste of time, and the other side becomes the prediction of the control output. The observer is constructed, and the prediction of the control output is subtracted from the target input. The input is input to the controller, and the output of the controller is used as the control. Output. Please read the note on the back first. This paper size applies the Chinese National Standard (CNS) A4 specification (210X297 mm) 569084 Employees ’Cooperative Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs of the People's Republic of China printed A7 B7 5. Description of the invention (5) (for the implementation of the invention Best Mode) An embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a block diagram showing the constitutional principle of the control system of the present invention. In Figure 1, 2 is the model of the main controller, 3 is the delay element of the controller, 4 is the delay element of the control object, 5 is the delay element of the control object, and 7 is the model of the delay element of the control object. The model of the delay element of the 8 series controller, the model of the delay element of the 9 series control object, and the compensator of the 11 series observer. Generally, a filter must be installed in order to remove noise when the controller is configured. In addition, there is a waste of time or a temporary delay element in the control target that exists in the control input or control output. If these delay elements are not separated, it is difficult to constitute the main controller while satisfying stability and control performance at the same time. Here, the controller is divided into the main controller 2 and the delay element 3 of the controller. According to the output of the main controller 1 :: and the control output y, an observer including the delay element of the controller is formed. The delayed output is used as the feedback signal yf. Specifically, the output u i of the main controller 2 and the output of the compensator 11 of the observer are added and input to the model 7 of the control object without a delay element. The output of the model 7 of the control object without delay element is one of the feedback signals yf of the control system, and the signal subtracted from the target input r by the subtractor 1 is input to the main controller 2 and the main controller 2 is input. The output ui of the controller 2 is input to the control object after the delay element 3 of the controller, and the control object is controlled. On the other hand, the model 8 of the delay element of the controller and the model 9 of the delay element of the control object are input to Subtractor 10, then input the signal subtracted from the control output y into the observer's supplement. The paper size applies the Chinese National Standard (CNS) A4 specification (210X297 mm) (Please read the precautions on the back before filling in this (Page) -8- 569084 A7 B7 V. Description of the invention (6) Compensator 1 1. From Figure 11 in the loop between the control systems, the transfer function from the output u of the main controller 2 to the feedback signal yf is printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs. The control system is rewritten as shown in Figure 2. From Figure 2, the stability of the feedback control system is the same as that of the system without delay, and the gain of the main controller 2 can be increased. In addition, the transfer function from the target input r to the control output y becomes a towel. Ι + ς⑷ Corpse (/ ⑴'⑴ · · · (5), so by increasing the gain of the main controller 2, the output can be changed. y follows the target input r with excellent accuracy. In addition, there is a delay element in the loop of the observer. However, the input and output characteristics are independent of the compensator 1 of the observer by Equation 5. Therefore, the gain of the compensator 11 of the observer is increased. It does not matter if the setting is low. Therefore, a stable observer can be easily constructed. The other embodiments of the present invention will be described using drawings. Fig. 5 is a block diagram showing the principle of the second control system of the present invention. In the figure, 2 2 is a controller, 2 3 is a control object including wasted time, 25 is a prediction model of a control object, 2 6 is a waste of time elements, and 2 8 is a compensator of observer 20. Figure 5 From the control input u until the feedback function of the feedback signal yf becomes (please read the precautions on the back before filling this page) This paper size applies the Chinese National Standard (CNS) A4 specification (210X297 mm) -9- 569084 A7 B7 Ministry of Economic Affairs Bureau of Indian employees consumer cooperatives Fan V. invention is described in (7)
Mil u〇s) (6) 之故’因而可將第5圖之控制系統等値地重寫成如第6圖 所示。由第5圖，反饋控制系統之穩定性係成爲與沒有白 費時間之系統同樣，可提高控制器C ( s )之增益。又， 從目標輸入r 一直到控制輸出y之傳達函數係成爲 y(s) C{s)P(s)e^ φ) ~ 1+C〇〇 尸⑷ (7) 之故，因而藉由提高控制器C (s)之增益，可將輸出y 精度優異地追隨目標輸入r。 爲了考察干擾除去特性，如第7圖所示地將干擾d放 在控制輸入端。由第7圖，從千擾d —直到控制輸出y之 傳達函數係以 y(.)_ P{s)e^ ^ C(s)P(s) (8) d(^) 1+C(j)P(5) 1 + C(j)P(j) UC0(s)P(s)e'u 賦與。將對於步驟干擾d ( s ) = 1 / s的輸出之穩態値 作爲y s d時，則成爲 兄·，limy (r )=lima ⑴ =limj :一Ο I 若控制器c 成爲 y s c P{s)e- -+· C(s)P(s) -Lv (9) (讀先閱讀背面之注意事項再填寫本頁) l^C(s)P{s) UC{s)P{s) UC0(5)P(s)e' 與觀測補償器C 〇 ( s )均具積分器 〇 (10) 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） -10- 569084 A7 B7 經濟部智慧財產局員工消費合作社印製 五、發明説明（8 ) 亦即，對於具有s = 〇之極的控制對象，也不會產生穩態 偏差。又，由式（b )，即使P ( s )呈不穩定，若C ( s )穩定 P ( s )，而 C。（ s )穩定 P ( s ) e _ L s，則 輸出也不發散。又，由式（7)，輸入輸出特性係與C〇 ( s )無關之故，因而可將C 〇 ( s )之增益設定較低而能穩 定 P ( s ) e - L s。 如上所述地本發明係藉由構成包括控制器之延遲要素 的觀測器，並將觀測器之沒有延遲的輸出作爲反饋信號， 使得控制系統被分離成反饋控制部分與觀測器部分。反饋 回路之穩定性係成爲與沒有延遲之系統同樣，提高控制增 益之故，因而可提高控制系統之嚮應性能。另一方面在觀 測器之回路具延遲要素，惟觀測器之補償器不會影響輸入 輸出特性之故，因而可將觀測器的補償器之增益設定較低 也無所謂，而可容易地構成穩定之觀測器。 又，本發明係藉由構成白費時間系統之觀測器，並將 控制輸出之預測値作爲反饋信號，被分離成反饋控制部分 與觀測器部分，反饋回路之穩定性係成爲與沒有白費時間 之系統同樣，提高控制增益之故，因而可提高控制系統之 嚮應性能。而且構成有觀測器之故，因而並不限定於穩定 對象，在干擾上也較強。 (產業上之利用可能性） 藉由本發明，成爲可構成嚮應性能良好的控制系統， 又成爲可容易地構成穩定之觀測器。 (請先閱讀背面之注意事項再填寫本頁) 本紙張尺度適用中國國家標準（CNS ) A4規格（2丨0X297公釐） -11 - 經濟部智慧財產局員工消費合作社印製 569084 λΊ ______Β7_ 五、發明説明（9) (圖式之簡單說明） 第1圖係表示本發明之第一控制系統之構成原理的方 塊線圖。 第2圖係表示第1圖的等値方塊線圖。 第3圖係表示通常之反饋控制系統的方塊線圖。 第4圖係表示習知之相位進位補償控制系統的方塊線 圖。 第5圖係表示本發明之第二控制系統之構成原理的方 塊線圖。 第6圖係表示第5圖及第9圖的等値方塊線圖。 第7圖係表示在第5圖中考慮干擾時的方塊線圖。 第8圖係表示習知之反饋控制系統的方塊線圖。 第9圖係表示使用史密斯補償器之控制系統的方塊線 圖。 第1 0圖係表示在第9圖中考慮干擾時的方塊線圖。 主要元件對照表 1 ， 1〇 減算器 2 主控制器 3 控制器之延遲要素 4 控制對象之延遲要素 5 控制對象之沒有延遲之要素 7 控制對象之沒有延遲之要素的模型 8 控制器之延遲要素的模型 本紙張尺度適用中國國家標準（CNS ) Α4規格（210X297公釐） (請先閱讀背面之注意事項再填寫本頁)Mil u〇s) (6) Therefore, the control system of FIG. 5 can be rewritten as shown in FIG. 6. From Fig. 5, the stability of the feedback control system is the same as that of the system without wasting time, and the gain of the controller C (s) can be increased. In addition, the transfer function from the target input r to the control output y becomes y (s) C (s) P (s) e ^ φ) ~ 1 + C〇〇⑷ (7), so by improving The gain of the controller C (s) can follow the target input r with an accuracy of the output y. In order to examine the interference removal characteristics, the interference d is placed at the control input as shown in FIG. From Figure 7, the transfer function from perturbation d to control output y is given by y (.) _ P (s) e ^ ^ C (s) P (s) (8) d (^) 1 + C ( j) P (5) 1 + C (j) P (j) UC0 (s) P (s) e'u assignment. When the steady state 値 for the output of the step disturbance d (s) = 1 / s is taken as ysd, it becomes a brother ·, llim (r) = lima ⑴ = limj: one 〇 I if the controller c becomes ysc P (s) e--+ · C (s) P (s) -Lv (9) (Read the notes on the back before filling in this page) l ^ C (s) P (s) UC (s) P (s) UC0 (5) P (s) e 'and observation compensator C 〇 (s) both have an integrator 〇 (10) This paper size is applicable to China National Standard (CNS) A4 (210X297 mm) -10- 569084 A7 B7 Economy Printed by the Consumer Cooperatives of the Ministry of Intellectual Property Bureau. V. Invention Description (8) That is, no steady-state deviation will be generated for a control object with a pole of s = 0. In addition, from equation (b), even if P (s) is unstable, if C (s) is stable P (s), and C. (S) is stable P (s) e _ L s, then the output does not diverge. In addition, from Equation (7), the input-output characteristics are independent of Co (s), so the gain of Co (s) can be set to be low, and P (s) e-Ls can be stabilized. As described above, the present invention makes the control system be separated into a feedback control part and an observer part by constructing an observer including a delay element of a controller and using the output of the observer without a delay as a feedback signal. The stability of the feedback loop is the same as that of a system without a delay, which increases the control gain and therefore improves the adaptive performance of the control system. On the other hand, there is a delay element in the loop of the observer, but the compensator of the observer does not affect the input and output characteristics. Therefore, it is not necessary to set the gain of the compensator of the observer to be low, and it can easily constitute a stable Observer. In addition, the present invention uses an observer constituting a wasted time system, and uses the prediction signal of the control output as a feedback signal to be separated into a feedback control part and an observer part. The stability of the feedback loop is a system with no wasted time. Similarly, the increase of control gain can improve the response performance of the control system. In addition, because it has an observer, it is not limited to stable objects, and it is also strong in interference. (Industrial Applicability) According to the present invention, it becomes possible to construct a control system with good response performance, and also to form a stable observer easily. (Please read the precautions on the back before filling this page) This paper size is applicable to the Chinese National Standard (CNS) A4 specification (2 丨 0X297 mm) -11-Printed by the Employees' Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs 569084 λΊ ______ Β7_ 5. Explanation of the invention (9) (Simplified description of the drawings) Fig. 1 is a block diagram showing the constitution principle of the first control system of the present invention. Fig. 2 is a block diagram of the isocratic diagram of Fig. 1; Fig. 3 is a block diagram showing a general feedback control system. Fig. 4 is a block diagram showing a conventional phase carry compensation control system. Fig. 5 is a block diagram showing the constitutional principle of the second control system of the present invention. Fig. 6 is a block diagram showing isocratic lines in Figs. 5 and 9; FIG. 7 is a block diagram when interference is considered in FIG. 5. Fig. 8 is a block diagram showing a conventional feedback control system. Fig. 9 is a block diagram showing a control system using a Smith compensator. FIG. 10 is a block diagram when considering interference in FIG. 9. The main components are compared in Table 1. 10 Reducer 2 Main controller 3 Delay elements of the controller 4 Delay elements of the controlled object 5 Elements without delay of the controlled object 7 Models of elements without delay of the controlled object 8 Delay elements of the controller The model of this paper applies the Chinese National Standard (CNS) Α4 specification (210X297 mm) (Please read the precautions on the back before filling this page)
-12- 569084 A7 B7 五、發明説明（叫 9 控制對象之延遲要素的模型 11 觀測器之補償器 2 0 觀測器 2 2 控制器 2 3 包括白費時間的控制對象 25 控制對象之預測模型 2 6 白費時間要素 28 觀測器之補償器 經濟部智慧財產局員工消費合作社印製 本紙張尺度適用中國國家標隼（CNS ) A4規格（210X29*7公釐） -13--12- 569084 A7 B7 V. Description of the invention (called 9 model of the delay element of the control object 11 compensator of the observer 2 0 observer 2 2 controller 2 3 including the control object in vain 25 predictive model of the control object 2 6 Factors in vain 28 Observer compensator Printed on the paper by the Consumers ’Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs The paper size applies to China National Standard (CNS) A4 (210X29 * 7mm) -13-