Abstract: A controller that performs PI control on a control input to a controlled object on the basis of a difference between a target value and an output, the controller including a model converting part that converts an ultra-local model obtained by modeling the controlled object into a state space model by defining a differential of an output of the controlled object including measurement noise by the control input and a deviation amount with respect to a reference model, an estimation part that estimates the deviation amount of the ultra-local model on the basis of a Kalman filter constructed from the state space model, and a steering angle calculation part that obtains the control input on the basis of the estimated deviation amount, a proportional gain, and an integral gain.

Abstract: In a control system including a feedback controller, a nominal model, and an error compensator, a parameter update device that updates a parameter of the error compensator 1 includes a data acquisition part that acquires input data indicating a control input to a control object and output data indicating an output from the control object, a reference signal acquisition part that finds a pseudo reference signal, which is a control target value, using the input data and the output data, and a parameter update part that updates the parameter of the error compensator by minimizing an evaluation function defined by the pseudo reference signal.

Abstract: This clutch control device is provided with: a supply valve and a supply valve control unit, which control the supply of an operating fluid to a pressure chamber; a first discharge valve and a first discharge valve control unit, which control the discharge of the operating fluid in the pressure chamber; and a second discharge valve and a second discharge valve control unit, which control the discharge of the operating fluid in the pressure chamber. When it is determined that the engagement and disengagement switching of a clutch device 2, which is necessitated by the discharge of the operating fluid in the pressure chamber, is required, the first discharge valve is controlled to be opened and then the second discharge valve is controlled to be opened.

Abstract: This clutch control device is provided with: a first valve; a second valve; a valve control unit configured to control the operation of each of the first valve and the second valve; an operation determination unit configured to perform an operation determination for the clutch device; and an initial operation completion determination unit which determines whether an initial operation of the clutch device has been completed. The valve control unit, if it is determined by the operation determination unit that an on-off switching process is required, subjects both the first valve and the second valve to opening-control. If it is determined by the initial operation completion determination unit that the initial operation has been completed, the valve control unit subjects the second valve to closing-control.

Abstract: This clutch control device is provided with: a first valve; a second valve; a valve control unit configured to control the operation of each of the first valve and the second valve; an operation determination unit configured to perform an operation determination for the clutch device; and an initial operation completion determination unit which determines whether an initial operation of the clutch device has been completed. The valve control unit, if it is determined by the operation determination unit that an on-off switching process is required, subjects both the first valve and the second valve to opening-control. If it is determined by the initial operation completion determination unit that the initial operation has been completed, the valve control unit subjects the second valve to closing-control.

Abstract: This clutch control device is provided with: a supply valve and a supply valve control unit, which control the supply of an operating fluid to a pressure chamber; a first discharge valve and a first discharge valve control unit, which control the discharge of the operating fluid in the pressure chamber; and a second discharge valve and a second discharge valve control unit, which control the discharge of the operating fluid in the pressure chamber. When it is determined that the engagement and disengagement switching of a clutch device 2, which is necessitated by the discharge of the operating fluid in the pressure chamber, is required, the first discharge valve is controlled to be opened and then the second discharge valve is controlled to be opened.