Abstract: In this control apparatus design method, a feedback control system comprises a generalization plant including a nominal plant N representing the input/output characteristic of an object to be controlled and a fluctuation unit ? for making at least one model parameter included in the nominal plant N fluctuate, and a controller for applying input to the generalization plant P on the basis of output from the generalization plant P. The controller is designed so as to satisfy a prescribed design condition. The nominal plant N comprises a nominal value multiplication unit for multiplying an input signal ? by a nominal value for the model parameter and an addition unit for adding a fluctuation output signal ? from the fluctuation unit ? and an output signal from the nominal value multiplication unit. Further, the fluctuation unit ? generates the fluctuation output signal ? using a mapping ?p obtained from a Cayley transform of unbounded complex fluctuation ?g.

Abstract: In this control apparatus design method, a feedback control system comprises a generalization plant including a nominal plant N representing the input/output characteristic of an object to be controlled and a fluctuation unit ? for making at least one model parameter included in the nominal plant N fluctuate, and a controller for applying input to the generalization plant P on the basis of output from the generalization plant P. The controller is designed so as to satisfy a prescribed design condition. The nominal plant N comprises a nominal value multiplication unit for multiplying an input signal ? by a nominal value for the model parameter and an addition unit for adding a fluctuation output signal from the fluctuation unit ? and an output signal from the nominal value multiplication unit. Further, the fluctuation unit ? generates the fluctuation output signal using a mapping ?p obtained from a Cayley transform of unbounded complex fluctuation ?g.

Abstract: A shaft torque control device executes highly responsive shaft-torque control even when spring rigidity of a connection shaft connecting an engine and dynamometer varies, and has a feedback control system including a nominal plant imitating input-output characteristics of a test system, generalized plant having nominal plant; controller providing an input with use of outputs and variation term causing variation in the nominal plant on the basis of a variation transfer function. In the controller, setting is made to satisfy a design condition. Nominal plant is structured with a two-inertia system configured by connecting two inertia bodies via a shaft having spring rigidity equal to a predetermined nominal value set to be a lower limit value in an assumed variation range of spring rigidity of the connection shaft. The variation transfer function is a positive real function. Spring rigidity in the nominal plant Na increases from the nominal value.

Abstract: A shaft torque control device executes highly responsive shaft-torque control even when spring rigidity of a connection shaft connecting an engine and dynamometer varies, and has a feedback control system including a nominal plant imitating input-output characteristics of a test system, generalized plant having nominal plant; controller providing an input with use of outputs and variation term causing variation in the nominal plant on the basis of a variation transfer function. In the controller, setting is made to satisfy a design condition. Nominal plant is structured with a two-inertia system configured by connecting two inertia bodies via a shaft having spring rigidity equal to a predetermined nominal value set to be a lower limit value in an assumed variation range of spring rigidity of the connection shaft. The variation transfer function is a positive real function. Spring rigidity in the nominal plant Na increases from the nominal value.