Abstract: A control system includes processing circuitry that calculates, based on a control target model that indicates a relationship between an operation of a control target and a friction acting on the control target, a continuous value for compensating for the friction as a feedforward compensation value, generates a command based on the feedforward compensation value, and outputs the command to cause the control target to operate.

Abstract: A control system includes circuitry configured to: generate, based on a command profile representing a temporal change of a command for driving a controlled object and a response profile representing a temporal change of a state of the controlled object responding to the command profile, a first model representing at least a part of a relation between the command and the state of the controlled object; generate, based on the command profile, the response profile, and the first model, a second model representing another part of the relation that is not represented by the first model; generate, based on the first model and the second model, one or more control parameters representing a relation between a control reference and the command for causing the controlled object to follow the control reference; and control the controlled object to cause the state of the controlled object to follow the control reference based at least in part on the control reference and the one or more control parameters.

Abstract: A control system includes a storage that stores a computational model of a reference response profile representing a frequency characteristic of a reference state of a control target corresponding to a first command, and circuitry configured to calculate a first actual response profile representing a frequency characteristic of an actual state of the control target having responded to the first command. The circuity is further configured to acquire an error between the reference response profile and the first actual response profile, and cause a controller to output, to the control target, a second command that is based on a frequency at which the error is greater than a threshold. Additionally, the circuity is configured to calculate a second actual response profile representing a frequency characteristic of an actual state of the control target having responded to the second command, and update the computational model based on the second actual response profile and the reference response profile.