Abstract: Systems, apparatus, and methods of controlling a variable-speed fan of an environmental maintenance module that controls temperatures of a plurality of zones of a building are provided. A first critical zone of the building is identified by analyzing the first zone temperature errors, which are used to determine a final speed setting of the variable-speed fan. Systems, apparatus, and methods of calibrating an environmental maintenance module that controls a temperature of a zone of a building are also provided. A location parameter is calculated for a plurality of zone temperatures, and a scale parameter is computed that quantifies a variation of the zone temperatures relative to a location parameter. A first temperature setpoint for the zone is determined and used in controlling the temperature of the zone.

Abstract: Method for controlling a vehicle that includes a support, at least one wheel, a platform coupled to the at least one wheel, a coupling structure having a support portion coupled to the support and a platform portion coupled to the platform that allows the support portion to move or slide fore and aft with respect to the platform portion, an actuator coupled to the coupling structure to control the position of the support portion relative to the platform portion, a drive coupled to the at least one wheel to deliver power to the at least one wheel to propel the vehicle and maintain the platform level, and a controller coupled to the drive to control the drive and coupled to the actuator to control the actuator.

Abstract: An advanced process control (APC) system, an APC method, and a computer program product, which, when executed, performs an APC method are provided for incorporating virtual metrology (VM) into APC. The present inventions uses a reliance index (RI) and a global similarity index (GSI) to adjust at least one controller gain of a run-to-run (R2R) controller when the VM value of a workpiece is adopted to replace the actual measurement value of the workpiece. The RI is used for gauging the reliability of the VM value, and the GSI is used for assessing the degree of similarity between the set of process data for generating the VM value and all the sets of historical process data used for building the conjecturing model.

Abstract: An apparatus that generates brewed beverages by performing one or more chemical and/or mechanical processes may receive requests to produce specified brewed beverages. The apparatus may include a master controller that initiates and controls performance of the chemical and/or mechanical processes to produce the specified beverages. The master controller may adaptively apply one or more process accelerators during the performance of one of the chemical or mechanical processes to accelerate the process or to achieve a desired qualitative or quantitative characteristic for a beverage or a component thereof. The adaptive application of one or more process accelerators may be dependent on a multiple-variable process profile developed for the process and/or a specified beverage. For example, the pressure in a steam wand and/or the depth of the wand may be varied during a process to froth milk in order to produce frothed milk having a desired temperature.

Abstract: A mechanism in a block diagram environment allows the modeling of an execution behavior of a block in a block diagram, where a user selects the execution behavior from a plurality of functions related to the block diagram and where the execution behavior of the block is performed when at least one model variable associated with the block satisfies a user-specified condition is disclosed. States and other internal data in the designated block are initialized upon the satisfaction of the user-specified condition. The illustrative embodiment of the present invention also allows the internal data to be reset upon the ending of the event, such as the modeled introduction or withdrawal of power. The execution behavior may be suspended and resumed multiple times during the simulation in response to multiple occurrences of the specified event. The present invention also allows for selected data to be exempt from the reset process so that the selected data is nonvolatile.

Abstract: An autonomous floor cleaning robot includes a transport drive and control system arranged for autonomous movement of the robot over a floor for performing cleaning operations. The robot chassis carries a first cleaning zone comprising cleaning elements arranged to suction loose particulates up from the cleaning surface and a second cleaning zone comprising cleaning elements arraigned to apply a cleaning fluid onto the surface and to thereafter collect the cleaning fluid up from the surface after it has been used to clean the surface. The robot chassis carries a supply of cleaning fluid and a waste container for storing waste materials collected up from the cleaning surface.

Abstract: The invention relates to a device, particularly a machine tool device, having at least one computer (10), at least one transmitter (12) for transmitting a transmission signal (S1, S2), at least one receiver (14) for receiving at least one receiving signal (E1, E2, E3, E4) excited by the transmission signal (S1, S2), and at least one analysis unit (16) which is provided to calculate at least one parameter (P1, P2, P3, P4) by means of the receiving signal (E1, E2, E3, E4). The invention provides that the computer unit (10) is provided to compare the parameter (P1, P2, P3, P4) to at least one comparison parameter (V1, V2, V3, V4) calculated by means of at least one model (M).

Abstract: A computer-implemented initial run module processes manifest variable data using computer-defined model specification parameters stored in a database to provide initial estimates of weights that are associated with latent variables. The initial run module employs a unique value-based weighting partial least squares computer-implemented process. A final run module then operates upon the manifest variable data to determine the importance of the predictor values that are then used to control the industrial, manufacturing or commercial process. The final run module implements a unique patient partial least squares regression model utilizing a boosting learning technique.

Abstract: A machine for machining a work piece with at least one revolving or rotating tool, having a ball screw, which is pivoted by a fix and a floating bearing whereas the machine has a device for measuring the length of the extension of the ball screw. Furthermore, a method is provided for measuring and compensation a thermal displacement comprising the steps of: detecting the length U of the axis of the ball screw, detecting the length I2 of the axis of the ball screw, calculating the difference ?l of the length I1 extended axis and the reference length I2 of the axis and compensating the difference value to the correct value.

Abstract: An extremum seeking control method optimizes a control process for a plant such as an air handling unit. The method compensates for abrupt changes in the operation of the plant by resetting the extremum seeking control strategy in response to a detection of the abrupt change.

Abstract: System and method for managing fermentation feed in a biofuel production process, comprising a dynamic multivariate predictive model-based controller coupled to a dynamic multivariate predictive model. The model is executable to: receive process information, including water inventory and biomass information, from the biofuel production process; receive a specified objective for the fermentation feed specifying a target biomass concentration; and generate model output comprising target values for a plurality of manipulated variables of the biofuel production process, including target flow rates of water and/or biomass contributing to the fermentation feed in accordance with the specified objective.

Abstract: A building automation system includes a plurality of components, with each of the plurality of components associated with point data. A method of controlling the building automation system includes establishing communications between a mobile computing device and a building automation network of the building automation system. The method further includes receiving point data from the building automation system via the building automation network. In addition, the method includes identifying a plurality of components of the building automation system based on the point data received from the at least one building automation network and generating a model of the building automation system based on the point data.

Abstract: A method for controlling behavioral intervention of a submodule, where a device model is used to model and operate an automation system, where the device model comprises an input/output device, a first module including at least one submodule and a first controller, a supervisory controller and a control module including at least one control submodule. The submodule is provided with a behavior identification code and behavior information in addition to interconnection information. A respective control submodule having a specific behavior identification code is addressed by the supervisory controller to control the intervention in the submodule, where the addressed control submodule thereupon issues a control command containing the specific behavior identification code to all other submodules, and where the other submodules having the specific behavior identification code are induced to adopt a behavioral change based on the behavior information.

Abstract: Systems and methods for controlling settings of a design system include receiving, via a communications interface, identifying data associated with a multiphysics modeling system. Instructions are transmitted via the communication interface or another interface. The instructions include model settings related to a multiphysics model at least partially residing in the multiphysics modeling system. Model results are received that are at least partially derived from the transmitted model settings. At least a portion of the received model results are displayed in a graphical user interface associated with the design system.

Abstract: A method and system for updating tuning parameters associated with a controller without repetitive compilation of a controller code. The controller code represents an algorithm associated with the controller and can be compiled separately from a data set representing a solution for an optimization problem and also from a data set representing parameters required for prediction. The algorithm can be implemented in a programming language code suitable for implementation on an embedded platform or other types of computer platforms. The data sets can be represented in a specified data structure and the variables associated with the data structure can be declared in the controller template code. The variables can be updated independently without varying the compiled code associated with the controller algorithm that is referring to the variables. The controller can also be updated while the controller actively performs online.

Abstract: Exemplary embodiments allow users to interactively formulate and solve multivariable feedback control problems. For example, users can solve problems where a plurality of control elements are distributed over one or more feedback loops and need to be jointly tuned to optimize overall performance and robustness of a control system. Embodiments allow users to specify design requirements and objectives in formats familiar to the user. Embodiments can operate on tunable parameters to solve the control problem in a manner that satisfies the design requirements and/or objectives provided by the user.

Abstract: A method is described for ascertaining a computational model for a position encoder system, in particular for a position encoder for controlling a gas mass flow rate for an internal combustion engine, having the following steps: providing a differential equation system with at least one nonlinear term; dividing the differential equation system to obtain a linear part which is describable by a linear differential equation and a nonlinear part which is describable by a nonlinear differential equation; discretizing the linear part of the differential equation system with the aid of a first discretization method to obtain a computational model for the discretized linear part; discretizing the nonlinear part of the differential equation system with the aid of a second discretization method to obtain a computational model for the discretized nonlinear part; combining the computational models of the discretized linear part and the discretized nonlinear part of the differential equation system to obtain the computati

Abstract: A household energy management system uses measurements of the household electricity supply to identify and to determine the energy consumption of individual household appliances. From these measurements, models can be built of the behavior of the occupants of the house, the thermal properties of the house and the efficiency of the appliances. Using the models, the household appliances—in particular heating and cooling appliances—can be controlled to optimize energy efficiency; and maintenance programs for the appliances and for the house itself can be recommended to the householder or arranged with a service company.

Abstract: A technique is disclosed for optimizing a quality parameter in a process that is not directly measurable online using conventional measurement devices. The technique includes the use of a first inferential model to predict a value for the parameter based upon other process variables. A second inferential model predicts a residual component of the process parameter based off non-controllable residual variables of the process. The inferential model outputs are combined to produce a composite predicted value which may be further adjusted by an actual prediction error determined via comparison with an offline measurement. The adjusted predicted value is provided to a dynamic predictive model which may be adapted to implement control actions to drive or maintain the quality parameter at a target set point.

Abstract: The present invention relates to a conversational automatic programming device or the like capable of generating an NC program in a simpler manner and in a shorter period of time. The automatic programming device is provided with, a machining-profile setting processor in which based on data for specifying a geometric entity selected as a contour shape of a machined portion, out of geometric entities of a geometry defined by two-dimensional CAD data, the geometric entity corresponding to the data is recognized, and based on the recognized geometric entity, a machining profile which is the contour shape of the machined portion is set; a CL-data generating processor for generating tool path data based on the set machining profile; and an NC-program generating processor for generating an NC program based on the generated tool path data.

Abstract: A production monitoring system (10) comprises a plurality of injection and production units (80) coupled in operation to sensors (410) for measuring physical processes occurring in operation in the injection and production units (80) and generating corresponding measurement signals (420) for computing hardware (400). The computing hardware (400) is operable to execute software products (300) for processing the signals (420). Moreover, the software products (300) are adapted for the computing hardware (400) to analyze the measurement signals (420) to abstract a parameter representation of the measurement signals (420), and to apply a temporal analysis of the parameters to identify temporally slow processes and temporally fast processes therein, and to employ information representative of the slow processes and fast processes to control a management process for controlling operation of the system (10).

Abstract: A model predictive control (MPC) framework is enhanced to provide prognostic information and fault tolerant control strategies. A system fault is calculated based on predicted values and is used to generate an internal reference trajectory to which the system is controlled using MPC. If the system fault exceeds a threshold maximum, then the MPC control model is either tuned or reconfigured depending on whether the fault is external or internal.

Abstract: Disclosed herein is technology for, among other things, a semiconductor manufacturing apparatus, and a control system and a control method therefor, by which a target parameter that is measured from a wafer processed with a plurality of processing parameters that are processing conditions of the semiconductor manufacturing apparatus to process a wafer, a multiple classification analysis is performed with the plurality of processing parameters and the target parameter to calculate a model formula expressing the target parameter in a selected parameter, a predicted value of the target parameter of the wafer being processed by use of the model formula is calculated, while the processing is being performed, the processing parameters of the processing is modified on the basis of the predicted value, and the processing is continuously performed.

Abstract: Described are computer-implemented methods and apparatuses, including computer program products, for estimating an optimal value for each input factor of a design space. The design space is defined by the input factors and output responses for a physical process. The optimal values for the input factors represent a starting point for estimating the design space. Data is received for the input factors, the output responses and criteria. An initial design space is estimated based on the received data. The optimal values for the input factors are determined from the initial design space.

Abstract: Example methods and apparatus to predict process quality in a process control system are disclosed. A disclosed example method includes receiving process control information relating to a process at a first time including a first value associated with a first measured variable and a second value associated with a second measured variable, determining if a variation based on the received process control information associated with the process exceeds a threshold, if the variation exceeds the threshold, calculating a first contribution value based on a contribution of the first measured variable to the variation and a second contribution value based on a contribution of the second measured variable to the variation, determining at least one corrective action based on the first contribution value, the second contribution value, the first value, or the second value, and calculating a predicted process quality based on the at least one corrective action at a time after the first time.

Abstract: A method includes identifying a nonlinear model used by an optimizer to perform optimization operations associated with an industrial process to be controlled. The method also includes generating a Hessian matrix associated with the nonlinear model. The method further includes providing the Hessian matrix to an advanced process controller that uses the Hessian matrix to perform both process control and optimization operations. The Hessian matrix can approximate a nonlinear objective function. The method can also include providing one or more approximated nonlinear constraints, a solution of a quadratic sub-problem that approximates the nonlinear model, or a combination of multiple solutions of the quadratic sub-problem to the advanced process controller. The Hessian matrix can be updated and provided to the advanced process controller during each of multiple iterations.

Abstract: Methods and apparatus, including computer program products, for compiling workflows into instructions for a state correlation engine. In general, data characterizing a workflow of a process is received and a network representation of event-condition-action rules representing the workflow is generated. The workflow of the process may be modeled in accordance with a notation similar to the Business Process Modeling Notation. The network representation of event-condition-action rules may include a combination of source nodes representing events, operator nodes representing conditions, and action nodes representing transactions. Events of the source nodes may be represented types of objects of a type language, where a correlation engine is to execute an event-condition-action rule based on an existence of a combination of types of a rule.

Abstract: Methods and apparatus to compensate first principle-based simulation models are disclosed. An example method to compensate a first-principle based simulation model includes applying one or more first test inputs to a process system to generate first output data, applying one or more second test inputs to a first principle model to generate second output data, generating an error model based on the first and second output data, applying input data to the first principle model to generate simulation model output data, and compensating the model data via the error model to generate compensated model output data.

Abstract: One embodiment of the present invention provides a system for resolving energy imbalance within an electrical grid. During operation, the system receives an imbalance signal and current outputs from a regulation service subsystem and a demand response subsystem. Subsequently, the system generates control signals for controlling future outputs of the regulation service subsystem and the demand response subsystem based on the imbalance signal and the current outputs, and applies the generated control signals to the regulation service subsystem and the demand response subsystem.

Abstract: An industrial controller simulation system is provided. The system includes a simulation component that enables modeling of an industrial controller system. A suggestion component offers automated recommendations in accordance with the modeling of the industrial controller system.

Abstract: With the use of a model expression (FIG. 9C), of which inputs include a desired value of an in-cylinder air amount that is a controlled object of a system and predetermined parameters, such as engine speed (ne), a desired throttle opening degree (?ref) required to control the in-cylinder air amount to the desired value is calculated. In this model expression, parameters, such as the engine speed (ne), that oscillate at a relatively high frequency are excluded from subjects of differentiation, and the desired in-cylinder air amount value only is included in the subjects of differentiation.

Abstract: A control unit of a system stabilization device uses a fluctuation detection block (60) to determine fluctuation components included in the active component and reactive component currents of a system current and fluctuation components included in the frequency signal and the amplitude signal of a system voltage. The high frequency cut-off of the fluctuation detection block (60) is set to be f1; the low frequency cut-off is set to be f2. The fluctuation detection block (60) is composed of a low-pass filter (61) with a time constant of T1, a low-pass filter (62) with a time constant of T2, a subtracter (63) which outputs the difference, between the output signals of the filter (61) and the filter (62), and a feedback circuit (64) which provides feedback on the output of the subtracter (63) to the filters (61, 62). Thus, stability is ensured without using a current detector.

Abstract: A method and apparatus for optimizing the operation of a single or multiple power generating units using advanced optimization, modeling, and control techniques. In one embodiment, a plurality of component optimization systems for optimizing power generating unit components are sequentially coordinated to allow optimized values determined by a first component optimization system to be fed forward for use as an input value to a subsequent component optimization system. A unit optimization system may be provided to determine goals and constraints for the plurality of component optimization systems in accordance with economic data. In one embodiment of the invention, a multi-unit optimization system is provided to determine goals and constraints for component optimization systems of different power generating units. Both steady state and dynamic models are used for optimization.

Abstract: A method for specifying the behavior of autonomous and collaborative automation devices in manufacturing plants with a service-oriented architecture and to a service-oriented automation device. In order to describe the operating behavior of such devices, the invention proposes the steps of original setting-up of the automation device, including configuration, depiction of services, establishment of connections to other automation devices and transfer of the set-up to waiting original status, receiving the events through service operations, internal device interfaces of inputs/outputs and/or generated directly from the controls, evaluating the received events, executing the events and changing the state of the model-based middleware shell, wherein the system achieves the next state and is capable of receiving further events.

Abstract: A system and method are provided for integrated management of a biofuel distillation process and a biofuel dehydration process of a biofuel production process, comprising a dynamic multivariate model-based controller coupled to a dynamic multivariate predictive model. The model is executable to: receive distillation and dehydration process information including biofuel compositions, receive an objective for biofuel production output from the distillation and dehydration processes, e.g., target product composition, production rate, and/or feed rate, and generate model output comprising target values for a plurality of manipulated variables related to the distillation and dehydration processes in accordance with the objective. The controller is operable to dynamically control the biofuel production process by adjusting the plurality of manipulated variables to the model-determined target values in accordance with the objective for biofuel production.

Abstract: A control model updating device includes a control model calculating unit that calculates a control model using analysis data, a control model updating unit that updates by accepting the control model, and a data suitability evaluating unit that evaluates the suitability of analysis data. The data suitability evaluating unit has a function characteristic prior knowledge storing unit that stores prior knowledge regarding a characteristic obtained in advance regarding the subject of control, a quadratic polynomial calculating unit that calculates a quadratic polynomial wherein the analysis data is approximated by a quadratic function, and a characteristic evaluating unit that compares a characteristic of the quadratic polynomial, calculated by the quadratic polynomial calculating unit, to prior knowledge stored in the function characteristic prior knowledge storing unit. The control model updating unit updates the control model if the two match in the comparison.

Abstract: A control system for controlling operation of a fossil fuel fired power generating unit. The control system including both a combustion optimization system and an oxygen optimization system. Both the combustion optimization system and oxygen optimization system each including a model for predicting values of controlled variables and an optimizer for determining optimal setpoint values.

Abstract: An integrated optimization and control technique performs process control and optimization using stochastic optimization similar to the manner in which biological immune systems work, and thus without the use of historical process models that must be created prior to placing the control and optimization routine in operation within a plant. An integrated optimization and control technique collects various indications of process control states during the on-line operation of the process, and attempts to optimize the process operation by developing a series of sets of process control inputs to be provided to the process, wherein the control inputs may be developed from the stored process control states using an objective function that defines a particular optimality criteria to be used in optimizing the operation of the process.

Abstract: A method and system of predictive model control of a controlled system with one or more physical components using a model predictive control (MPC) model, determining an iterative, finite horizon optimization of a system model of the controlled system, in order to generate a manipulated value trajectory as part of a control process. At time t sampling a current state of the controlled system a cost function minimizing manipulated variables trajectories is computed with the MPC model for a relatively short time horizon in the future, wherein the MPC uses a quadratic programming (QP) algorithm to find the optimal solution, and wherein the QP algorithm is solved using an Active Sets solver (AS) class algorithm with simple constraints based on gradient projection and using Newton step projection. A move of the manipulated value trajectory is implemented and the control process is moved forward by continuing to shift the prediction horizon forward.

Abstract: The present disclosure is directed to a High Voltage Direct Current (HVDC) link with Voltage Source Converters VSC and interconnecting two power systems. A model-predictive control with a receding horizon policy is employed for controlling the outer loop of a two-loop or two-layer control scheme or setup for the HVDC link. The two-loop control scheme takes advantage of the difference in speed of the dynamics of the various system variables of the HVDC link and the interconnected power systems. Model-based prediction representative of the interconnected power systems' behavior enables comparison of the future effect of different control inputs applied within the control scheme, while taking into account any physical, safety and operating constraints. It is valid for a complete operating range, e.g., it avoids performance degradation when moving away from the nominal operating point of the control scheme for a HVDC link.

Abstract: Systems and methods are disclosed to improve energy efficiency of a farm with livestock wastes by generating a cooling, heating, and power (CCHP) microgrid model; performing on a computer a multi-objective optimization to improve system efficiency of energy utilization and reduce environmental problems caused by animal wastes; and displaying results of the optimization for review.

Abstract: A flight control system is configured for controlling the flight of an aircraft utilizing a three control loop design to robustly increase system performance. An inner loop comprises an improved linear quadratic regulator (LQR) search method, and an outer loop comprises a classic feedback summary gain design. A third loop comprises a steady state trim search method.

Abstract: A hybrid control system and a method for predicting a behavior of a physical system using the hybrid control system is disclosed. The hybrid control system may include a model inverting control system capable of implementing a model inverting control law and determining an active set of goals and limits and a model predictive control system capable of implementing a model predictive control law and utilizing the active set of goals and limits to determine current effector requests, the current effector requests being used to control behavior of the physical system.

Abstract: A method for optimizing performance of a system includes determining, via a controller, a state of health (SOH) for each of a plurality of components of the system, and determining a state of function (SOF) of the system using the SOH of each component. The method includes estimating the remaining useful life (RUL) of the system using the system SOF, selecting a cost-optimal control strategy for the system using a costing model, and dynamically, i.e., in real time, executing the selected strategy to extend the estimated RUL. The method may include comparing the selected cost-optimal strategy to a calibrated performance threshold, and executing the selected strategy only when the selected strategy exceeds the threshold. A system includes first and second components and a controller. The controller dynamically executes the above method with respect to the components, which may be a traction motor and battery in one possible embodiment.

Abstract: One or more techniques are provided for the sharing of variable trajectories between multiple controllers in a control system. In general, the present technique is based upon the sharing of predicted desired variable trajectories between multiple controllers requiring a common input variable. In one embodiment, a common input variable is shared between two controllers, wherein one controller is tuned to have dominant control with regard to the shared variable. Each controller determines and communicates their own desired trajectory for the shared variable to the other controller and in doing so, the constraints associated with each controller are shared and honored by the other controller. Based on the communicated trajectories, the dominant controller may exercise control over the shared variable, thus improving overall process control.

Abstract: A method and a system are described for controlling an electrical machine in a drivetrain of a motor vehicle, the electrical machine being used as a drive unit for the motor vehicle. A pilot control unit determines a pilot control torque as a function of a predefined target torque of the electrical machine, the pilot control unit having a transfer function that corresponds to an oscillation component of a transfer function, ascertained in model-supported fashion for the overall drivetrain, that describes a dependence of a rotation speed of the electrical machine on a torque with which the electrical machine is operated. A control unit for the electrical machine determines a corrected target torque for the electrical machine by superimposing the pilot control torque on the predefined target torque and controlling the electrical machine as a function of the corrected target torque.

Abstract: The present invention presents two new model types and a new method for evaluating a model used in the control application. These include a compound model, a hybrid model and a directional change coefficient model. The present invention allows the mixing of models with different inputs and outputs and the switching between these models based criteria for measuring optimization accuracy. The present invention allows switching between these models. The compound model is a model type that allows zooming in on the process to model parts of the data space with higher fidelity or resolution without loosing the capability to model the complete data space. The modeler does not loose any functionally over a regular neural network, but instead gains the ability to define the conditions when the model should use network weights best matched to the defined local conditions. The hybrid model is an extended version of a compound model.

Abstract: A recommendation engine coupled to a server computer in communication with a plurality of hosts is described. The recommendation engine includes computer readable intrusion-protection instructions stored in a memory device, which cause a processor of said server computer to determine a current host-protection configuration for a target host; detect discrepancy between said current host-protection configuration and a prior host-protection configuration; install said current host-protection configuration in said target host upon detecting said discrepancy; record successive host-reconfiguration periods, a host reconfiguration period being a difference between successive instants of time at which a current host-protection configuration differs from a prior host-protection configuration; determine a monitoring period according to a value of at least one of said successive host-reconfiguration periods; and a scheduler for activating said intrusion-protection instructions according to said monitoring period.

Abstract: The current application is directed to intelligent controllers that continuously, periodically, or intermittently calculate and display the time remaining until a control task is projected to be completed by the intelligent controller. In general, the intelligent controller employs multiple different models for the time behavior of one or more parameters or characteristics within a region or volume affected by one or more devices, systems, or other entities controlled by the intelligent controller. The intelligent controller collects data, over time, from which the models are constructed and uses the models to predict the time remaining until one or more characteristics or parameters of the region or volume reaches one or more specified values as a result of intelligent controller control of one or more devices, systems, or other entities.

Abstract: In a case where a position command path for a control position of a load 5 that is equivalent to a moving object is set by issuing a position command Rc(z), a gain for one of a high-frequency component, a specified frequency, and a specified frequency width is constrained. This means that a resonant frequency can be constrained, and that after the position command Rc(z) arrives at a target position, a position detection signal Y(z) can also arrive at the target position in a set number of steps. It is therefore possible to perform positioning at high speed and with high precision by constraining a resonance mode of a mechanism that includes the moving object, and a feed-forward control can be performed that meets target positioning times that are set for various types of operating patterns.