SAMPLED-DATA I-PD CONTROL APPARATUS

A sampled-data I-PD control apparatus controls an interference multi-input/multi-output process in accordance with an I-PD action. The apparatus comprises an identification signal generator for superposing persistently exciting identification signals on control variables (inputs) of the process, an identifying circuit for identifying a pulse transfer function of the process in accordance with the control variables of the process and controlled variables (outputs) of the process, an S-transfer function calculator for transforming the identified pulse transfer function to an S-transfer function, and a tuning circuit for matching the S-transfer function with that of a process model and for tuning sampled-data I-PD control parameters in accordance with a matching result.