CONTROL SYSTEM FOR DYNAMICALLY OPERATIVE APPARATUSES

A control system for controlling a dynamically operative apparatus having a dynamic characteristic by which a relationship between input to and output from said dynamically operative apparatus is defined includes an apparatus control subsystem and a model control subsystem for controlling an apparatus model which has an imitate dynamic characteristic modeled on the input and output relationship, performing adaptation of the imitate dynamic characteristic by optimizing control parameters of the model so that the model provides output in conformity with the input and output relationship, simulating operation of the apparatus by controlling the model after the adaptation, and regulating control parameters of the apparatus control subsystem according to a result of the simulation.