ROBUST CONTROL SYSTEM FOR DESIGNING LOGIC FOR IMPERFECT MODEL

A robust control apparatus for controlling an object corresponding to a robust control theory. A control model generating unit generates an object to be controlled, such as a dynamics model of a robot. In this model, both an error in each of the true values of coefficient matrices and noise are considered. When a corrected partial input of a selective partial input is considered, the generated dynamics model can be treated as a standard probability system model. When the partial input is optimized corresponding to the robust quadratic optimizing criterion, an optimized partial input can be obtained. The object is controlled corresponding to the optimized partial input and the output of the control model generating unit. Thus, in consideration of both the modeling error and the influence of the random disturbances, the robust quadratic optimization can be performed.