H-infinity controller design using control object models

Abstract

A design device which designs a controller in accordance with H infinity (H ∞) logic, in which formulae of generalized plants and formulae of control object models which are parts of the generalized plants are stored in a memory unit. In a parameter calculating unit including comprising a frequency response calculation unitand a scaling matrix calculation unit, the frequency response calculation unitcalculates the frequency responses of the control object models, and the scaling matrix calculation unitcalculates a scaling matrix T in accordance with the frequency responses of the control object models so that the respective gains of the control object models are consistent. A controller calculation unitcalculates the parameters of a controller by applying the scaling matrix T to the generalized plants.