An aspect of this specification discloses a method of, based on a control input to a controlled object and on a control output from the controlled object, updating a value of a parameter in an estimator configured to estimate external force that acts on the controlled object. The method includes: determining whether the controlled object is in a particular state in which external force that acts on the controlled object is known; during a period in which it is determined that the controlled object is in the particular state, calculating, as a learning value, the value of the parameter that reduces an error between the known external force and estimated external force, the estimated external force being estimated by the estimator based on the control input and the control output; and updating the value of the parameter in the estimator with the calculated learning value.

An aspect of this specification discloses a method of, based on a control input to a controlled object and on a control output from the controlled object, updating a value of a parameter in an estimator configured to estimate external force that acts on the controlled object. The method includes: determining whether the controlled object is in a particular state in which external force that acts on the controlled object is known; during a period in which it is determined that the controlled object is in the particular state, calculating, as a learning value, the value of the parameter that reduces an error between the known external force and estimated external force, the estimated external force being estimated by the estimator based on the control input and the control output; and updating the value of the parameter in the estimator with the calculated learning value.

This control device controls movement of a valve body of a valve device included in a hydraulic system and includes: a stroke command calculator that calculates a stroke command for the valve body on the basis of an opening command that is input to the stroke command calculator; an observer that estimates, on the basis of the stroke command, a dynamic deviation of a stroke of the valve body that corresponds to the stroke command; and a flow force estimator that estimates, on the basis of the stroke command and the dynamic deviation, a flow force acting on the valve body. The stroke command calculator calculates the stroke command on the basis of the flow force in addition to the opening command.

This control device controls movement of a valve body of a valve device included in a hydraulic system and includes: a stroke command calculator that calculates a stroke command for the valve body on the basis of an opening command that is input to the stroke command calculator; an observer that estimates, on the basis of the stroke command, a dynamic deviation of a stroke of the valve body that corresponds to the stroke command; and a flow force estimator that estimates, on the basis of the stroke command and the dynamic deviation, a flow force acting on the valve body. The stroke command calculator calculates the stroke command on the basis of the flow force in addition to the opening command.

The invention relates to a monitoring apparatus configured to monitor a processing status of a food item under processing in a food processor, the monitoring apparatus comprising a sensor operable to determine characteristic information related to the food item in the food processor, a controller configured to provide a control signal to the food processor to control an operation of the food processor when the determined characteristic 5 information or a rate of change of the determined characteristic information meets a predetermined criteria.

The invention relates to a monitoring apparatus configured to monitor a processing status of a food item under processing in a food processor, the monitoring apparatus comprising a sensor operable to determine characteristic information related to the food item in the food processor, a controller configured to provide a control signal to the food processor to control an operation of the food processor when the determined characteristic 5 information or a rate of change of the determined characteristic information meets a predetermined criteria.

A servo control device for controlling an end effector of a machine to follow a set reference trajectory by driving the machine using an actuator includes a feedforward compensation unit that performs feedforward compensation by outputting a feedforward signal for controlling the actuator on the basis of a position command signal inputted thereto, wherein input-output characteristics represented in a continuous-time system of the feedforward compensation unit are expressed by a transfer function having unstable zeros, and a step response of the feedforward compensation unit has an initial undershoot.

A servo control device for controlling an end effector of a machine to follow a set reference trajectory by driving the machine using an actuator includes a feedforward compensation unit that performs feedforward compensation by outputting a feedforward signal for controlling the actuator on the basis of a position command signal inputted thereto, wherein input-output characteristics represented in a continuous-time system of the feedforward compensation unit are expressed by a transfer function having unstable zeros, and a step response of the feedforward compensation unit has an initial undershoot.

Provided is a method for relocating a solar power unit in response to a redeployment event. A first location of a deployed solar power unit may be determined. A processor may detect a redeployment event for the solar power unit at the first location. In response to the redeployment event, the processor may determine a new location for the solar power unit. The method may further comprise relocating the solar power unit to the new location.

Provided is a method for relocating a solar power unit in response to a redeployment event. A first location of a deployed solar power unit may be determined. A processor may detect a redeployment event for the solar power unit at the first location. In response to the redeployment event, the processor may determine a new location for the solar power unit. The method may further comprise relocating the solar power unit to the new location.