u1 u2 ut Input Target • աڈͷग़ྗ͕ະདྷͷೖྗʹӨڹΛ༩͍͑ͯͨʂ • ग़ྗͷઢܕࣸ૾ͷ݁ՌͰ͋Δೖྗ͔Βग़ྗΛٯࢉ ͢Δઢܕͷͩͬͨʂ • K ͕৭ʑͳͷͰ LSTM શʹղ͚ͳ͍ ɾɾɾ ࣌ؒ → <latexit sha1_base64="cb481LZ0rfS2icOpNjk8woetUrI=">AAACKHicbZDNSgMxFIUz/tb6V3XpJlhERSgzIupGLLoR3FSwttDWIZPJtMFMJiR3hDL0cdz4Km5EFOnWJzFTu9DqhcDHOfdyc0+gBDfgukNnanpmdm6+sFBcXFpeWS2trd+aJNWU1WkiEt0MiGGCS1YHDoI1lWYkDgRrBPcXud94YNrwRN5AX7FOTLqSR5wSsJJfOkt3YQ+f4itfYZXjvkWO21yC795Bru3s4RB2RkaI25EmNAvVIAthYPv9UtmtuKPCf8EbQxmNq+aXXtthQtOYSaCCGNPyXAWdjGjgVLBBsZ0apgi9J13WsihJzEwnGx06wNtWCXGUaPsk4JH6cyIjsTH9OLCdMYGemfRy8T+vlUJ00sm4VCkwSb8XRanAkOA8NRxyzSiIvgVCNbd/xbRHbBRgsy3aELzJk//C7UHFO6ocXh+Wq+fjOApoE22hXeShY1RFl6iG6oiiR/SM3tC78+S8OB/O8Lt1yhnPbKBf5Xx+ATQ9ooM=</latexit> u(t) = Kpp(t) + Ki Z t 0 p(t0)dt0 + Kd dp dt (t) ग़ྗ (target)ɺͦͷඍੵΛೖྗʹ͏ͱ͍͍ײ͡ʹ੍ޚͰ͖Δ