CPC H02P 23/14 (2013.01) | 20 Claims |
1. A control system comprising:
a motor configured to power a driven object; and
circuitry configured to:
generate a first driving force command to drive the motor during a first control;
estimate a first force acting on the motor during the first control based, at least in part, on the first driving force command;
generate a second driving force command to drive the motor during a second control after the first control;
estimate a second force acting on the motor during the second control based, at least in part, on the second driving force command; and
estimate an external force acting on the driven object during the second control based, at least in part, on a comparison between the first force and the second force.
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