Is set to high sensitivity disturbance characteristic is stopped when the motor judgment based on the variation of the command value, until the driving start of the motor, should enhance the ability to detect the disturbance observer unit, the medical control device, a motor If is becomes operational, it is returned to the normal settings the gain of the controller, to maintain good tracking performance.医療用制御装置は、指令値の変化量に基づく判断でモータの停止状態時には外乱特性を高感度に設定し、モータの駆動開始時までの間、外乱オブザーバ部の検知能力を高めておき、モータが動作状態になれば、コントローラのゲインを通常の設定値に戻して、良好な追従特性を維持する。
