BACKGROUND OF THE INVENTION

This invention relates to a digital differential analyzer and more particularly to a digital differential analyzer of the kind in which the arithmetic operations for the differential analysis of data are performed in accordance with a stored program.

As is commonly known, the digital differential analyzer (DDA) is used to solve various linear and nonlinear differential equations at high speed and yet with a relatively high degree of precision and to produce signals representing complicated curves or complicated curved surfaces. The DDA basically performs an integrating operation but it can perform various kinds of operations when the operation logic contained therein is properly modified. Further, if the operation logic is controlled by a computer with a given stored program, as described in U.S. Pat. No. 3,555,514 entitled "Digital Computer Instruction Sequencing to Carry Out Digital Differential Analysis" and U.S. Pat. No. 3,274,376 entitled "Digital Differential Analyzer in Conjunction with a General Purpose Computer", a DDA arranged to perform proper processings of data can be designed. The DDA is a digital apparatus; however, if the operation logic thereof is properly controlled, it can serve as an operator with a function equivalent to that of an analog operator such as an integrator, a counter, an adder, a servo, and a decision maker. Accordingly, the processes controlled by a conventional analog operator may also be controlled by using the DDA with the operation logic controlled.

Compared with a control system exclusively used for analog operation, a control system using the DDA is inferior to the former in the response speed but superior to the same in accuracy of the control. Further compared with a control system using a usual digital computer for control, the DDA control system is comparable with the digital computer control in high accuracy in control but superior thereto in the response characteristic.

As described above, the DDA is useful in its performance, but the expression of input and output used in the operation of the DDA is different from that in the so-called general purpose computer (GPC) as follows:

Now assume that y is a time-variable quantity and z is a function of y, and that it is desired to obtain a value of z with variation of the value of y. Generally, any of the DDA and the GPC performs a specific operation repeatedly at a predetermined iteration timing in order to obtain such a value of z.

In the operation of the GPC, an instant value of y is latched at the beginning of each iteration cycle and subjected to a specific operation which directly produces the value of z corresponding to the input value of y. That is, in the GPC, inputs of y₀, y₁, . . . y_i are latched successively at the 0-th, 1st, 2nd, . . . i-th iteration cycles, respectively, and as the results of the repeated operations, there are produced outputs of z₀, z₁, . . . z_i, respectively.

On the other hand, the DDA uses, as inputs, y₀, y₁ -y₀, y₂ -y₁, . . . y_i -y_i-1, respectively in the 0-th, 1st, 2nd, . . . i-th iteration cycles, and produces, as outputs, z₀, z₁ -z₀, z₂ -z₁, . . . z_i -a_i-1, respectively. Hereinafter, the value of such y₀, y₁ . . . or z₀, z₁ . . . will be called a whole value, while the value of such y₁ -y₀, y₂ -y₁ . . . or z₁ -z₀, z₂ -z₁ will be called a value of an increment or simply an increment. For this reason, it is troublesome in its handling in practical use. More specifically, when the DDA is used with an automatic process control system, it is required to apply to the DDA operator only increments extracted from a whole value of each of various signals obtained from the process and to accumulate the increments resulting from its operation thereby to reconstruct the whole value to be applied as a control signal to the process.

Of those problems, the reconstruction of the whole value from increments, or the conversion of the increments into the whole value can be easily realized by using the contents of an integrand register, as called hereinafter "Y register", of the DDA which stores an integrand y, since the Y register holds an accumulation of increments operated. The problem to still be solved is how to obtain increments of various signals accurately and simply. The techniques so far proposed are: to provide hardware between the process and the DDA for producing increments of whole values of various signals from the process; or to input whole values of various signals from the process, as integrands y into the Y registers of a specific DDA operator thereby producing integration of y with respect to time, which is applied to a y increment generator composed of a combination of specific DDA operators so as to produce the increments.

The former technique is uneconomical because of use of the special and additional hardware and, when the number of signals from the process from which increments are derived are large, the additional hardware may be more expensive than the DDA proper. Also, an increased number of parts of the hardware which necessarily causes the reliability to degrade is undesirable for the process control system which inherently needs a fairly higher reliability.

The latter technique needs a plurality (e.g. 3 to 4) of DDA operators. Further, it is difficult to stably obtain increments when the control system is designed with an intention of a high response speed. Conversely, when the system is designed so as to stably obtain increments, the response speed is slow. Thus, it is very difficult to obtain an optimum compromise between the requirements of stable increment derivation and high speed response.

SUMMARY OF THE INVENTION

In order to eliminate the defects of the prior arts, the invention provides a DDA having a function of converting a whole value into an increment value.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows a block diagram of an embodiment of a DDA according to the invention.

FIG. 2 shows a circuit diagram of a logic circuit as an example used in the circuit in FIG. 1.

FIG. 3 shows an equivalent block diagram for explaining the operation of an integrator.

FIGS. 4 and 5 show the symbols of an integrator and a servo which are constructed by DDAs.

FIGS. 6 and 7 show Karnaugh maps for studying a construction of a part of the logic circuit shown in FIG. 2.

FIGS. 8 and 9 show the symbols for illustrating the addition function of the DDA according to the invention and that of the conventional DDA.

DESCRIPTION OF THE PREFERRED EMBODIMENT

FIG. 1 shows a block diagram of a DDA which is an embodiment according to the invention. In FIG. 1, input units I₁ to I_n receive input signals in a given format from a process to be controlled (not shown). Y registers Y₁ to Y_n are coupled with the input units I₁ to I_n, by way of a data bus DB₁. An adder AD is coupled with the Y register Y₁ to Y_n by way of a data bus DB₂, and to an incremental register (referred to as "ΔZ" register"), as described later and an incremental sign register (referred to as "ΔZ' register"), as also described later, by way of data buses DB₃ and DB₄. The output of the adder AD is coupled with the Y register via a data bus DB₅. A latch register LH₁ latches the data in a given Y register at a given timing under control of a control unit SPC. A decoder DC produces logic `0` onto a signal line C₆ only when the data latched in the Y register is 0 and produces logic `1` when the data takes any other value. An arithmetic logic unit ALU₁ receives the output of the latch register LH₁ via a data bus DB₈, the output of a latch register LH₂ which latches any one of the data in R registers R₁ to R_n via a data bus DB₉, increment data via data buses DB₃ and DB₄, and a signal for providing an increment Δt to effect a time integration through a data bus DB₆, respectively, and performs a given operation under control of the control unit SPC. A bit shifter SF shifts the incremental data coming through the data bus DB₃ to a bit position to which the incremental data is added in accordance with a signal from the control unit SPC which indicates the bit position of the data latched in the latch register LH₂ to which the incremental data is added. Another arithmetic logic unit ALU₂ performs a given operation of a signal applied thereto in accordance with a control signal delivered from the control unit SPC. A selector SL receives the output of the latch LH₂ through the data bus DB₉, and the add/substraction outputs of the arithmetic logic units ALU₁ and ALU₂ through the data buses DB₁₀ and DB₁₁, respectively, and selects one of them under control of a signal applied from the control unit SPC. The R registers R₁ to R_n are coupled with the selector SL through a data bus DB₁₂. The R register and the latch register LH₂ are coupled with each other through a data bus DB₁₃. A logic circuit LC serves as a ΔZ increment generator, receiving the signal C₆ from the decoder DC and further signals C₁ to C₃ to C₅. In those signals, signals C₁ and C₅ represent sign bits of the data latched in the latch registers LH₁ and LH₂. The signal C₃ becomes logic `1` when the data of the latch registers LH₁ and LH₂ are equal to each other, i.e. when A=B holds. The signal C₄ designates a sign bit of the operation result of A±B. ΔZ' and ΔZ" are the ΔZ and ΔZ' registers which operate in accordance with the output of the logic circuit LC and a control signal from the control unit SPC. Output units O₁ to O_n produce the data held in the Y register as a process control signal under control of a signal from the control unit SPC. The control unit SPC stores a predetermined program for performing a given function of the DDA to issue necessary control signals and timing signals.

On the basis of the aforementioned construction of the DDA, the operation of the DDA, when it acts as an integrator which is the basic function of the DDA, will be described briefly. Let it be assumed that the Y register Y₂ and the R register R₂ are used. The control unit SPC delivers commands for the use of those registers to the related components of the DDA, so that the related gates of the data buses associated with the components are controlled at given timings. As a result, the DDA operates with a function of an equivalent circuit as shown in a block diagram of FIG. 3. As shown, the circuit is comprised of an adder AD, the arithmetic and logic unit ALU₁ (it basically operates as an adder, in this case), the Y register Y₂ storing the result of the operation by the adder AD and the R register R₂ storing the result of the operation by the unit ALU₁. As shown, the circuit does not use the unit ALU₂ in this case. In the figure, Δy₁ to Δy.sub. n are minute increments (referred to as input increments) of n input variables. At the ith operation, the following integrand y is stored in the Y register Y₂ ##EQU1## where a suffix i designates a value of the result of the i-th operation and i-1 designates a value of the operation result of the (i-1) operation preceding to the i-th operation.

In accordance with the equation (1), the increments of input variables are accumulated, and the result is stored as a whole value of the integrand y in the Y₂ register.

An integral I of the integrand y with respect to an integral independent variable x can be obtained according to the well-known method of piecewise mensulation. That is, the integral I of a curve y=f(x) can approximately be given by the equation ##EQU2## where I₁ indicates the integration from the first to the i-th division and y_i Δx_i indicates the measurement of the i-th division.

In the equation (2), if the value of Δx is sufficiently small, an integral with a sufficient accuracy in practical use can be obtained. Assuming that u is the minimum quantitized unit of the integral independent variable x and, Δx is defined as follows:

when x increases by u, Δx_i =+1

when x decreases by u, Δx_i =-1

when a change of x is below u, Δx_i =0 then, the equation (2) is

when Δxi =+1, Ii =Ii-1 +yi 

when Δxi =-1, Ii =Ii-1 -yi 

when Δxi =0, Ii =Ii-1                 (3)

Therefore, a multiplier for calculating y_i Δx_i in the equation (2) may be omitted by using a control pulse, in place of Δx_i, for controlling the operation. The operation of the equation (3) is performed by the arithmetic logic unit ALU₁ shown in FIG. 3 under control of the Δx_i pulse. The integrated value I_i is stored in the R register R₂ as r_i. Since the capacity of the R register R₂ is finite, however, an overflow might occur in the R register R₂. Hence, y₁ and r_i are constrained within scopes -1≦y_i <+1 and 0≦r_i <+1, respectively, and the overflows thereof are related to the increment Δz_i of the output variable as follows: ##EQU3## As seen from the equation (4), when the value r_i-1 +y_i to be stored in the R register R₂ is above 1, the increment of Δz_i =+1 is produced and the value of overflow (remainder) exceeding +1 is loaded as r_i in the R register R₂. When 0≦r_i-1 +y_i <1 which is within the limitation of value to be stored in the R register R₂, the value of r_i-1 +y_i is stored as r_i in the R register R₂ and Δz_i is made 0, i.e. Δz_i =0. When r_i-1 +y_i is smaller than 0, Δz_i =-1 is outputted and r_i-1 +y_i +1≧0, i.e. difference between r_i-1 +y_i and -1, is loaded as r_i to the R register R₂. Δz_i is a pulse representing a quantitized increment having a weight of u and is used as Δx_i and Δy_i to another DDA operator. In other words, the data in the Δz register and Δz" register are introduced into the adder AD and the unit ALU₁, via the data buses DB₃ and DB₄, respectively, and are used as increments.

When the DDA operates as an integrator, it is represented by a symbolic presentation as shown in FIG. 4 and the integral operation logic is arranged in the following ##EQU4##

ri-1 +yi ≧1→Δzi =+1

0≦ri-1 +yi <1→Δzi =0

ri-1 +yi <0→Δzi =-1

ri =ri-1 +yi -Δzi 

When it operates as a servo, it is symbolized as shown in FIG. 5 and the operation logic of y_i is defined by the equation (1) as in the case of the integrator. The operation logic of Δz_i is independent of Δx_i and r_i, and defined by ##EQU5## The equation (5) implies that, so long as y_i ≠0, Δz_i pulse is exclusively dependent on the sign of y_i. Such as operation logic is realized in such a manner that, either Δz_i =+1 or Δz_i =-1 is determined depending on a state of a sign bit representing a sign of y_i in the Y register and the condition of Δz_i =0 is determined by detecting a bit state of each digit of the Y register. Therefore, the increment Δz_i may be formed by the logic circuit LC on the basis of the output signal C₆ of the decoder DC shown in FIG. 1 and the signal C₁ of the sign bit of the Y register latched in the latch LH₁. In other word, when the DDA operates as a servo, it is enough to perform the control as mentioned above by the control unit SPC.

As described above, the DDA commonly uses the adder AD, the arithmetic logic unit ALU₁, and the logic circuit LC, and controls a number of registers under control of the control unit SPC so as to satisfy the objects and the characteristics of the process control. In this way, the DDA digitally realizes the same control function as that of the conventional analog control device. As described above, however, the DDA must extract increments from the whole value of various signals from the process, and this task is troublesome.

The present invention is to provide a DDA capable of providing increments from the whole value. To achieve this function, the DDA is provided with an additional arithmetic logic unit ALU₂ and operates in the following manner.

When the increment request is issued from the control unit SPC, an input signal from the signal point of the process from which the increments are extracted is introduced through the input unit I, for example, I₁, to the Y register Y₁. Then, y_i and r_i-1 are read out from the Y register Y₁ and the R register R₁, respectively, and then are loaded into the latch registers LH₁ and LH₂ to set the A and B inputs of the arithmetic logic unit ALU₁. Simultaneously, r_i-1 is set to the B input of the arithmetic logic unit ALU₂. In the next step, the control unit SPC directs the arithmetic logic unit ALU₁ to caulculate A-B i.e. y_i -r_i-1 and judge whether A=B or A≠B. If A=B, the unit ALU₁ produces a state judge signal C₃ =1. Depending on the states of C₁ and C₃ to C₅, the control unit SPC directs the logic unit LC to judge whether y_i >r_i-1, y_i =r_i-1, or y_i <r_i-1. On the basis of the judgement, the logic circuit LC produces Δz_i pulse as described in detail later. Δz_i is set to the A input of the arithmetic logic unit ALU₂ through the shifter SF. In this case, the shifter SF, according to the command from the control unit SPC, shifts the Δz_i pulse to a digit position in the A input where the Δz_i pulse has a weight u and then sets it therein. The control unit SPC instructs the arithmetic logic unit ALU₂ to calculate A+B=u+r_i-1 and loads the result of the calculation as r_i into the R register R₁ by way of the selector SL. At this step of the operation, a first cycle of the operation is completed.

The explanation will be given of how Δz_i is set to the A input of the arithmetic logic unit ALU₂, together with the construction of the logic circuit LC.

For convenience of explanation, the following condition or assumption is set up:

(1) Scope of y and r: -1≦y<1, -1≦r<1

(2) Expression of y and r: Binary expression of 16 bits, a negative number is represented by a complement of 2 and a sign is given by the most significant bit. Accordingly, the minimum quantitized unit is 2^-15. ##EQU6##

Under these conditions (1) to (7), the logic circuit LC is so designed as to produce an increment Δz in accordance with the logic of increment output operation defined as follows: ##EQU7## In the above equation, Δz_i is expressed by the unit u obtained by quantitizing y and r; however, the expression is the same as that in which Δz_i is expressed in terms of incremental pulses +1, 0, and -1 each having a weight u. According to this logic, when y changes from y_i-1 to y_i, y_i is given by

yi =yi-1 +Δyi                         (7)

where Δy_i is an increment. Δy_i is expressed in terms of u

Δyi =u·m                               (8)

where m is an integer. In the operation of the incremental output operation, from the i-th iteration to the (i+m-1)th iteration, a total of m incremental pulses Δz having a weight u are outputted, while r is corrected by u every iteration to finally be y=r at the (i+m-1)th iteration.

A generation rule of the increment Δz is shown in Table 1. At No. 1 the states of yi≦0 and r_i-1 ≦0 are established and hence C₁ =0 and C₅ =0 are given in accordance with the above conditions (3) and (6). Due to r_i-1 -y_i, C₃ =0 and C₄ =0 are given in accordance with the conditions (4) and (5). Further, in accordance with the equation (6) of the definition of the incremental output operation logic and the condition (7) of the Δz_i, Δz'_i =0 and Δz"_i =1 are held.

                                  TABLE 1__________________________________________________________________________No.   yi  ri-1       C1         C5           C3             C4               Δ zi '                  Δ zi "                     yi, ri-1__________________________________________________________________________1               0 0 0  1  ri-1 < yi2  yi ≧ 0  ri-1 ≧ 0       0 0 0 1 1  1  ri-1 > yi3               1 0 0  0  ri-1 = yi4               0 0 0  1  ri-1 < yi5  yi < 0  ri-1 < 0       1 1 0 1 1  1  -1 < yi - ri-1 < 06               1 0 0  0  ri-1 = yi7               0 0 0  1  0 <  yi - ri-1 < 1   yi ≧ 0  ri-1 < 0       0 18               0 1 0  1  1 ≦ yi - ri-19               0 0 1  1  yi - ri-1 < -1   yi < 0  ri-1 ≧ 0       1 010              0 1 1  1  -1 ≦ yi - ri-1__________________________________________________________________________                     < 0

Other conditions are obtained in the same manner. Since the arithmetic logic units ALU₁ and ALU₂ calculate the values within the scope defined by the condition (1), when the result of y_i -r_i-1 is below -1 or not less than 1, the sign bit C₄ of the output signal of the arithmetic logic unit ALU₁ does not satisfy the condition (5). This situation correspondings to those in the columns (8) and (9) in Table 1. Let us consider the logic circuit LC to satisfy the generation rule shown in Table 1 even in such a situation. The Karnaugh maps relating to Δz'_i and Δz"_i prepared on the basis of Table 1 are shown in FIGS. 6 and 7. As known, the Karnaugh map is used to express Δz'_i and Δz"_i in terms of C₁, C₃, C₄ and C₅ in accordance with the Boolean algebra. In FIG. 6, a cross-point between a column of C₁ C₅ =00 and a row of C₃ C₄ =00 designates a state of Δz'_i in No. 1 in Table 1. This is correspondingly applied to other situations.

In accordance with the maps of FIGS. 6 and 7, Δz'_i and Δz"_i are expressed by

Δz'i =C3 {C4 (C1 C5 +C1 C5)+C1 C5 }                                (9)

Δz"i =C3                                   (10)

In the equation (9), C₃ is a logic NOT of C₃, C₁ C₅ is a logic AND of C₁ and C₅, and C₁ C₅ +C₁ C₅ is a logic OR of C₁ C₅ and C₁ C₅. Accordingly, Δz'_i is the logic AND of C₃ and C₄ (C₁ C₅ +C₁ C₅)+C₁ C₅. From the equation (10), Δz"_i is equal to C₃. The block diagram 21 shown in FIG. 2 is the expression of the equations (9) and (10) in terms of the logical elements. In FIG. 2, reference numerals 28, 29, 31, 32, 41 and 42 are AND gates: 30 and 33 are OR gates. When the control unit SPC requests the increment output, logical `1` is applied to one of the inputs of each AND gate 41 and 42 to enable the circuit 21 to use the increments Δz'_i and Δz"_i. The outputs of the logic elements with respect to C₁, C₃, C₄ and C₅ are tabulated in Table 2. Table 2 is so designed that the relations between the respective numbers 1 to 10 and C₁, C₃, C₄ and C₅ are the same as those in Table 1. When both the tables are compared with each other, those tables are coincident with each other with respect to C₁, C₃ , C₄ and C₅, and z'_i and Δz"_i. Therefore, the circuit 21 in FIG. 2 satisfies Table 1. The logic circuit for producing Δz for effecting the increment outputting is constructed as mentioned above.

                                  TABLE 2__________________________________________________________________________Control Signal      Logic ElementsNo.   C1C5  C3    C4      25        26          27            28              29                30                  31                    32                      33                        34                          Δzi '                             Δzi "__________________________________________________________________________1  0 0 0 0 1 1 1 0 1 1 0 0 0 0 0  12  0 0 0 1 1 1 1 0 1 1 0 1 1 1 1  13  0 0 1 0 0 1 1 0 1 1 0 0 0 0 0  04  1 1 0 0 1 0 0 1 0 1 0 0 0 0 0  15  1 1 0 1 1 0 0 1 0 1 0 1 1 1 1  16  1 0 1 0 0 1 0 0 0 0 1 0 1 0 0  07  0 1 0 0 1 0 1 0 0 0 0 0 0 0 0  18  0 1 0 1 1 0 1 0 0 0 0 0 0 0 0  19  1 0 0 0 1 1 0 0 1 1 1 0 1 1 1  110 1 0 0 1 1 1 0 0 1 1 1 1 1 1 1__________________________________________________________________________

How to set the A input of the arithmetic logic unit ALU₂ will now be described. As indicated by the condition (2) the unit u allowable for quantitizing y is 2^-15. Accordingly, u=2^-h may be used as the unit for quantization for an interger h which is 0<h≦15. In this case, the equation (8) is rearranged as follows:

I Δyi =u·m=2-h ·m        (11)

In other words, y is inputted into the Y register with the unit of 2^-h. At this time, the shifter SF set the u in the A input of the arithmetic logic unit ALU₂ so that ##EQU8## The hardware of the above relations may be realized in such a way that Δz'_i is placed to fill the upper bit positions including the h-th bit in the A input, and Δz"_i is placed at the (h+1)th bit position, and 0 is placed to fill the remaining lower bit positions.

The operations of the DDA as an integrator and a servo will be described referring again to FIG. 1, together with the logic circuit for producing the increment.

When the control unit SPC directs the circuit to operate as an integrator, the contents y_i of the Y register and the contents r_i-1 of the R register are read out and the read-out ones are loaded into the latch registers LH₁ and LH₂, and then are set into the A and B inputs of the arithmetic logic unit ALU₁.

After the settings, the increment pulses of independent variable are applied, through the data buses DB₃, DB₄ or DB₆, to the unit ALU₁ where the operation is carried out for A+B or A-B i.e. y_i +r_i-1 or y_i -r_i-1. The result of the operation is stored as r_i into the R register. In the storing into the R register, the sign bit of the (A±B) is ignored and a positive value r_i given by the equation (4) is always loaded into the R register. The overflow of the R register is determined by the logic circuit LC so as to satisfy the equation (4) by using the sign bit C₁ of the y_i, the sign bit C₅ of r_i-1 and the sign bit C₄ of the output signal from the arithmetic logic unit ALU₁ and the increment Δz is produced on the basis of the determination.

Accordingly, the generation rule of the increment Δz when the DDA operates as an integrator is shown as in Table 3, and its logic circuit is expressed as shown in the block diagram 22 in FIG. 2.

              TABLE 3______________________________________No.  yi  yi + ri-1                       C1                            C4                                 Δzi '                                      Δzi "______________________________________1    0 ≦ yi         1 ≦ yi + ri-1                       0    1    0    12    0 ≦ yi         0 ≦ yi + ri-1                       0    0    0    03    yi < 0         0 ≦ yi + ri-1 < 1                       1    0    0    04    yi < 0         yi + ri-1 < 0                       1    1    1    1______________________________________

When the control unit SPC specifies a servo, the incremental pulse is generated only dependent on the sign of the y_i and whether y_i is=0 or not, as described relating to the equation (5). Therefore, the generation rule of increment Δz is given as shown in Table 4 and its logical circuit 23 is expressed as shown in FIG. 2.

              TABLE 4______________________________________yi   C1   C6   Δzi '                                  Δzi "______________________________________yi > 0     0         1         0        1yi = 0     0         0         0        0yi < 0     1         1         1        1______________________________________

In the block diagram 22, reference numerals 43, 44 and 53, are AND gates. Only when the control unit SPC directs the integrator operation, the SPC applied a signal to one of the inputs of each of the AND gate 43 and 44, so that the circuit 22 operates as an integrator to produce increments.

In the block diagram 23, 56, 45 and 46 designate AND gates. When the control unit SPC directs the circuit 23 to operate as a servo, a signal is applied to one of the input terminals of each AND gate 45 and 46, so that it operates as a servo to produce increments.

As seen from the foregoing, the DDA according to the invention is able to produce increments of a signal representing the whole value of the signal from a process when the DDA is applied to the process control. Therefore, the problem of the increment generation of the conventional device can be solved.

An application of the invention will be described. In the DDA of the invention, the Y register portion, particularly the function thereof, is not modified, so that the inputting of the increment input Δy_k and the directly inputting of the whole value from exterior are performed in the same way as that of the other DDA devices. Accordingly, the Δy_k may be defined as shown in FIG. 8. In FIG. 8, an increment of y is expressed by ##EQU9## In other words, the total sum of n input increments is outputted as an output increment. Therefore, the DDA serves as an adder. The conventional adder uses a servo, as shown in FIG. 9. In this case, of the inputs Δy_k, the n-th input is used to negatively feed back Δz. The servo continues to output Δz until the total sum of the increment inputs Δy_i ˜Δy_n-1 is cancelled by the input Δy_n. Therefore, when it produces Δz equal to the total sum of the increment inputs Δy₁ to Δy_n-1, y=0 is established and the generation of the increment Δz stops. However, since the whole value is not accumulated in the Y register, the Y register can not produce a signal corresponding to the whole value to an external device and the maximum number of the input increments to be added is n-1. On the other hand, in the present invention, since the whole value is accumulated in the adder, the R register can produce the whole value to an external device and the maximum number of the input increments to be added is n. Therefore, the device according to the invention may be used not only for inputting a signal of the whole value delivered from the process but also for outputting a control signal of the whole value to the process.