Boots – shoes – and leggings
Patent
1992-05-27
1994-08-02
Smith, Jerry
Boots, shoes, and leggings
364148, 364177, G05B 1302
Patent
active
053351657
ABSTRACT:
An adaptive PID.tau..sub.d controller has a proportional derivative section that generates an error signal representing an error in the control signal, particularly, as a function of (i) a time rate of change of the controlled variable signal and (ii) a difference between the controlled variable signal and a predetermined setpoint. A summation element sums that error signal with a time-delayed integral signal to generate a summation signal. That summation signal, in turn, is filtered by the aforementioned adaptive noise filter to generate a manipulated variable signal, which is selectively applied to the process by an output section. A feedback element processes the manipulated variable signal to generate the time-delayed integral signal, referred to above. That processing includes time-delaying the manipulated variable signal an mount substantially equal to the deadtime of the process, .tau..sub.d, and passing that time-delayed manipulated variable signal through a first-order lag of time constant I to generate the time-delayed integral signal.
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Gordon Paul
Smith Jerry
The Foxboro Company
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