Boots – shoes – and leggings
Patent
1992-09-11
1994-06-28
Smith, Jerry
Boots, shoes, and leggings
364161, 364163, G05B 1302
Patent
active
053252888
ABSTRACT:
A control target value x.sub.s, a present control signal x(n), and a present operating signal y(n) are input to a first control element which calculates r(n).y(n) where r(n) is the value of the ratio of the control target value to the control signal (=x.sub.s /x(n)). The control target value x.sub.s, the control signal x(n), and a differential parameter kd of the conventional PID control set by a parameter setting device are input to a second control element which calculates kd.r(n)(.DELTA.x.sub.s (n)-r(N)..DELTA.x(n)) where .DELTA.x.sub.s (n)=x.sub.s (n)-x.sub.s (n-1) and .DELTA.x(n)=x(n)-x(n-1). The outputs of both control elements are added to yield the next operating signal y(n+1). This design can provide an automatic control apparatus capable of achieving a good control performance even if an object element has a non-linear characteristic.
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patent: 5195028 (1993-03-01), Hiroi
Smith Jerry
Tousi Cameron H.
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