Determination of open loop responses from closed loop measuremen

Details Determination of open loop responses from closed loop measuremen Determination of open loop responses from closed loop measuremen

1992-02-28

1995-08-29

Envall, Jr., Roy N.

Boots, shoes, and leggings

364148, 364160, G05B 1302, G06F 1546

Patent

active

054466482

ABSTRACT:
Method and apparatus for determining open-loop parameters for each of three general feedback configurations from measurements of the closed-loop error signals or other output signals produced in response to provision of predetermined input signals for the configuration. The feedback loop in one embodiment includes a sum or difference module, a controller module, a plant module and a sensor dynamics module, arranged serially, where the actions of the controller module, the plant module and the sensor dynamics module are represented by associated matrices C, P and H, respectively, when operating in the linear region. The feedback loop in a second embodiment includes a first sum or difference module, a controller module, a second sum or difference module and a plant module, arranged serially, where the actions of the controller module and the plant module are represented by associated matrices C and P, respectively, when operating in the linear region. The feedback loop in a third embodiment includes a first sum or difference module, a controller module, a second sum or difference module, a plant module, a third sum or difference module, and a sensor dynamics module, arranged serially, where the controller module, the plant module and the sensor dynamics module are represented by associated matrices C, P and H, respectively, when operating in the linear region. The sum or difference modules in the second and third embodiments are used to introduce arbitrary input test signals into the loop. Each of the three embodiments or configurations is defined by a sequence of matrix equations that determine various linear combinations of intermediate and output signals in terms of the input test signals provided. These matrix equations are rewritten in terms of certain combined action matrices, and these combined action matrix equations are "unwrapped" and used to determine the open-loop parameters associated with the configuration.

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