Data processing: generic control systems or specific application – Specific application – apparatus or process – Mechanical control system
Reexamination Certificate
2005-11-22
2005-11-22
Knight, Anthony (Department: 2121)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Mechanical control system
C700S029000, C700S030000, C700S041000, C700S042000, C700S045000, C700S056000, C700S059000, C359S298000, C359S295000, C359S291000, C359S221200, C359S222100, C359S223100, C359S224200, C359S225100, C359S226200, C359S230000
Reexamination Certificate
active
06968258
ABSTRACT:
A system and method100of using residual feedback in a control loop in a manner that substantially eliminates the steady state error in the predicted states that results from the mismatch in gain between the plant and the model. The control effort used by the estimator to predict the next position is modified to compensate for this difference in gain. By integrating the residual, and modifying the apparent control effort accordingly, the residual is driven to have a mean value of zero. When the residual goes to zero, by definition, the steady state error in the position state goes to zero; and to the extent that the model matches the plant, the velocity state also approaches zero such that the steady state error in the predicted states are substantially eliminated, allowing for improved control.
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Brady III W. James
Kempler William B.
Knight Anthony
Pham Thomas
Telecky , Jr. Frederick J.
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