Boots – shoes – and leggings
Patent
1991-06-28
1993-04-13
Ruggiero, Joseph
Boots, shoes, and leggings
364178, G05B 1302
Patent
active
052028216
ABSTRACT:
An automatic digital control system includes a proportional integral derivative (PID) compensator in which the digital differentiator portion, with its associated zero-order hold, is implemented according to an algorithm that reduces phase loss as a function of frequency. The digital differentiator is based only on a present error sample so that the output of the digital differentiator (with its ZOH) is made to resemble an amplitude-balanced step function (i.e., a doublet) during a given sample period T. The step transition occurs at one-half of the period (i.e., at T/2). Another embodiment further reduces phase loss by confining the output waveform of the differentiator to some fraction of the total sampling period. During the remaining portion of the sampling period the digital differentiator (again, with its associated ZOH) is forced to some desired reference level.
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Bauck Randall C.
Chase Scott E.
Hargarten James W.
Maxtor Corporation
Ruggiero Joseph
Trammell Jim
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