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Method and apparatus for hybrid resetting states proportional-integral-derivative and lag controllers

  • US 8,200,347 B2
  • Filed: 01/22/2009
  • Issued: 06/12/2012
  • Est. Priority Date: 01/22/2009
  • Status: Expired due to Fees
First Claim
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1. A controller for controlling a system, comprising:

  • a feedforward module to produce a feedforward component azr, where a is a high frequency gain;

    a proportional module to produce a proportional component Kpvz, where Kpv is a proportional gain;

    an integral or lag module to produce respective integral or lag components, wherein the feedforward module and the proportional module and the integral or lag module form a controller having a state, and the integral or lag module is capable of resetting the state; and

    means for combining the feedforward component azr, the proportional component Kpvz, and the integral or lag components to produce an input u for the system to be controlled, wherein the feedforward module is provided with a reference signal r and an error signal e, and wherein where the error signal is a difference between the reference signal and an output y of the system, and the error signal is also provided to the proportional module.

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