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Abstract

A feedback control system which includes a disturbance estimator and controller which takes account of and corrects for non-linear disturbances. A simple state model representative of the controlled plant is provided. A plant controller responds to a command signal and a process feedback signal for producing a controller output. The controller output drives both the plant and the state model. A sensed signal representing a state of the plant is compared with a corresponding output state of the model to produce an error signal which is representative of disturbances applied to the system. The disturbance estimator and controller responds to the error signal to produce a disturbance control output which is adapted to compensate for the non-linear disturbance. In a preferred embodiment the plant is an actuator and the non-linear disturbances are friction related. The disturbance control output in the preferred embodiment has an initial constant magnitude summed with an increasing ramp, and the disturbance estimator senses polarity reversals in the error signal to reverse the polarity of at least the constant component of the disturbance output.

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First Claim