ADAPTIVE COMMAND FILTERING FOR SERVOMECHANISM CONTROL SYSTEMS

摘要

Preferred embodiments of the invention implement techniques for modifying the command trajectory, the architecture of a servomechanism control system (10), or both, to reduce the servo error during and/or after the command trajectory. An iterative refinement procedure generates for use by the servomechanism control system a corrective input, du , which significantly reduces the error (e) between the desired (y