Feedback control apparatus and method thereof for compensating for changes in structural frequencies

摘要

An apparatus for providing feedback control of a device having multi-degrees of freedom. The apparatus comprises a first input device for receiving control signals based upon desired reference inputs and first feedback signals from the device, a second input device for receiving second feedback signals from the device, and a processing device receiving the control signals from the first input device and the second feedback signals from the second input device for determining a compensating signal for supply to the device. The compensating signal compensating for changes in structural frequencies due to configuration changes of the device so as to enable the first feedback signals to be independent of variations of the structural frequencies.