Patent ID: 11971690
Assignee: UNIVERSITY OF NEW BRUNSWICK
Field: Control (Instruments)
Classification: CPC G  B | IPC G

Claim 2:
3. The computer-implemented method of claim 2, wherein the step of generating at least one control output further comprises executing the following equation:, U
      ⁡
      
        (
        s
        )
      
    
    
      E
      ⁡
      
        (
        s
        )
      
    
  
  =
  
    
      
        d
        1
      
      ⁡
      
        (
        
          
            
              ∏
              
                i
                =
                1
              
              
                n
                a
              
            
            ⁢
            
              
            
            ⁢
            
              
                τ
                i
              
              ⁢
              s
            
          
          +
          1
        
        )
      
    
    
      
        
          
            
              
                (
                
                  
                    Δ
                    ⁢
                    
                      
                    
                    ⁢
                    
                      t
                      ⁡
                      
                        (
                        
                          1
                          -
                          
                            d
                            3
                          
                        
                        )
                      
                    
                    ⁢
                    s
                  
                  +
                  
                    d
                    3
                  
                
                )
              
              ⁢
              
                (
                
                  
                    
                      ∏
                      
                        i
                        =
                        1
                      
                      
                        n
                        a
                      
                    
                    ⁢
                    
                      
                    
                    ⁢
                    
                      
                        τ
                        i
                      
                      ⁢
                      s
                    
                  
                  +
                  1
                
                )
              
            
            -
          
        
      
      
        
          
            
              ∑
              
                j
                =
                1
              
              
                n
                a
              
            
            ⁢
            
              (
              
                
                  (
                  
                    
                      k
                      j
                    
                    ⁢
                    
                      d
                      
                        2
                        ⁢
                        j
                      
                    
                  
                  )
                
                ⁢
                
                  (
                  
                    
                      
                        ∏
                        
                          i
                          =
                          1
                        
                        
                          j
                          -
                          1
                        
                      
                      ⁢
                      
                        
                      
                      ⁢
                      
                        
                          τ
                          i
                        
                        ⁢
                        s
                      
                    
                    +
                    1
                  
                  )
                
                ⁢
                
                  (
                  
                    
                      
                        ∏
                        
                          i
                          =
                          
                            j
                            +
                            1
                          
                        
                        
                          n
                          a
                        
                      
                      ⁢
                      
                        
                      
                      ⁢
                      
                        
                          τ
                          i
                        
                        ⁢
                        s
                      
                    
                    +
                    1
                  
                  )
                
              
              )
            
          
        
      
    
  

where E(s) is an error between the system output and desired output.