Patent ID: 9176498
Filing Date: 2015-11-03
Classification: G05B

Abstract:
1. A method comprising: calculating and sending, via a controller, a manipulated variable via a possibly unreliable network to control an actuator in a process; receiving information at the controller identifying a value which was actually applied by the actuator together with a time stamp indicating a time of applying the value; receiving process data at the controller representative of a process state, the process data acquired by sensors over the network together with the time stamp indicating the time when the acquisition took place; estimating an applied actuator input signal via the controller along with the process state, fusing received process data acquired by sensors and received information identify the value which was actually applied by the actuator arriving late within a set maximum delay; and using a difference between the calculated manipulated variable and the estimated applied actuator input signal to correct, via an estimator, a next calculated manipulated variable determined by the controller prior to sending the next calculated manipulated variable to the actuator; wherein a correction signal is added to the controller output which is a difference between the calculated manipulated variable and the estimated applied signal.