Patent ID: 7884566
Filing Date: 2011-02-08
Classification: G05B

Abstract:
1. A servo position control, comprising: a non-linear lead-lag filter adapted to receive a position error signal and a position feedback signal, the position error signal representative of a difference between a commanded position signal and the position feedback signal, the non-linear lead-lag filter operable to exhibit a frequency response that varies in response to the position error signal, the non-linear lead lag filter further operable to filter the position feedback signal and supply a compensated position feedback signal; a comparator adapted to receive the commanded position signal and coupled to receive the compensated position feedback signal from the non-linear lead-lag filter, the comparator responsive to the commanded position signal and the compensated position feedback signal to supply a compensated position error signal; and a non-linear integral filter coupled to receive the compensated position error signal and operable to exhibit a gain that varies in response to the compensated position error signal, the non-linear integral filter further operable to at least selectively filter the compensated position error signal and supply a filtered position error signal.