Patent ID: 6757570
Filing Date: 2004-06-29
Classification: G05B,G05D

Abstract:
A computer system for controlling a nonlinear physical process with a dynamic output response signal, said physical process represented by a fixed model of said process, comprising:a linear controller for providing a pseudo control signal, said pseudo control signal being based on said fixed model for said process; a second adaptive controller, connected to said linear controller, for receiving said pseudo control signal and for providing a modified pseudo control signal to said linear controller to correct for errors inherent in modeling of said process, said second adaptive controller comprising a neural network for modifying said pseudo control signal based on on-line analysis of said process, the value of said modified pseudo control signal equals the sum of said pseudo control signal, outputted from said linear controller, and an estimated derivative of a received command signal for a degree of freedom in said system, the sum being subtracted by an output signal from said neural network for that same degree of freedom; and a response network, connected to said second controller, for receiving said modified pseudo control signal and for providing said output response signal to a controlled device.