Patent ID: 6259223
Filing Date: 2001-07-10
Classification: G05B

Abstract:
A control system of a vehicle for providing an output signal (y) having a time derivative which is limited in relation to a time derivative of an input signal (u) if the time derivative for the input signal (u) exceeds a predetermined value and for phase compensating the output signal (y) in relation to the input signal (u), characterized in that the control system comprisessecond error signal forming means (7) for forming an error signal .epsilon. between the output signal (y) and the input signal (u),amplification means (8) generating a factor k in dependence of the amplitude of the second error signal .epsilon.,differentiating means (5, 6) for differentiating the input signal (u),a multiplier (6) for forming a product signal (.delta.) being the product of the differentiated input signal (u) and the factor k,first summing means (2) for subtracting the product signal (.delta.) from the input signal (u) and for forming a signal (x) sent to a rate limiting device (3) producing the output signal (y) being in phase with the input signal (u).