Patent ID: 6167360
Filing Date: 2000-12-26
Classification: G05B

Abstract:
A method of processing signals for a physical system comprising:a) parameterizing a first set of time varying trajectories, said first set of time varying trajectories including at least: a reference signal and an actuator signal;b) creating a vector valued function that captures the dynamic and time varying behavior of said physical system;c) creating an estimator;d) creating a cost function to evaluate the quality of an output of said physical system;e) setting said reference signal to a nominal reference trajectory;f) running said physical system with a most recent reference signal to produce a most recent output value;g) running said estimator with said most recent reference signal and said most recent output value from said physical system to produce an estimated output;h) evaluating said estimated output, wherein said estimated output is compared to a desired output such that:(1) if said estimated output is approximately equal to said desired output, then go to step 1);(2) if said estimated output is not approximately equal to the desired output, then go to step i);i) determining an upper bound and a lower bounds for said actuator signal such that said actuator signal does not saturate;j) running a constrained program to produce a new reference signal;k) evaluating said new reference signal wherein said new reference signal is compared to a previous reference signal such that:(1) if said new reference signal is approximately equal to said previous reference signal, then go to step 1);(2) if said new reference signal is not approximately equal to the previous reference signal, then go to step f); andl) stop.