Patent ID: 6772074
Filing Date: 2004-08-03
Classification: F16F,G05B,G10K

Abstract:
A method for reducing sensed physical variables including the steps of:a) generating a plurality of control commands as a function of the sensed physical variables based upon an estimate of a relationship between the sensed physical variables and the control commands; b) updating the estimate of the relationship based upon a response by the sensed physical variables; and c) varying a size of the update to the estimate in said step b) based upon a magnitude of change over time by at least one of the plurality of control commands, wherein the estimate of the change in response y=&Dgr;z due to a chance in control command v=&Dgr;u at a specific time tk is denoted Tk, where Tk is updated according to the equations Tk+1=Tk+EKT E=yâˆ’Tkv K=Qv/(1+vTQv), the matrix Q is a diagonal matrix with elements qi, and the variables qi determine the adaptation gain corresponding to the ith control command.