Patent ID: 8014879

Claim:
A digital controller comprising: a sampling component that samples an output signal from a system and an input signal to said system at a first sampling rate, wherein said first sampling rate is at least equal to a predetermined operating rate, and that generates samples; an input parameter obtaining component that receives said samples and that obtains values for a plurality of input parameters from said samples, wherein said values for said plurality of input parameters are sampled at said first sampling rate; a decimator component that receives said values for said plurality of input parameters and that generates subsampled values for said plurality of input parameters, wherein said subsampled values are sampled at a second sampling rate that is slower than said first sampling rate; an adaptive plant estimator component that receives said subsampled values of said plurality of input parameters and that generates a model of said system based on said subsampled values, wherein said model reflects variations in said system; a compensator design component that receives said model of said system and that determines compensator parameters based on said model, wherein said compensator parameters reflect changes in said system, and wherein values of said compensator parameters are sampled at said second sampling rate; and a feedback compensator that receives said values of said compensator parameters and that adjusts said input signal to said system based on said compensator parameters.