Patent ID: 6870345

Claim:
A servomechanism having proportional, integral, and differential control (PID) receiving an error signal and generating a command signal comprising: a first gain block having an input receiving the error signal, an output and a first gain; a first rate-limiter block having an input connected to said output of said first gain block, an output and a first rate limit; a derivative block having an input receiving the error signal and an output; a first summer-block having a first input connected to said output of said first rate-limiter block and a second input connected to said output of said derivative block and a first sum output; a second rate-limiter block having an input connected to said output of said first gain block, and output and a second rate limit less than said first rate limit; an integrator block having an input connected to said first sum output of said first summer-block and an output; a second gain block having an input connected to said output of said integrator block, an output and a second gain; a third gain block having an input connected to said output of said derivative block, an output and a third gain; and second summer-block having a first input connected to said output of said second gain block, a second input connected to said output of said third gain block, a third input connected to staid output of said second rate-limiter block, and a second sum output, said second sum output being said command signal.