Patent ID: 8554354

Claim:
A method of adaptive guiding of a web on a roller, comprising: measuring a position of the web; calculating the difference e 1 between an output of a model equation and the measured position; computing a value for a first parameter (w) belonging to a set of parameters of the model equation initialized to zero, the first parameter being a function of measured position of the web, a control input value on the roller, and a desired web position; computing a value for a second parameter (φ) belonging to the set of parameters of the model equation, the second parameter being a filtered output of the first parameter; computing a value for a third parameter ({dot over (θ)}) belonging to the set of parameters of the model equation, the third parameter being a rate of change of e t and the second parameter; when at least one of e 1 is greater than a predetermined constant and the third parameter is greater than a predetermined difference from zero, computing the control parameters by integrating the third parameter; when the updated control parameters are outside a set of predetermined bounds, resetting the controller parameters to zero; when the updated control parameters are within the set of predetermined bounds, computing a new control input based on the updated controller parameters; and when the new control input is within limits of a guide actuator, providing the new control input to the guide actuator.