Patent ID: 8868221

Claim:
A feed forward control system for controlling a mechanical system, the feed forward control system comprising: an input device configured to receive a desired response of the mechanical system; and a trainable system configured for initial training based on a plurality of measured responses of the mechanical system, wherein the trainable system, after being initially trained based on the plurality of measured responses, is configured to: receive the desired response from the input device; and in response to receipt of the desired response, generate a feed forward signal that drives the mechanical system, the feed forward signal being generated to produce an actual response of the mechanical system that matches the desired response received by the trainable system; a comparator configured to: receive the desired response from the input device and the actual response of the mechanical system; and generate an error signal based on a difference between the desired response and the actual response; and a feedback device configured to: receive the error signal from the comparator; and generate a feedback signal based on the error signal, wherein the feedback signal comprises a sum of a plurality of weighted adjustment values, wherein the trainable system is further configured to: receive the error signal from the comparator and the feedback signal from the feedback device; and adjust the feed forward signal based on the error signal and the feedback signal to generate an adjusted feed forward signal that drives the mechanical system.