Patent ID: 8666556

Claim:
A method, comprising: subdividing an operating range of a system component of a system into two or more set points or set point regions of operation; creating a feedforward table for mapping feedforward terms to the two or more set points or set point regions of operation; receiving a desired set point; determining if a feedforward term exists for the desired set point; if the feedforward term does not exist for the desired set point, incrementing a system component as needed using controller output to move the system to within a first acceptable tolerance of the desired set point; determining if a measure of steady state error for the system is within a second acceptable tolerance; if the measure of steady state error for the system is within the second acceptable tolerance, recording a feedforward term, corresponding to a current controller output, in the feedforward table for the current desired set point; if the measure of steady state error for the system is not within the second acceptable tolerance, not recording a feedforward term in the feedforward table for the desired set point; if the feedforward term does exist for the operating set point, controlling the system component using controller output that corresponds to the feedforward term associated with the desired set point to move the system toward the desired set point; and when a change to the system is detected that is associated with possible changes to the feedforward terms, generating one or more new feedforward terms for the feedforward table.