Patent ID: 7593793

Claim:
An adaptive control method for a system having actuators controlling control surfaces, the actuators having an input command saturation of u max , the system having a control loop providing a linear feedback/feedforward commanded input of u lin wherein u lin is adaptively formed responsive to an error signal representing a difference between an actual state for the system and a reference state for the system, comprising: defining a positive input command limit u max δ equaling (u max −δ), where 0<δ<u max ; defining a negative input command limit equaling −u max δ ; if the absolute value of u lin is less than or equal to u max δ , commanding the actuators with u lin ; if u lin exceeds u max δ , commanding the actuators with a first command input that is a function of the sum of u lin and a scaled version of u max δ ; and if u lin is less than −u max δ ; commanding the actuators with a second command input that is a function of the difference of u lin and a scaled version of u max δ .