Patent ID: 7765427

Claim:
A monitoring system for a recoverable digital control system, the monitoring system comprising: a first monitoring plane internal to one or more computing units in the control system, the first monitoring plane comprising: a first internal monitor comprising a self-checking, lock-step-processing monitor with integrated rapid recovery capability; and a second internal monitor comprising one or more reasonableness monitors that compare an actual effector position with a commanded effector position; and a second monitoring plane external to the computing units, the second monitoring plane comprising: a first external monitor comprising a pre-recovery computing monitor; and a second external monitor comprising a post recovery computing monitor; wherein the first external monitor is configured to independently monitor multiple effector position command computations across the computing units; wherein the first external monitor is configured to sort fresh and valid input commands from the computing units by magnitude, and compute a blended command by averaging two sorted input commands closest to a median of all the input commands while discarding outlying input commands from the blended command computation; and wherein the computing units provide a real-time integrated modular computing platform.