Patent ID: 7866403

Claim:
A mass position and velocity observer, comprising: a proportional-integral-derivative (PID) controller portion operable to determine a mass position error and a mass velocity error and to generate a corrective signal based on the mass position error and on the mass velocity error; a first gain operable to amplify an indication of mass velocity by a mass damper gain to generate a damper force signal; a force summation portion that is operable to determine a summed force term based on the corrective signal, based on the damper force signal, based on a force command, and based on a mass weight term; a second gain operable to amplify the summed force term by an inverse mass gain and to generate a mass acceleration term; a first integrator operable to integrate the mass acceleration term to generate a mass velocity term and to output an estimate of mass velocity; and a second integrator operable to integrate the mass velocity term to generate a mass position term and to output an estimate of mass position.