Patent ID: 6968258

Claim:
A method of generating residual feedback to improve physical plant control, the method comprising the steps of: driving a physical plant system with a first input signal and generating a measured plant output signal; driving an estimator with the first input signal, and at least one residual gain feedback signal, and generating an estimated plant output signal there from; combining the measured plant output signal and the estimated plant output signal and generating a residual feedback signal there from; and processing the residual feedback signal and generating a residual integral gain portion of the at least one residual gain feedback signal there from, such that a difference between the measured plant output signal and the estimated plant output signal has a smaller error than that achievable when using an estimator based control system that employs residual feedback but that does not use a residual gain feedback signal, and wherein the step of driving a physical plant system comprises driving a micro-electro-mechanical system (MEMS) mirror.