Patent ID: 7684879

Claim:
A method for simultaneous selection of filters and loop proportional gain for a closed loop system comprising the actions of: (a) generating a Frequency Response Function of the system; (b) determining one or more resonant and anti-resonant frequencies of a speed controller of the system; (c) estimating the total inertia of the system; (d) generating a Frequency Response Function for a current controller and loop pure time delays for the system; (e) determining a lower limit, an upper limit, and an initial candidate value gain based on the estimated total inertia and knowledge of the dynamic response of the current controller and loop pure time delays and set a candidate value gain equal to the initial candidate value; (f) generating a Frequency Response Function that represents the system plant Frequency Response Function multiplied by the current controller and loop pure time delays Frequency Response Function and the candidate value gain; (g) selecting a combination of current set-point filters that suppresses an amplitude at resonant frequencies to just meet a restriction for minimum gain margin; (h) reducing the candidate value gain to satisfy the global minimum gain margin criterion and designating candidate value as a final candidate value; (i) optimizing using golden section search algorithm to determine a next candidate value; and (j) converging to the final candidate value by iterating the candidate value to the next candidate value and repeating action (f) through (j).