Patent ID: 7546190

Claim:
A method for compensating a steering system exhibiting dead-zone characteristics, the steering system providing a heading in accordance with a heading order comprising the steps of: estimating dead-zone parameters; establishing a dead-zone inverse utilizing said dead-zone parameters; modifying a heading order in accordance with dead-zone inverse parameters to provide a modified heading order; providing said dead-zone inverse parameters in vector form, thereby supplying a first vector; creating a vector representative of said modified heading order in vector form, thereby supplying a second vector; multiplying said second vector by said first vector transposed to provide a scalar product; coupling said scalar product, said modified heading order, and said second vector to transform function generators wherein said scalar product, said modified heading order and said second vector are transformed in accordance with said steering system's transfer function without dead-zone compensation, thereby providing a transformed scalar product, a transformed modified heading order, and a transformed second vector, and utilizing said transformed scalar product transformed modified Heading order and said transformed second vector to up-date said dead-zone inverse parameters.