Patent ID: 7035034

Claim:
A control device comprising: an actuator; a servo control unit coupled to the actuator; a switch having a first terminal and a second terminal, wherein the first terminal of the switch is coupled to the actuator; a correction signal generation unit having an output coupled to the second terminal of the switch; and a correction signal control unit coupled to the switch for controlling the switch; and wherein the correction signal generation unit comprises: a first linear acceleration sensor; and a second linear acceleration sensor; and wherein the servo control unit, the correction signal generation unit, and the correction signal control unit are configured to cooperatively perform the following operations: interrupting sampling in the servo control unit; determining whether a condition to perform an error recovery process is established; and if not, resuming servo sampling; and if so, calculating an optimum gain k 1 opt opt of the first linear acceleration sensor and an optimum gain k 2 opt of second linear acceleration sensor; and determining whether k 1 min ≦k 1 opt ≦k 1 max and k 2 min ≦k 2 opt ≦k 2 max ; and if not, resuming servo sampling; and if so, determining whether the effect of supplying a correction signal to a servo loop exceeds a refererence value S 1 ; and if not, resuming servo sampling; and if so, setting the gain of the first linear acceleration sensor at the optimum gain k 1 opt and the gain of the second linear acceleration sensor at the optimum gain k 2 opt ; supplying the correction signal to the servo loop; and resuming servo sampling.