Patent ID: 7960934

Claim:
A fault-tolerant servomechanism control, comprising: a position control coupled to receive position commands and combined position feedback signals and operable, in response thereto, to supply commands; and a combined position feedback filter coupled to receive a first position feedback signal and a second position feedback signal and operable, in response thereto, to supply the combined position feedback signals to the position control, the combined position feedback filter comprising: a difference function coupled to receive the first position feedback signals and the combined position feedback signals and operable to supply first position error signals representative of a mathematical difference between the first position feedback signals and the combined position feedback signals, a limited integrator coupled to receive the first position error signals and operable to supply integrated position error signals that are limited in magnitude to a predetermined limit, and a summer coupled to receive the integrated error signals and the second position feedback signals and operable to supply the combined position feedback signals, the combined position feedback signals representative of a mathematical sum of the integrated error signals and the second position feedback signals.