Patent ID: 7139643

Claim:
A control device comprising a main servocontrol loop that comprises a servocontrolled system, and compensation means on the input side of the control device, said control device comprising an internal loop that receives a first signal derived from the main servocontrol loop as input, and that generates, as a function firstly of said first signal and secondly of a second signal characteristic of a parameter of the servocontrolled system, an error signal characteristic of the difference between said second signal and a theoretical signal determined using a model, said error signal being injected into the main servocontrol loop to correct the control of the servocontrolled system, wherein the internal loop and/or the main loop comprise at least one variable gain amplifier, and said control device comprises means for controlling the gain of said variable gain amplifier as a function of the second signal and a third signal derived from the main servocontrol loop from said servocontrolled system.