Patent ID: 7805207

Claim:
An apparatus for controlling a system, comprising: a fixed controller comprising: a fixed proportional-integral-derivative (PID) controller; and a fixed feedforward controller, in which the fixed PID controller and the fixed feedforward controller are configured to receive a reference command and to produce a fixed controller output comprising a fixed PID and a fixed feedforward controller command; an adaptive parallel controller comprising: an adaptive parallel PID controller; and an adaptive feedforward controller, in which the adaptive parallel PID controller and the adaptive feedforward controller are configured to receive the reference command and to produce adaptive controller output comprising an adaptive parallel PID and an adaptive feedforward; and means for adding the fixed controller output and the adaptive parallel controller output to produce a control command for a controlled system, the controlled system providing a measure of an output and a rate of change of the output as feedback to the fixed controller and the adaptive controller, in which gains of the adaptive parallel controller and the adaptive feedforward controller are adjusted dynamically.