Patent ID: 7266467

Claim:
A method for performing system characterization in situ for a system comprising an actuator controlled by a proportional controller, said system further comprising a measurement system configured to measure said actuator position rate, said system including at least one dead zone (DZ); said method comprising the steps of: (A) applying an input waveform U(t) to an input of said system, said system characterized by a quasi-linear transfer function relating said proportional controller input to said actuator rate of motion, wherein there is a delay between time of input of said proportional controller action and time of said actuator response in a quasi-linear region; (B) measuring waveform characteristics of an output waveform {dot over (X)}(t) taken from said measurement system in a relevant region of said output waveform; wherein said relevant region of said output waveform is determined by a first set of parameters selected from the group consisting of: {a noise level; drift of said actuator; friction properties of said actuator; and characteristics of said input waveform}; (C) calculating a second set of parameters selected from the group consisting of: {at least one DZ; a system delay; and a slope of said system response in said quasi-linear region of said system} based on said measured waveform characteristics of said output waveform; and (D) performing said system characterization in situ by using said second set of calculated parameters selected from the group consisting of: {at least one DZ; said system delay; and said slope of said system response in said quasi-linear region of said system} in order to accurately predict the behavior of said system comprising said actuator controlled by said proportional controller around said at least one dead zone DZ.