Patent ID: 8348627

Claim:
A method of controlling a fluid working machine having: at least one working chambers of varying cycle volume said volume varying at a first frequency; a high pressure inlet manifold; at least one inlet valves between said high pressure inlet manifold and said at least one working chamber; a low pressure outlet manifold: at least one outlet valves between said low pressure outlet manifold and said at least one working chamber; a rotating shaft driven by or driving a load; and a controller for receiving data on a first changeable parameter, said first parameter having a latency, and controlling at least one of opening and closing sequence of at least one of said valves to selectively enable said at least one working chamber separately on each cycle of said chamber, so as to supply or accept fluid in accordance with said first changeable parameter, the method comprising the steps of: monitoring a second changeable parameter requiring control at a frequency higher than said first frequency or having a latency lower than the latency of said first changeable parameter; and modifying said at least one of the opening and closing sequences of at least one of said valves to supply or accept fluid in accordance with a combination of said first and said second changeable parameter, wherein said at least one of said opening and closing sequences is altered during said cycle.