Patent ID: 7245102

Claim:
A method for modifying a motor drive signal, the motor drive signal created by a pulse generator and coupled to a motor via a compensator, the method comprising: receiving a pulsed motor drive signal from the pulse generator; obtaining compensator current and compensator voltage measurements including an output current of the compensator and an input voltage of the compensator, the output current of the compensator and the input voltage of the compensator generated in part due to the pulsed motor drive signal; generating compensator reference values based on a characteristic line impedance of a line coupling the pulse generator to the motor, a propagation delay parameter of the line, and the compensator current and compensator voltage measurements; and controllably adjusting a compensator current source and a compensator voltage source in response to error signals computed from the compensator current and compensator voltage measurements and the compensator reference values in order to generate a compensator motor drive signal.