Patent Document ID: 8965538
Application ID: 12783230
Patent Flag: 1

Claim One:
1. A method for operating a controlled device, the method comprising: receiving an external command that represents a desired system dynamics for the controlled device; receiving a feedback signal from the controlled device, the feedback signal indicating actual system dynamics of the controlled device; applying a predefined limit to the actual system dynamics to create limited system dynamics; calculating, by a processor, a modulation parameter based at least in part on a predefined tolerance and a difference between the limited system dynamics and the actual system dynamics; and generating, by the processor, the desired system dynamics for the controlled device based at least in part on the modulation parameter, wherein the modulation parameter enables a value of the external command to be approached gradually without exceeding the predefined limit at a particular rate, and wherein the particular rate is calculated based on the difference between the limited system dynamics and the actual system dynamics and a length of time corresponding to a magnitude of the predefined tolerance.