Patent Document ID: 7630779
Application ID: 11141810
Patent Flag: 1

Claim One:
1. A control system for a plant operable in a closed control loop configuration, the system having a controller which includes a prediction error filter and an adaptive gain element, the prediction error filter being configured to tune control parameters of the controller so as to provide for self tuning of the controller, and wherein the control system is configured to control the plant: a. initially during a start up of the control loop, setting a set point (Vos) of the control loop and an output of the plant both equal to 0, b. increasing the set point (Vos), by means of a soft startup to a desired output, c. setting the gain of the adaptive gain element of the controller so as to emulate an open loop configuration, d. monitoring a prediction error signal of the prediction error filter so as to detect any deviation of that signal from what would be expected from a white noise response, and e. on detection of the deviation, enabling both the prediction error filter and adaptive gain element to react so as to restore a mean value of the deviation to 0.