Patent Document ID: 5568379
Application ID: 08244405
Patent Flag: 1

Claim One:
1. In a computer system, a method for controlling dynamic nth-order systems, comprising the steps of: producing a manipulated variable u as a sum of a linear compensation term C and a product term P, the compensation term C being a linear combination of a contouring error e and its time derivatives e.sup.(n-k), and the product term being formed by multiplying a fuzzy control term K.sub.Fuzzy, by a saturation term, sat; and using the manipulated variable .mu. for controlling at least a system component of a dynamic nth-order system; the linear compensation term being given by ##EQU14## e denoting the contouring error, e.sup.(n-k) denoting the time derivatives of e, .lambda. denoting a reciprocal time constant, and n denoting the order of the dynamic system; the saturation term, sat, depending on time derivatives of the contouring error and a boundary layer constant .phi.&gt;0 in accordance with the formula ##EQU15## the fuzzy control term K.sub.Fuzzy being selected such that EQU K.sub.F/max &gt;=F.sup.- +D+V+.eta. when F.sup..about. (x,t)&gt;=.vertline.f(x,t).vertline., D(x,t)&gt;=.vertline.d(t).vertline. and v(t)&gt;=.vertline.x.sub.d.sup.(n) (t).vertline., and x(t) denoting a state vector of the system, d(t) denoting disturbances of the system dynamics, f(x,t) denoting nonlinear system components, t denoting time, and .eta. denoting a non-negative constant.