Patent Document ID: 8180464
Application ID: 12195353
Patent Flag: 1

Claim One:
1. A controller for controlling a plant, comprising: an input and an output associated with the plant; a sensor adapted to generate a sensor signal in response to said output; a predictive state and disturbance observer module, wherein said predictive state and disturbance observer module is adapted to receive said sensor signal and a disturbance adjusted control signal, and said module being further adapted to output an extended state estimate and a predicted extended state estimate, wherein said extended state estimate comprises a state of the plant, and an extended state of the plant system dynamics and external disturbances; and a control module adapted to accept said extended state estimate, said predicted extended state estimate, a trajectory, and a trajectory prediction, and to output a control signal based upon said extended state estimate, said predicted extended state estimate, said trajectory and said trajectory prediction; and wherein said extended state of the plant system dynamics is adapted to cause an input-output characteristics of the plant input-output to appear to be a double-integral plant with a scaling factor (b).