Self-adaptive control system

Claim 1

A SELF-ADAPTIVE CONTROL SYSTEM USING SAMPLED DATA AT DISCRETE INSTANCES TO DERIVE AND APPLY COMMAND INCREMENT SIGNALS TO CONTROL A DEVICE WITH MEANS FOR PROVIDIN SIGNALS REPRESENTING THE ACTUAL RESPONSE AND THE RATE OF CHANGE OF RESPONSE OF THE DEVICE TO THE INCREMENT SIGNALS, COMPRISING MEANS FOR DERIVING A SIGNAL REPRESENTING A DESIRED RESPONSE FROM THE ACTUAL RESPONSE SIGNAL, MEANS FOR COMPARING THE SIGNALS REPRESENTING DESIRED RESPONSE AND RATE OF CHANGE OF RESPONSE TO DERIVE SIGNALS REPRESENTING THE ACTUAL ERROR AT THE PRESENCE AND A PREDICTED ERROR AT A PREDETERMINED FUTURE INSTANT IN THE ABSENCE OF COMMAND INCREMENT SIGNALS BETWEEN THE PRESENT AND THE FUTURE INSTANT, AND A CONTROLLER RECEIVING THE ERROR SIGNALS TO DERIVE A COMMAND INCREMENT SIGNAL BY MODIFYING TE SIGNAL REPRESENTING THE PREDICTED ERROR AT THE FUTURE IN STANT BY A COMMPUTED SYSTEM GAIN THAT IS APPLIED TO CONTROL THE DEVICE, SAID CONTROLLER INCLUDNG MEANS FOR COMPARING A SYSTEM GAIN MODIFIED SUM OF SIGNALS REPRESENTING THE ACTUAL AND PREDICTED ERRORS AT THE PRESENT TO A PREVIOUS COMMAND INCREMENT SIGNAL TO COMPUTE SYSTEM GAIN.