Dual redundant, adaptive motor control with fail safe features

Claim 1

A DUAL REDUNDANT ADAPTIVE FLIGHT CONTROL SYSTEM HAVING TWO ADAPTIVE CONTROL CHANNELS, EACH CHANNEL INCLUDING A VARIABLE GAIN CONTROL LOOP HAVING A GAIN COMPUTERCONTROL LOOP GAIN CHANGER ARRANGEMENT EACH GAIN COMPUTER BEING RESPONSIVE TO A LIMIT CYCLE FREQUENCY OF AN OUTPUT MEMBER OF ITS ADAPTIVE CONTROL CHANNEL WHICH OUTPUT MEMBER IS POSITIONED BY A SERVO AND CONTROLS A FLIGHT CONDITION, MEANS IN ONE CHANNEL GAIN COMPUTER PROVIDING A RESULTANT OUTPUT TO THE CONTROL LOOP GAIN CHANGER COMPUTED FROM THE DIFFERENCE BETWEEN A NORMAL OUTPUT OF THE GAIN COMPUTER DEPENDENT UPON THE LIMIT CYCLE AMPLITUDE AND A QUANTITY DEPENDENT UPON THE LIMIT CYCLE AMOF SAID ONE GAIN COMPUTER AND THE NORMAL OUTPUT OF THE OTHER GAIN COMPUTER, AND MEANS ADJUSTING THE CONTROL LOOP GAIN CHANGER FROM SAID RESULTANT OUTPUT, TO INCREASE THE RELIABILITY OF SERVO OPERATION IN SAID FLIGHT CONTROL SYSTEM.