A controller and associated methods. A controller has an input for a controlled variable; a proportional term; an integral term; and a predictive term. The predictive term has an error-predictive subterm including at least a past value of an error; and a command-predictive subterm including at least...http://www.google.fr/patents/US7546170?utm_source=gb-gplus-shareBrevet US7546170 - Easily tuned and robust control algorithm for single or multiple variable systems
Easily tuned and robust control algorithm for single or multiple variable ...
