Closed loop servo control system

Claim 1

A SELF-ADAPTIVE, CLOSED LOOP CONTROL SYSTEM FOR CONTROLLING MOVEMENT OF A BODY COMPRISING MEANS FOR GENERATING REFERENCE SIGNALS, SENSING MEANS FOR PRODUCING A FEEDBACK SIGNAL REPRESENTATIVE OF THE RESPONSE OF SAID CONTROL SYSTEM, FIRST MIXING MEANS CONNECTED AND DESIGNED FOR COMPARING SAID REFERENCE SIGNALS AND SAID FEEDBACK SIGNALS THEREBY PROVIDING A FIRST ERROR SIGNAL, DETECTOR MEANS COUPLED TO RECEIVE SAID FIRST ERROR SIGNAL FOR PROVIDING A SECOND ERROR SIGNAL INDICATIVE OF THE DEVIATION OF THE NATURAL FREQUENCY OF SAID SYSTEM FROM A DESIRED NATURAL FREQUENCY, VARIABLE GAIN MEANS COUPLED TO RECEIVE SAID FIRST ERROR SIGNAL AND BEING DESIGNED TO AMPLIFY SAID FIRST ERROR SIGNAL BY A FACTOR CONTROLLED BY SAID SECOND ERROR SIGNAL, DAMPING RATIO CONTROL MEANS FOR COMPARING THE EXCURSIONS OF ONE POLARITY OF SAID FIRST ERROR SIGNAL WITH THE EXCURSIONS OF THE OTHER POLARITY ATTENUATED BY A FACTOR PROPORTIONAL TO A DESIRED DAMPING RATIO THEREBY PRODUCING A THIRD ERROR SIGNAL WHEN THE RATIO OF SAID EXCURSIONS DEVIATES FROM SAID DESIRED DAMPING RATIO, SECOND MIXING MEANS DESIGNED TO PRODUCE A FOURTH ERROR SIGNAL BY COMPARING THE OUTPUTS OF SAID VARIABLE GAIN MEANS AND SAID THIRD ERROR SIGNAL, AND SYSTEM CONTROL MEANS CONSTRUCTED AND ARRANGED TO PRODUCE CORRECTIVE MOVEMENTS OF SAID BODY IN ACCORDANCE WITH SAID FOURTH ERROR SIGNAL.