Model reference adaptive control system

Claim 1

A MODEL REFERENCE ADAPTIVE CONTROL SYSTEM OF THE TYPE WHEREIN ADAPTATION IS EFFECTED BY THE VARTIATION OF THE GAIN OF A PLURALITY OF ADJUSTABLE SENSITIVITY ELEMENTS OF SAID SYSTEM TO MINIMIZE AN INTEGRAL-SQUARED RESPONSE ERROR OF SAID SYSTEM MEASURED RELATIVE TO THE CORRESPONDING RESPONSE OF A MODEL COMPRISING (A) A MODEL FILTER WHICH IS AN ANALOG OF THE SYSTEM SPECIFICATION, A FIRST SUB-MODEL FILTER HAVING A PERFORMANCE FUNCTION EQUAL TO THE PRODUCT OF THE PERFORMANCE FUNCTION OF SAID SYSTEM MODEL CASCADED WITH THE INVERSE CHARACTERISTICS OF APPROPRIATE ONES OF SYSTEM FORWARD PATH ELEMENTS, WHEREBY SAID SUBMODEL FILTER PERFORMANCE FUNCTION APPROXIMATES THE PERFORMANCE FUNCTION OF SAID SYSTEM MEASURED FROM THE OUTPUT OF A CORRESPONDING ONE OF SAID ADJUSTABLE ELEMENTS TO THE OUTPUT OF SAID SYSTEM, (B) MEANS FOR APPLYING TO SAID SUB-MODEL THE CONTROL SYSTEM SIGNAL APPEARING AT THE INPUT OF A FIRST OF SAID ADJUSTABLE ELEMENTS; (D) MEANS FOR CONNECTING THE INPUT OF SAID MODEL WITH THE INPUT OF SAID SYSTEM (E) A SUMMING AMPLIFIER CONNECTED TO THE OUTPUT OF SAID SYSTEM AND THE OUTPUT OF SAID MODEL TO RESPOND TO THE ERROR BETWEEN SAID OUTPUTS, AND PROVIDE A RESPONSE ERROR SIGNAL (F) AN INVERTING AMPLIFIER TO GENERATE THE NEGATIVE OF SAID ERROR SIGNAL (G) A RATE SERVO FOR ADJUSTING SAID FIRST ADJUSTABLE ELEMENT, AND (H) SWITCHING MEANS CONNECTED SAID SERVO ALTERNATIVELY TO ERROR SIGNAL OR SAID NEGATIVE RESPONSIVE TO THE POLARITY OF THE OUTPUT OF SAID FIRST MODEL FILTER.