Three-parameter tunable tilt-integral-derivative (TID) controller

Claim 2

A multiple parameter tunable compensator system for use in a feedback control system, the compensator being located between a first summer and a second summer, a feedback path being connected to the first summer, said compensator having: an input for receiving a signal, the input being connected to three control paths, each control path employing a tunable element; the first control path employing an integral compensator having a transfer function I/s; the second control path employing a derivative compensator having a transfer function Ds; the third control path employing a tilt compensator having a transfer function T/s.sup.(1/n), wherein n is a nonzero real number, I, D, and T are real numbers, and s is the operational variable; and means for outputting the three outputs of the three compensators.

Claim 3

The compensator system of claim 1, wherein n is between 2 and 3.

Claim 4

The compensator system of claim 1, wherein said system further includes a prefilter.

Claim 5

The compensator of claim 3, said prefilter having a transfer function R(s) characterized by: R(s)=(s.sup.2 +2ω.sub.b S+ω.sub.b.sup.2)/ (s.sup.2 +5.25 ω.sub.b s+ω.sub.b.sup.2), the term w b being defined as a crossover frequency (f b ) multiplied by 2π.

Claim 6

A feedback control system, comprising: a prefilter for receiving a control signal from a plant, said prefilter outputting a filtered control signal along a control path; a summer for receiving said filtered signal along said control path from said prefilter and a feedback signal along a feedback path and for summing said filtered control signal and said feedback signal to yield a summed signal; a three-component compensator having, in parallel, an integral compensator unit, a tilt compensator unit, and a derivative compensator unit, each unit of said three-component compensator receiving said summed signal, with said integral compensator unit having a transfer function I/s; said derivative compensator having a transfer function Ds; and said tilt compensator having a transfer function T/s.sup.(1/n), wherein n is a nonzero real number; a second summer for receiving and summing compensated signals from each of unit of said three unit compensator; and a control for controlling said plant in response to said compensated signal received from said three-component compensator, with said feedback path being connected between said controller and said first summer.

Claim 7

A feedback control system, comprising: a prefilter for receiving a control signal from a plant, said prefilter outputting a filtered control signal along a control path; a summer for receiving said filtered signal along said control path from said prefilter and a feedback signal along a feedback path and for summing said filtered control signal and said feedback signal to yield a summed signal; a three-component compensator having, in parallel, an integral compensator unit, a tilt compensator unit, and a derivative compensator unit, each unit of said three-component compensator receiving said summed signal, with said integral compensator unit having a transfer function I/s; said derivative compensator having a transfer function Ds; and said tilt compensator having a transfer function T/s.sup.(1/n), wherein n is a nonzero real number; a second summer for receiving and summing compensated signals from each of unit of said three unit compensator; and a control for controlling said plant in response to said compensated signal received from said three-component compensator, with said feedback path being connected between said controller and said first summer.

Claim 8

In a feedback loop control system having a three-component PID-type compensator with a proportional compensator, a derivative compensator, and an integral compensator, the three compensators connected in parallel and having a common input, wherein the PID compensator is located between a first summer connected to a feedback path and a second summer, an improvement comprising: replacing said proportional compensator with a tilt compensator having a transfer function characterized by 1/s.sup.(1/n), wherein n is a nonzero real number.

Claim 9

In a feedback loop control system having a three-component PID-type compensator with a proportional compensator, a derivative compensator, and an integral compensator, the three compensators connected in parallel and having a common input, wherein the PID compensator is located between a first summer connected to a feedback path and a second summer, an improvement comprising: replacing said proportional compensator with a tilt compensator having a transfer function characterized by 1/s.sup.(1/n), wherein n is a nonzero real number.