Abstract: Providing a remote control technique capable of realizing the achievement of constraints and the certain following of a target value even with a network in which delay, loss, distortion, or the like may occur. In a remote control system, an area setting unit of a client-side control unit sets at least two areas representative of a group of states of an target object, which changes over time by feedback control. A state-evaluation information sending unit sends, to the host-side control unit, state evaluation information obtained by evaluating the state of the target object based on the area set by the area setting unit. A target value setting unit of the host-side control unit sets a target value such that the state of the target object changes in the area set by the area setting units. Moreover, a target value updating unit updates the target value based on the state evaluation information received from the client-side control unit.

Abstract: An adaptive process controller performs continuously scheduled process model parameter interpolation to determine a particular set of process model parameters which are used to develop controller tuning parameters for controller tuning. More particularly, a state-based, adaptive PID controller described herein uses a new technique to determine an appropriate process model to be used to perform adaptive tuning over the various operating regions of the plant, and in particular, uses a process model parameter determination technique that enables continuously scheduled process model parameter update over the various plant operating regions or points. The use of this continuously scheduled process model parameter update method provides for smoother transitions between tuning parameters used in the PID controller during adaptive tuning procedures which are implemented based on changes in the operating region or the operating point of the process, thereby providing for better overall control.

Abstract: A system and method of use for self-tuning a PID controller utilized with an exciter and generator is disclosed. The system includes a power source, an exciter electrically connected to the power source, a generator that is electrically energized by the exciter, and a processor that provides a PID controller that calculates an estimated exciter time constant and an estimated generator time constant using particle swarm optimization (“PSO”) to control exciter field voltage. The particle swarm optimization (“PSO”) technique includes increasing the voltage reference by a predetermined percentage over a predetermined time period, initializing each particle position of exciter time constant and generator time constant, calculating generator voltage, performing a fitness evaluation and then obtaining and updating best values. This is followed by repeating the steps of determining the generator voltage, the fitness evaluation, and the best values over a predetermined number of iterations.

Abstract: During operation of a rolling mill, a rolling product running through the mill is machined by a machining device which is controlled by a controller, to which a target and an actual value of the roll product are fed after machining. The controller determines based on the target and the actual value, in conjunction with controller characteristic, a controlled variable for the machining device and outputs the controlled variable to the machining device which machines the roll product according to the output controlled variable. A detection device receives the actual value after machining and a corresponding actual value of the mill product before machining. Based on the temporal profiles of the actual values, the device dynamically determines the controller characteristic such that the variance of the actual value at least tends to be minimized after machining. The device also parameterizes the controller according to the determined control characteristic.

Abstract: In tuning a PID controller for a process in a feedback control system, a method is provided for bringing the system into symmetric self-excited oscillations for measuring the frequency and the amplitude of the oscillations, and tuning the controller in dependence on the measurements obtained. A control algorithm referred to as the modified relay feedback test is introduced into a system in series with a process to generate self-excited oscillations. Tuning includes the steps of selecting a desired gain margin or phase margin, generating oscillations with the algorithm parameter corresponding to a selected gain or phase margin, measurements of the amplitude and the frequency of these oscillations, and computing PID controller tuning parameters. Data and formulas are given for the computation of the specific parameter of the modified relay feedback test and for tuning the parameters of the PID controller. An apparatus for performing the method is disclosed.

Abstract: A method for determining gain of a back-electromotive force amplifier may include setting an electric motor into a tri-state function mode and storing a first quasi steady-state value for back-electromotive force from the difference signal, and forcing a reference current through the electric motor and determining a first value of the gain of the amplifier for equaling a difference signal to the first quasi steady-state value. The method may further include setting the electric motor into a tri-state function mode a second time and storing a second quasi steady-state value for back-electromotive force from the difference signal, and increasing the first value of the gain by an amount proportional to a difference between the second quasi steady-state value and the first quasi steady-state value.

Abstract: A method and system of determining tuning parameters for use in tuning a controller used in a process control loop for a motor and associated load. The method includes providing tuning parameters, applying an excitation test signal, receiving frequency response data to determine phase and gain margins, creating an instability region defined by a bounded area that connects the phase and gain margins with a boundary on a gain vs. phase plot, assigning and applying cost functions, and computing stability determinations.

Abstract: One embodiment of the invention comprises a mass flow controller comprising a digital controller, a valve, and a sensor. The digital controller is adapted to implement a control loop having a proportional signal modifier in series with an integral signal modifier. The integral signal modifier is adapted to receive a combination signal and output an integrated signal. The valve is adapted to receive the integrated signal and adjust a valve opening in accordance with the integrated signal. The sensor is adapted to output a measured flow rate signal indicative of an actual fluid flow rate in the mass flow controller. The measured flow rate signal is received by the proportional signal modifier and used in conjunction with a setpoint signal to determine the error signal.

Abstract: A method for estimating a state of a process implemented by a tool for fabricating workpieces includes collecting metrology data associated with a subset of workpieces processed in the tool. The collecting exhibits an irregular pattern. Metrology data associated with a selected state observation is received for a selected run of the process. A tuning factor for the selected run is determined based on the irregular pattern. The selected state observation is discounted based on the determined tuning factor. A state estimate of the process is determined based on the discounted selected state observation. At least one process tool operable to implement the process is controlled based on the state estimate.

Abstract: Multiple designs, systems, methods and processes for controlling a system or plant using an extended active disturbance rejection control (ADRC) based controller are presented. The extended ADRC controller accepts sensor information from the plant. The sensor information is used in conjunction with an extended state observer in combination with a predictor that estimates and predicts the current state of the plant and a co-joined estimate of the system disturbances and system dynamics. The extended state observer estimates and predictions are used in conjunction with a control law that generates an input to the system based in part on the extended state observer estimates and predictions as well as a desired trajectory for the plant to follow.

Abstract: A control apparatus that can partially identify model parameters is provided. The apparatus for controlling an object that is modeled using at least one first model parameter and at least one second model parameter comprises a partial model parameter identifier for recursively identifying the second model parameter based on an output from the object and an input into the object, and a controller for using the first model parameter that is pre-identified and the second model parameter identified by the partial model parameter identifier to determine an input into the controller so that the output from the object converges to a desired value. Since all model parameters are not required to be recursively identified, the time for causing the model parameters to converge to optimal values can be shortened. The computational complexity for the identifier can be reduced.

Abstract: One embodiment comprises a method of providing accurate mass flow controller flow rate data for a non-manufacturing-tuning-gas. The mass flow controller may be operated at a setpoint greater than 50%. Data may be recorded to a mass flow controller memory. The setpoint may then be changed to 0%. The recorded data may then be analyzed and one or more non-manufacturing-tuning-gas correction algorithm parameters may be calculated. The one or more non-manufacturing-tuning-gas correction algorithm parameters may be stored in a mass flow controller memory and subsequently used in at least one future mass flow controller operation involving the non-manufacturing-tuning-gas.

Abstract: A system and method for controlling a plant having a minimum phase transfer function P(s) and given an input signal u, the plant having an output y and a plant frequency range comprising a transfer function J(s) comprising the product of a high gain filter J1(s) having a gain k1 sufficient that ? J ? ( ? ) ? > [ 1 + 1 ? ] when |?|??1 and |1+J(?)|>1/M for all ? wherein ?1 is selected to obtain a desired time response, and a low pass filter J2(s) selected such that |1+J(?)|>1/M for all ? and J(s) is strictly proper, wherein ?<1 and M>1 and ? and M are selected to meet a desired sensitivity requirement. An error signal e is calculated comprising the difference between the system input signal u and the plant output signal y, and the error signal modified according to the transfer function C(s)=P?1(s)J1(s)J2(s) and inputting the error signal into the plant. The system and method can be extended to unstable invertible plants.

Abstract: A dynamic gain controller for providing an adjust value for a control plant to control an output value of the control plant, detects an error value between a feedback value related to the output value and an input reference value, and compares the error value with a threshold to select a gain for amplifying the error value to generate the adjust value. The dynamic gain control will make the control plant to have a shorter settling time and a stable output value.

Abstract: Controller scaling and parameterization are described. Techniques that can be improved by employing the scaling and parameterization include, but are not limited to, controller design, tuning and optimization. The scaling and parameterization methods described here apply to transfer function based controllers, including PID controllers. The parameterization methods also applies to state feedback and state observer based controllers, as well as linear active disturbance rejection controllers. It is emphasized that this abstract is provided to comply with the rules requiring an abstract that will allow a searcher or other reader to quickly ascertain the subject matter of the application. It is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims. 37 CFR 1.72(b).

Abstract: Systems and methods for controlling a closed-loop accelerometer system. A system includes an accelerometer with a driver that responds in a nonlinear manner and a rebalancing controller in signal communication with the driver. The rebalancing controller includes a proportional-integral-derivative (PID) control portion having at least one variable gain component. A method includes sensing a movement of a proof mass, determining a static g field based on the sensed movement, setting at least one variable gain component of a PID controller based on the determined static g field, and rebalancing the proof mass using the PID controller.

Abstract: A system for controlling a machine includes a first controller, a second controller, and a comparator. During a first cycle, the first controller generates a control signal to the machine while the second controller generates a predicted parameter signal. During the first cycle, the comparator transmits a feedback signal to the second controller if a predetermined threshold is not met. A method for controlling a machine includes transmitting a control signal from a first controller to the machine and generating a predicted parameter value in a second controller. The method further includes transmitting a feedback signal to the second controller if a predetermined threshold is not met.

Abstract: An optimum control parameter in control of an internal combustion engine and the like is searched. In a plurality of search cycles, a control parameter that maximizes an output of an object to be controlled which shows an output realized by a given control parameter is searched using control parameters. The control parameters are provided at each search cycle by a predetermined algorithm. A periodic function of a predetermined period and a correction value obtained in a previous search cycle are added to the control parameters to obtain an input parameters to the object. An output obtained from the object with the input parameters is multiplied by the periodic function to obtain a correction value for correcting the control parameters such that the search converges.

Abstract: Controller scaling and parameterization are described. Techniques that can be improved by employing the scaling and parameterization include, but are not limited to, controller design, tuning and optimization. The scaling and parameterization methods described here apply to transfer function based controllers, including PID controllers. The parameterization methods also applies to state feedback and state observer based controllers, as well as linear active disturbance rejection controllers.

Abstract: Complex filters may be used to achieve compensation of a plant, corresponding for example to a power regulator or point-of-load (POL) regulator. Digital filter coefficients may be mapped to analogous poles and zeros, or they may be mapped to values of the quality factor (Q) of the output, frequency, and gain. The plant may be observed and characterized using a network analyzer to generate the Bode plot (or Nyquist plot) for the plant. The digital filter coefficients may be mapped to features that may be identified on the Bode plot (or Nyquist plot) to easily correlate characteristics of the digital filter or digital compensator to the plant characteristics. The mapped features may be adjusted, for example by a user, either manually or by executing one or more optimization algorithms, to achieve the desired results relative to the Bode plot (or Nyquist plot).

Abstract: This document describes a correction signal usable to correct an effect of a disturbance signal on a controlled system or apparatus. In one case this document describes ways in which to diminish a future change to an output signal based on determining that a disturbance signal consistently precedes the future change.

Abstract: A preferred embodiment of a method for fine-tracking operator assistance for controlling movement of an object toward a target combines an operator input for guiding the object toward the target with a sensor-derived input from sensor measurement of the object's position relative to the target's position. The combined input is separated into low and high frequency content, and a Low Frequency Authority Limit component applies a pre-determined gain over a selected range to the low frequency content, while a High Frequency Authority Limit component applies a pre-determined gain over a selected range to the high frequency content. The low-frequency gain output is combined with the high-frequency gain output as a total control input for control of the object relative to the target.

Abstract: A joint of a robot is controlled by a torque command. The joint has a position controller with a position feedback loop. The torque command is received for the joint, and a velocity feedforward command is determined for realizing the torque command using the position controller. The velocity feedforward command is sent to the position controller and the position feedback loop is canceled. The position feedback loop is canceled by sending a position command to the position controller, where the position command is an actual measured position of the joint. The position feedback loop is also canceled by setting the gain of the position feedback loop to zero.

Abstract: A PID controlling apparatus and method for providing a control value to a control object according to the difference between an output value of the control object and a target value are provided, in which an error calculator outputs an error value between the target value and the output value of the control object, a PID operator calculates a proportional value, an integral value, and a derivative value of the error value, calculates the control value using the proportional value, the integral value, and the derivative value, and outputs the control value to the control object, a first sampler samples the output value of the control object a plurality of times with respect to the target value and outputs a sampled output value, and a controller controls the PID operator to repeat a PID operation and output the control value according to a sampling period of the first sampler.

Abstract: In a position control device having a disturbance suppression function, loop gain is calibrated without stopping disturbance suppression control. The position control device has, for disturbance suppression control, a feedback controller for changing the loop characteristic, a table for storing a target gain according to a disturbance frequency, and a gain calibration section for calibrating open loop gain. The gain is calibrated using a target gain in the table according to the change of the loop characteristic of the feedback controller. Open loop gain can be calibrated without interrupting the disturbance suppression control, so the open loop gain can be accurately calibrated without being affected by disturbance, and accurate position control is possible.

Abstract: An autotuning method using an integral of a relay feedback response is disclosed, which obtains an ultimate data and frequency model of a process with greatly removing effects of harmonics by using integral of a relay feedback signal. The autotuning method using an integral of a relay feedback response comprises the first step for integrating a process data; and the second step for removing effects of harmonics after the first step and computing an ultimate gain, a frequency model and a parametric process model.

Abstract: A method for controlling a process variable as it approaches a predetermined value (setpoint) so that the setpoint is not exceeded. The method employs a time domain polynomial equation in a feedback configuration and utilizes a controller that acts as an On/Off controller until the process variable approaches setpoint. As the process variable approaches setpoint, the controller acts as a fast responding analog controller thereby “tailoring” a control variable to precisely bring the process variable to the setpoint without exceeding or overshooting the setpoint.

Abstract: A method to automatically tune control systems, the method comprising selecting a target loop transfer function for at least one plant subsystem in response to an input excitation, selecting at least one fit-error criterion for a plant subsystem transfer function, and automatically inputting the input excitation and tuning the plant subsystem transfer function to the target loop transfer function. The tuning includes automatically selecting a bandwidth of the plant subsystem transfer function from a plurality of bandwidths determined in accordance with limits of the plant subsystem, inputting the input excitation to the plant subsystem, determining the fit-error of the plant subsystem transfer function to the target loop transfer function in response to the input excitation, and continuing the selecting of a bandwidth in accordance with the fit-error criterion.

Abstract: A system for controlling start-up of a feedback controller includes a memory device and a processing circuit. The processing circuit is configured to receive a gain parameter from the feedback controller and to store the gain parameter in the memory device. The processing circuit is further configured to multiply the stored gain parameter and to cause the feedback controller to use the multiplied gain parameter in response to a determination that the feedback controller has restarted.

Abstract: A method for designing a video processor with a variable and programmable bitwidth parameter. The method comprises selecting logical operations having propagation delay that scales linearly with the bitwidth; determining a desired tradeoff curve; and grouping instances of a logic operation having same properties; for a single instance of each logic operation, matching an actual curve of the logic operation to the desired tradeoff curve, wherein the actual curve is determined by the propagation delay and bitwidth of the logic operation.

Abstract: Well bore servicing equipment is provided. The well bore servicing equipment comprises a first manipulator to grip a well bore work string, to raise the work string, and to lower the work string. The well bore servicing equipment further comprises a controller to receive a work string trajectory input and to automatically control the first manipulator to raise and lower the work string substantially in conformance with the work string trajectory input.

Abstract: A method of manipulating a block diagram model with a plurality of graphical modeling components by defining an open loop anywhere on the block diagram model is provided. Graphical modeling components in series with the open loop may be automatically recognized and a plurality of parameters of the graphical modeling components in series with the open loop may be displayed on a display device. A user may simultaneously tune the parameters of the graphical modeling components in series with the open loop. Factorization points breaking the block diagram model in two disconnected parts may be identified in the block diagram model. A virtual graphical model may be generated by replacing a pattern of the graphical modeling components between two factorization points with a single graphical modeling component representing the pattern.

Abstract: A production schedule creation device includes: a production simulator (100) simulating a production process expressing the production state and the production constraint of the production process; a mathematical expression holding device holding a mathematical model (110) created by acquiring information relating to creation of the production schedule in attention as a mathematical model expressing, in a mathematical expression, the production state and the production constraint of the production process; and an optimization calculation device (120) performing the optimization calculation by using a predetermined evaluation function for the mathematical model (110) and calculating a production instruction for the production simulator. The production instruction obtained by the optimization calculation device is supplied to the production simulator (100) so as to execute simulation. Thus, an optimum solution can be obtained by performing only one simulation.

Abstract: A heat processing apparatus includes a reaction vessel, a heating unit in the reaction vessel to heat the processing region, a temperature detector that detects temperature in the processing region, and a control part to control the heating unit by PID control. The control part has a rule table, and a performance unit that obtains temperature profiles and calculates differences between actually measured temperatures and target values. It refers to the rule table change the PID constants. The control part also updates relationships between PID constants and predicted temperature change amounts.

Abstract: A method of creating and using an adaptive DMC type or other MPC controller includes using a model switching technique to periodically determine a process model, such as a parameterized process model, for a process loop on-line during operation of the process. The method then uses the process model to generate an MPC control model and creates and downloads an MPC controller algorithm to an MPC controller based on the new control model while the MPC controller is operating on-line. This technique, which is generally applicable to single-loop MPC controllers and is particularly useful in MPC controllers with a control horizon of one or two, enables an MPC controller to be adapted during the normal operation of the process, so as to change the process model on which the MPC controller is based to thereby account for process changes.

Abstract: The control of flexible systems is often difficult due to the exact frequencies of the elastic modes being hard to identify. These flexible modes may change over time, or vary between units of the same system. The variation in the modal dynamics may cause a degradation in performance or even instabilities unless compensated for by the control scheme. Controllers designed for these types of systems use notch filters for mode suppression. However variation in the parameters of the flexible modes may cause the need for wide notch filters. An adaptive scheme is proposed which uses an online estimator based on plant parameterization. The scheme may not use probe signals and may not rely on exact parameter identification of the unknown parameters. Instead it may continuously update itself to cancel the effect of the flexible modes by been able to identify the effect of the modal dynamics on the performance of the system.

Abstract: Embodiments provide techniques, computer-readable media, and devices for allowing users to perform interactive design of controllers, such as PID controllers, in a free-form modeling environment. Users can tune controllers using characteristics familiar to typical users rather than having to specify gain values for the controller, which may be difficult for a user to relate to the performance of a controller.

Abstract: Methods and systems for adaptively controlling process parameters in semiconductor manufacturing equipment. An embodiment provides for gain scheduling of PID controllers across recipe steps. One embodiment provides a method for controlling a chuck temperature during a semiconductor manufacturing process, the method employing a first set of proportional-integral-derivative (PID) values in a PID controller to control the chuck temperature at a first setpoint in a first step of a process recipe and employing a second set of PID values in the PID controller to control the chuck temperature at a second setpoint, different than the first setpoint, in a second step of the process recipe. The methods and systems provide reduced controller response times where process parameter setpoint between steps of a process recipe span a wide range.

Abstract: A robust method of creating process models for use in controller generation, such as in MPC controller generation, adds noise to the process data collected and used in the model generation process. In particular, a robust method of creating a parametric process model first collects process outputs based on known test input signals or sequences, adds random noise to the collected process data and then uses a standard or known technique to determine a process model from the collected process data. Unlike existing techniques for noise removal that focus on clean up of non-random noise prior to generating a process model, the addition of random, zero-mean noise to the process data enables, in many cases, the generation of an acceptable parametric process model in situations where no process model parameter convergence was otherwise obtained.

Abstract: In tuning a PID controller for a process in a feedback control system, a method is provided for bringing the system into symmetric self-excited oscillations for measuring the frequency and the amplitude of the oscillations, and tuning the controller in dependence on the measurements obtained. A control algorithm (modified relay feedback test) is introduced into the system in series with the process to excite self-excited oscillations in the system. Data and formulas are given for the computation of the specific parameter of the modified relay feedback test and for tuning the parameters of the PID controller. An apparatus for performing the method is disclosed.

Abstract: In a position control device having a disturbance suppression function, loop gain is calibrated without stopping disturbance suppression control. The position control device has, for disturbance suppression control, a feedback controller for changing the loop characteristic, a table for storing a target gain according to a disturbance frequency, and a gain calibration section for calibrating open loop gain. The gain is calibrated using a target gain in the table according to the change of the loop characteristic of the feedback controller. Open loop gain can be calibrated without interrupting the disturbance suppression control, so the open loop gain can be accurately calibrated without being affected by disturbance, and accurate position control is possible.

Abstract: A simulation tool for an industrial automation system is provided. The tool includes a simulation component that simulates one or more components of an industrial control system. At least one directed model provides one or more suggested parameters or profiles to the simulation component, where the suggested parameters or profiles are derived from data relating to an industry or controls application.

Abstract: An apparatus, method, and computer program are provided for controller performance monitoring in a process control system. A level of disturbance associated with the process system is determined, and at least one value identifying a stability measure of a controller in the process system is determined using the determined level of disturbance and operating data associated with operation of the process system. The at least one value is compared to at least one threshold value, and a problem with the controller is identified based on the comparison. As an example, the process system could represent a product production system. Also, the operating data could include at least one of: measurement data from one or more sensors and control data for one or more actuators. The controller may be operable to receive the measurement data and generate the control data.

Abstract: Systems and methods for controlling a closed-loop accelerometer system. A system includes an accelerometer with a driver that responds in a nonlinear manner and a rebalancing controller in signal communication with the driver. The rebalancing controller includes a proportional-integral-derivative (PID) control portion having at least one variable gain component. A method includes sensing a movement of a proof mass, determining a static g field based on the sensed movement, setting at least one variable gain component of a PID controller based on the determined static g field, and rebalancing the proof mass using the PID controller.

Abstract: A computer implemented method for efficiently allocating resources for an enterprise server system through a proportional integral derivative scheme is provided. The method includes defining a set point parameter for a resource being allocated and defining a proportional gain parameter, a proportional integral (PI) gain parameter and a proportional integral derivative (PID) gain parameter in terms of the proportional gain parameter. The method further includes calculating an initial maximum allocation for the resource based on a product of the proportional gain parameter with a difference of an initial operating parameter and the set point parameter and adjusting the initial operating parameter to the initial maximum allocation. A next allocation of the resource is calculated based on a product of the proportional gain parameter with the difference of an initial operating parameter and the set point parameter and a difference of the set point with a current operating parameter.

Abstract: There is realized a control device capable of speeding up an output response without causing deterioration in the resolution of a time-proportional output. The control device controls a control object at a ratio of ON-time to OFF-time for a time-proportional output. The control device comprises a PID computation unit for executing PID computation of deviation between a set value and a measured value from the control object, an integrator for sequentially adding up control output values each representing the result of the PID computation executed by the PID computation unit, an ON/OFF determination unit for determining whether the time-proportional output is turned ON or OFF on the basis of an integrated value of the integrator, and a time-proportional output unit for turning the time-proportional output ON/OFF on the basis of a determination value of the ON/OFF determination unit.

Abstract: A control system for any type of electric motor that automatically learns the characteristics of the motor and computes a motor model for the motor. The control system uses the computed motor model to produce a closed-loop control design that achieves a particular resolution. The control system also uses the motor model to automatically construct efficient motion profiles for a variety of motion commands. The control system may also include an encoder interface device that provides highly accurate motor position information.

Abstract: An automated tuning method of a large-scale multivariable model predictive controller for multiple array papermaking machine cross-directional (CD) processes can significantly improve the performance of the controller over traditional controllers. Paper machine CD processes are large-scale spatially-distributed dynamical systems. Due to these systems' (almost) spatially invariant nature, the closed-loop transfer functions are approximated by transfer matrices with rectangular circulant matrix blocks, whose input and output singular vectors are the Fourier components of dimension equivalent to either number of actuators or number of measurements. This approximation enables the model predictive controller for these systems to be tuned by a numerical search over optimization weights in order to shape the closed-loop transfer functions in the two-dimensional frequency domain for performance and robustness.

Abstract: An adaptive process controller performs continuously scheduled process model parameter interpolation to determine a particular set of process model parameters which are used to develop controller tuning parameters for controller tuning. More particularly, a state-based, adaptive PID controller described herein uses a new technique to determine an appropriate process model to be used to perform adaptive tuning over the various operating regions of the plant, and in particular, uses a process model parameter determination technique that enables continuously scheduled process model parameter update over the various plant operating regions or points. The use of this continuously scheduled process model parameter update method provides for smoother transitions between tuning parameters used in the PID controller during adaptive tuning procedures which are implemented based on changes in the operating region or the operating point of the process, thereby providing for better overall control.

Abstract: A flow control valve includes a housing that includes a fluid inlet, a fluid outlet, a first work port and a second work port. The housing defines a spool bore and a pilot spool bore. A main stage spool is disposed in the spool bore. A pilot stage spool is disposed in the pilot spool bore. The pilot stage spool is in selective fluid communication with the main stage spool. A microprocessor includes a controller having a restricted structured controller and a compensation controller. Outputs of the restricted structured controller and the compensation controller are summed to form an electrical signal that is communicated to the pilot stage spool.