Abstract: A feedback control system modifies a drive signal to a plant which provides an achieved response signal in response to the drive signal. A first summing element provides a response error signal representing the difference between a desired response signal and the achieved response signal. An adaptive filter adjusts the response error signal in accordance with a dynamic behavior of the adaptive filter to provide a drive correction signal, the dynamic behavior being adjusted by a compensation device in response to the drive signal and the achieved response signal. A second summing element provides a corrected drive signal representing the sum of the drive signal and the drive correction signal. A storage device delays the corrected drive signal and a converter generates the drive signal during the next iteration as a function of the delayed corrected drive signal.