Abstract: A notch compensation apparatus and method comprising, based on input to and output from a notch filter, dynamically calculating a desired change to a notch frequency of the notch filter and specifying the desired change to the notch filter so as to cancel an input resonance of uncertain or time varying frequency.

Abstract: A friction compensation system which augments a stabilization rate loop includes a first summer (11) responsive to a rate command signal and a feedback signal to provide a torque command signal, a second summer (17) responsive to the torque command signal via torquer (15) and the gimbal torque disturbances to provide a net applied torque, a gimbal (19) subjected to the gimbal torque disturbances and having an inertial rotation governed by the net applied torque and a gyro (21) responsive to the inertial rotation of the gimbal to provide the feedback signal. An adaptive friction compensator responsive to the torque command signal provides an enhanced torque command signal to which an intermediate third summer (33) is responsive in accordance with a predetermined model (31) which is adjusted adaptively in realtime. The third summer is responsive to the torque command signal and the enhanced torque command signal to control the gimbal.

Abstract: An improved wall bed lifting mechanism for providing the support and pivotal motion of both a bed and headboard structure of conventional design about a transverse axis wherein the mechanism accommodates the storing of a bed and fixed headboard in vertical relation to the floor and adjacent to the wall, and, the rotation of the wall bed and headboard into horizontal relation with the floor for usage. The mechanism comprises a lifting assembly which is independently structured and, both attached to the frame of the bed and pivotally mounted on a support frame. The support frame is fixed to a wallbed cabinet, for the successive lifting and recessing of the bed structure and is activated or operated by application of pressure to the foot of the bed by a user, either lifting the bed for storage or pulling the bed out from storage into the reclining position.