Abstract: Non-linear model with disturbance rejection. A method for training a non linear model for predicting an output parameter of a system is disclosed that operates in an environment having associated therewith slow varying and unmeasurable disturbances. An input layer is provided having a plurality of inputs and an output layer is provided having at least one output for providing the output parameter. A data set of historical data taken over a time line at periodic intervals is generated for use in training the model. The model is operable to map the input layer through a stored representation to the output layer. Training of the model involves training the stored representation on the historical data set to provide rejection of the disturbances in the stored representation.

Abstract: A state based adaptive PID controller includes a model set component including a plurality of process models, each process model including a plurality of parameters. An error generator generates a model error signal representative of a difference between a model output signal and a process output signal. A model evaluation component computes a model squared error based on the model error signal. A parameter interpolator calculates an adaptive parameter value based on the model squared error. A controller update component updates adaptive controller parameter values based on adaptive parameter values.

Abstract: In the field of electronic or computerised control apparatuses, known methods of compensating for disturbance signals rely on less than ideal analytical or empirical models. There is provided a controller (200) or method of controlling which observes and learns the correlation between various measured signals and automatically learns how to control the apparatus.

Abstract: A control system includes a measurement device capable of gathering high frequency process parameter data, a modeling routine which uses the high frequency parameter data to develop a model of the high frequency noise and a compensation routine that employs the developed model to adjust a control signal to thereby compensate for the high frequency noise present within the process parameter. The measurement device may measure a process variable at a relatively high frequency and send a subset of the measured data (e.g., the low frequency data) to a standard controller that generates a control signal to control the measured process parameter in any known manner. The modeling routine analyzes the high frequency data and develops a mathematical model of the high frequency noise within the process variable.

Abstract: The response process of disturbance recovery control is divided into a follow-up phase, a convergence phase, and a stable phase. A feedback control device includes a first phase switching unit (3) which switches to the follow-up phase, a second phase switching unit (4) which switches to the convergence phase, a third phase switching unit (5) which switches to the stable phase, a first manipulated variable determining unit (6) which outputs a manipulated variable which makes the controlled variable follow up the set point in the follow-up phase, a second manipulated variable determining unit (7) which outputs a manipulated variable which makes the controlled variable converge near the set point in the convergence phase, and a third manipulated variable determining unit (8) which outputs a manipulated variable which makes the controlled variable stable at the set point in the stable phase.

Abstract: An embodiment of the present invention uses an on-board microcontroller of a household appliance to receive signals from a directionless encoder attached to a knob for receiving user input and processing the signals from the direction encoder according to a control algorithm. The microcontroller may increase the output to an electric heating element on the appliance based on a variety of criteria, including either direction of rotation, current heating element setting, or a change in directional rotation. Alternatively, or in addition, the microcontroller may provide various types of graduate visual or aural feedback to the user regarding the output provided by the microcontroller.

Abstract: A method for estimating load inertia and system for controlling motor speed using inverse model are provided, suitable for an alternating current (AC) servo module. An inverse system is connected to an actual system to inversely deduce a substantial torque output, wherein when the value of the speed signal generated by the actual system gradually increases, a net inertia ratio is accumulated; whereas when the value of the speed signal generated by the actual system increases to a fixed value, the net inertia ratio is updated.

Abstract: A process control configuration system is provided for use in creating or viewing an integrated optimization and control block that implements an optimization routine and a multiple-input/multiple-output control routine. The configuration system may enable a user to display or configure the optimizer or the control routine. A storage routine may store information pertaining to a plurality of control and auxiliary variables and to a plurality of manipulated variables to be used by the optimization routine and/or the control routine. A display routine may present a display to a user regarding the information pertaining to the plurality of control and auxiliary variables and to the plurality of manipulated variables.

Abstract: A system and method for controlling a controlled parameter that affects a target parameter of a target zone is disclosed. The method comprises providing a feedback control loop having a switching controller, a controlled device, and an averaging device. The controlled device comprises a time constant and a specified operational characteristic. The controlled device comprises a first operational state and a second operational state. The method further comprises calculating a time constant for the averaging device based at least on the time constant for the controlled device, and the specified operational characteristic. The specified operational characteristic may comprises a minimum amount of time that the controlled device operates before it can be switched between the first operational state and the second operational state.

Abstract: A facility for selecting and refining electrical parameters for processing a microelectronic workpiece in a processing chamber is described. The facility initially configures the electrical parameters in accordance with either a numerical of the processing chamber or experimental data derived from operating the actual processing chamber. After a workpiece is processed with the initial parameter configuration, the results are measured and a sensitivity matrix based upon the numerical model of the processing chamber is used to select new parameters that correct for any deficiencies measured in the processing of the first workpiece. These parameters are then used in processing a second workpiece, which may be similarly measured, and the results used to further refine the parameters.

Abstract: A Model-Free Adaptive Quality Variable control system is disclosed for effectively controlling quality variables on-line in closed-loop fashion. It is able to automatically control quality variables under the conditions where there are significant varying time delays and disturbances in the process. Because of its unique capability, the control system is useful for building flexible and adaptive production systems, achieving Six Sigma quality control goals, and fulfilling the on demand manufacturing needs in the new e-commerce environment.

Abstract: A system, method and medium of controlling a semiconductor manufacturing tool using a feedback control mechanism. The feedback control mechanism includes features for receiving data points relating to an output of the tool. The data points include a current data point and at least one previous data point. The feedback control mechanism also includes features for determining whether the current data point is an erroneous outlier by comparing the current data point to a statistical representation of the at least one previous data point, and based on whether the at least one previous data point is an outlier. The feedback control mechanism further includes features for disregarding the current data point in calculating a feedback value of the feedback control mechanism if the current data point is determined as an erroneous outlier.

Abstract: Predictions may be made regarding heat removal requirements depending on certain operational characteristics of an information processing system which have been monitored over time. A fan may be controlled based on the observed operational characteristics and based on the predictions made regarding the heat removal requirements for the system. For example, system utilization by applications may be monitored, possibly along with system performance parameters such as power level and frequency. These and other operational characteristics may be used to predict heat generation so that a fan may be controlled to anticipate temperature changes and thereby flatten temperature curves over time. This may be done in addition to monitoring the ambient temperature of the system and reacting to temperature spikes that may have already occurred.

Abstract: A method for calculating the health of a process control loop based on multiple key assessments of the loop's performance. The method uses the concepts of baselines and thresholds. The typical calculation of loop health is the average of the Percent Towards Threshold for all the assessments divided by the economic significance of the loop.

Abstract: A method for developing and using real time applications for a dynamic system having a sensing subsystem, actuation subsystem, a control subsystem, and an application subsystem utilizes stochastic compute time algorithms. After optimization functions, desired state and constraints are received and detector data has been provided from a sensor subsystem, a statistical optimization error description is generated. From this statistical optimization error description a strategy is developed, including the optimization errors, within the control subsystem. An execution module within the control subsystem then sends an execution strategy to various actuators within the actuation subsystem.

Abstract: A plant is operable to receive control inputs c(t) and provide an output y(t). The plant (72) has associated therewith state variables s(t) that are not variable. A control network (74) models the plant by providing a predicted output which is combined with a desired output to generate an error that is back propagated through an inverse control network to generate a control error signal that is input to a distributed control system to vary the control inputs to the plant in order to change the output y(t) to meet the desired output. The inverse model represents the dependencies of the plant output on the control variables parameterized by external influences to the plant.

Abstract: A system and method 100 of using residual feedback in a control loop in a manner that substantially eliminates the steady state error in the predicted states that results from the mismatch in gain between the plant and the model. The control effort used by the estimator to predict the next position is modified to compensate for this difference in gain. By integrating the residual, and modifying the apparent control effort accordingly, the residual is driven to have a mean value of zero. When the residual goes to zero, by definition, the steady state error in the position state goes to zero; and to the extent that the model matches the plant, the velocity state also approaches zero such that the steady state error in the predicted states are substantially eliminated, allowing for improved control.

Abstract: The present invention includes a system and method for fine tuning the control of a manufacturing process. A material adjusting device is in communication with a PID controller and PID control loop, and is used to alter a flow of material used in the manufacturing process, so as to maintain a target physical property of the material at a setpoint. A measurement device captures measurements of the flow relevant to the physical property of interest. A change is introduced to the material adjusting device while the PID controller and PID control loop are disabled, and appropriate measurements of the flow are continually captured; a process that may be repeated several times. Once sufficient physical property measurement data has been captured, the data is loaded into an optimization program that outputs optimized controlled parameters that may be used by the PID controller and control loop to better control the physical property of the material.

Abstract: A method for controlling a controlled process in response to an input signal and a disturbance signal includes modeling the controlled process in a process model; controlling the process model by a first controller; isolating the first controller from the disturbance signal so that the first controller may be designed for an optimal response to the input signal; driving the first controller by a first drive signal proportional to the difference between the input signal and a process model output signal; isolating a second controller from the input signal so that the second controller may be designed for an optimal response to the disturbance signal; and driving the second controller by a second drive signal proportional to difference between a process output signal and the process model output signal.

Abstract: An on-line optimizer is provided wherein a boiler (720) is optimized by measuring a select plurality of inputs to the boiler (720) and mapping them through a predetermined relationship that defines a single value representing a spacial relationship in the boiler that is a function of the select inputs. This single value is then optimized with the use of a plant optimizer (818) which provides an optimized value. This optimized value is then processed thought the inverse relationship of the single modified value to provide modified inputs to the plant that can be applied to the plant.

Abstract: A method for automated system identification of a linear system is disclosed. A model structure is selected and one or more reference signal values are generated for input into the system. Input signal values and output signal values are retrieved from the system and system identification is performed on the model structure using the input signal values, the output signal values, and the one or more reference signal values. A point model, obtained as a result of the system identification, is then verified for accuracy.

Abstract: A method for transmitting data from at least one sensor to a control unit via an appropriate two-wire line is described. The method is used to identify any sensor at the control unit and to implement a plurality of logical channels via the appropriate two-wire line. The at least one sensor receives the necessary electrical energy from the control unit via the two-wire line and then transmits the sensor-specific data.

Abstract: A method for developing and using real time applications for a dynamic system having a sensing subsystem, actuation subsystem, a control subsystem, and an application subsystem utilizes stochastic compute time algorithms. After optimization functions, desired state and constraints are received and detector data has been provided from a sensor subsystem, a statistical optimization error description is generated. From this statistical optimization error description a strategy is developed, including the optimization errors, within the control subsystem. An execution module within the control subsystem then sends an execution strategy to various actuators within the actuation subsystem.

Abstract: A pattern recognition adaptive controller configured to dynamically adjust proportional gain and integral time control parameters based upon patterns that characterize the closed-loop response. The pattern recognition adaptive controller receives a sampled signal representative of the controlled variable, and determines a smoothed signal based on the sampled signal. The controller determines an estimated noise level of the sampled signal and determines if the control output and process output are oscillating quickly based on predefined criteria. The controller adjusts the gain used by the controller if the control output and process output are oscillating quickly. If the control output and process are not oscillating quickly, the controller determines whether there has been a significant load disturbance, whether there is an insignificant pattern, and/or whether the control output is saturated.

Abstract: A method for evaluating whether a measurable disturbance on a process controlled by a feedback controller is suitable for feed-forward control. The disturbance is measured. The controller output signal due to the disturbance is measured. A first reference signal corresponding to the controller output signal is measured when responding to disturbance entering before the process. A second reference signal corresponding to the controller output signal is generated when responding to a disturbance entering after the process. It is estimated where in the process the disturbance enters by comparing the measured controller output signal due to the disturbance with the reference signals. It is evaluated whether the disturbance is suitable for feed-forward control depending on where in the process the disturbance enters.

Abstract: Problems inherent in guiding a sensor via a piecewise-linear lateral parametric profile are generally avoided using at least one broadly curved, generally lateral profile (494). A sensor is configured to move in a nominally longitudinal direction relative to a frame of reference (110). A position scale is defined in a generally lateral direction relative to the longitudinal motion (115). Each broadly curved lateral profile is defined in terms of its corresponding position scale, the scale(s) and the profile(s) both being part of a parametric model that is available for use in guiding the sensor (145).

Abstract: A control apparatus which controls a controlled system with a transfer function regarded as a secondary delay, comprises an outer loop which performs negative feedback of an output of the controlled system in order to obtain a deviation between the output and a desired value, an inner loop which performs negative feedback of a signal obtained by multiplying a differential value of the output of the controlled system by a first gain to the deviation, and a nonlinear inner feedback loop which uses the differential value of the output of the controlled system and a product obtained by multiplying an absolute value of the deviation e or n-th (n is an integer) power of the absolute value by the second gain to perform positive feedback to the deviation.

Abstract: In one embodiment, a method and machine are provided for tuning compensation parameters in a motion control system associated with a mechanical member. The method includes the steps of receiving an indication of a compensation parameter to be tested, based on the compensation parameter to be tested causing a signal associated with a desired motion of the mechanical member to be commanded, acquiring control data associated with the signal, acquiring measurement data associated with actual motion of the mechanical member in response to the signal, analyzing the control and measurement data; and based on the step of analyzing the control and measurement data, implementing a value of the compensation parameter.

Abstract: Failure prediction for complex processes is performed utilizing one or more nonlinear regression models to relate operational variable values measured at two or more times to predicted process metric values and maintenance variable values.

Abstract: In a control method, the first controlled variable is made to coincide with a predetermined controlled variable set point. A relation variable representing the relationship between second controlled variables which are designated in advance from measured second controlled variables different from the first controlled variable so as to maintain a predetermined relationship is calculated. A control actuator is so controlled as to make the calculated relation variable coincide with a predetermined relation variable set point. The difference between the calculated relation variable and a relation variable set point corresponding to the calculated relation variable is calculated. The calculated difference is added to the measured first controlled variable. A manipulated variable is calculated by performing feedback control calculation so as to make the sum coincide with the controlled variable set point. The calculated manipulated variable is output to a corresponding control actuator.

Abstract: According to a feedback control method, the response process of set point tracking control is divided into three, tracking, convergence, and stabilization phases. The phase is switched to the tracking phase at set point change start time as the tracking phase start time. The manipulated variable which causes the controlled variable to tracking the set point is continuously output in the tracking phase. The phase is switched to the convergence phase at, as the convergence phase start time, specific set point tracking control elapsed time at which the controlled variable does not exceed the set point in the tracking phase. A manipulated variable which converges the controlled variable to the vicinity of the set point is continuously output in the convergence phase. The phase is switched to the stabilization phase at, as the stabilization phase start time, time at which the controlled variable reaches a preset situation in the convergence phase.

Abstract: A method of controlling a multivariable system includes the step of receiving a plurality of sensor signals indicating current conditions of the system and receiving a plurality of commands. The desired dynamic response of the system is then determined based upon the commands and the sensor signals. The problem of controlling the system to achieve the desired dynamic response without violating numerous actuator and physical constraints is then formulated as a quadratic programming problem. By solving the quadratic programming problem, the effector commands are determined and the physical constraints are enforced.

Abstract: A method for facilitating an optimization of a control space in n dimensions is provided. The control space includes a plurality of points, and the method includes removing at least one hyperplane of the control space, and perturbing the remaining points of the control space to lessen errors relative to the control space prior to the removal of at least one hyperplane.

Abstract: In the NH3 injection rate control method for an NOx removal apparatus, operating area of the apparatus is divided into first area in which molar ratio of NH3 injection rate with respect to NOx flow rate at an inlet of the apparatus is smaller than molar ratio at minimum point where NOx concentration assumes minimum value and second area in which the molar ratio is equal to or larger than the minimum point molar ratio, and virtual NOx concentration with respect to the molar ratio is set according to virtual characteristic line which varies monotonically to stride across desired operating point without rising with increase of the molar ratio from the first area to the second area. Moreover, feedback control is implemented for adjusting the NH3 injection rate with respect to the NOx flow rate in direction that the virtual NOx concentration is brought close to the desired NOx concentration.

Abstract: A system and method for performing trajectory generation, interpolation, and control for a motion control application, where the trajectory generation, interpolation, and control are performed in parallel with each other. In one embodiment, an FPGA in a motion control device may be configured to perform the trajectory generation, interpolation, and control in parallel. Performing trajectory generation, interpolation, and control in parallel on an FPGA may increase the efficiency of the motion control application.

Abstract: In one embodiment, a method and machine are provided for tuning compensation parameters in a motion control system associated with a mechanical member. The method includes the steps of receiving an indication of a compensation parameter to be tested, based on the compensation parameter to be tested causing a signal associated with a desired motion of the mechanical member to be commanded, acquiring control data associated with the signal, acquiring measurement data associated with actual motion of the mechanical member in response to the signal, analyzing the control and measurement data; and based on the step of analyzing the control and measurement data, implementing a value of the compensation parameter.

Abstract: A method for predicting transient response of a closed loop apparatus includes the steps of: (a) providing a first reference tool that relates load-free impedance response with a first design gain-phase variable; (b) providing a second reference tool that relates load-free impedance response with a second design gain-phase variable; (c) determining a combined impedance response as a function of frequency; (d) employing at least one of the first and second reference tool to establish a first design value for one of the phase variable and the design load impedance at a characteristic frequency that occurs at a peak value of the combined impedance response; (e) employing at least one of the first and second reference tool to establish a second design value for the other parameter of the phase variable and the design load impedance at the characteristic frequency; (f) establishing a transient multiplier as a function of frequency associated with the output voltage with the design load impedance for selected value

Abstract: In an air-fuel ratio control system, a gain Kh is adaptively determined on the basis of a value z obtained by multiplying a target fuel amount difference value ?ym (derivative value of a target fuel amount) by an error e between a target excess fuel ratio (target ?) and an actual excess fuel ratio (actual ?) detected by an air-fuel ratio sensor. A value obtained by multiplying the target fuel amount difference value ?ym by the gain Kh is determined as an F/F corrected value ucmp. In this case, when the error e between the target ? and the actual ? is determined in consideration of the fact that a controlled system has dead time d, a target ?d at the point in time going back in the past by the amount of the dead time d is used to obtain error e=target ?d?actual ?.

Abstract: A method and a system for controlling a force feedback member able to interact with another member, including a local model for calculating a set point addressed to the force feedback member from a plurality of variables, and a remote model for estimating interactions and variables of the other member, with updating on receiving data from another remote system, and resynchronizer means able to send a resynchronization message to the other system.

Abstract: A method for compensating for torque ripple in pulse width modulated machines including providing damping for transient disturbances utilizing a fixed feedback controller and rejecting steady disturbances utilizing an adaptive controller.

Abstract: A system and method is provided for predictive modeling of technical and non-technical components in a business infrastructure that implementing one or more business solutions. According to a first aspect of the invention, performance metrics generated from a predictive model of a business infrastructure are translated into enterprise decision or indicators that correspond to the service, performance and financial states of a business enterprise. As a result, non-technical executives can utilize the enterprise decision metrics or indicators to evaluate, support, and monitor the effect of business decisions, for example, with respect to profitability, productivity, growth, and risk of the business. According to a second aspect of the invention, the accuracy of the predictive modeling is improved by mathematically expressing the dynamic characteristics and behavior of each infrastructure component as a result of direct and indirect effects of the infrastructure components impacting one another.

Abstract: A controlling device of high follow-up accuracy is provided, the prediction accuracy of which is not degraded by an FF signal when the controlled object is feedforward-controlled. The prediction controlling device 1 has a feedforward signal generation command filter 2 for generating a future command increment which is an increment from one sampling period to the next sampling period of a target command signal from the present to a multiple-sampling future and the feedforward signal from the future target command signal. A prediction controller 3 receives the future command increment, the feedforward signal, and a controlled object output at the past sampling time over zero sampling, and determines the future error prediction value by using a transfer function model from the feedforward signal and the control input to the controlled object output.

Abstract: A system and method for controlling a controlled parameter that affects a target parameter of a target zone is disclosed. The method comprises providing a feedback control loop having a switching controller, a controlled device, and an averaging device. The controlled device comprises a time constant and a specified operational characteristic. The controlled device comprises a first operational state and a second operational state. The method further comprises calculating a time constant for the averaging device based at least on the time constant for the controlled device, and the specified operational characteristic. The specified operational characteristic may comprises a minimum amount of time that the controlled device operates before it can be switched between the first operational state and the second operational state.

Abstract: In a rotor assembly having a rotor supported for rotation by magnetic bearings, a processor controlled by software or firmware controls the generation of force vectors that position the rotor relative to its bearings in a “bounce” mode in which the rotor axis is displaced from the principal axis defined between the bearings and a “tilt” mode in which the rotor axis is tilted or inclined relative to the principal axis. Waveform driven perturbations are introduced to generate force vectors that excite the rotor in either the “bounce” or “tilt” modes.

Abstract: A method and apparatus for controlling a non-linear mill. A linear controller is provided having a linear gain k that is operable to receive inputs representing measured variables of the plant and predict on an output of the linear controller predicted control values for manipulatible variables that control the plant. A non-linear model of the plant is provided for storing a representation of the plant over a trained region of the operating input space and having a steady-state gain K associated therewith. The gain k of the linear model is adjusted with the gain K of the non-linear model in accordance with a predetermined relationship as the measured variables change the operating region of the input space at which the linear controller is predicting the values for the manipulatible variables.

Abstract: An instruction value Duty for bringing a slip rotation speed Nslip to a target rotation speed is feedback-controlled based on a difference e between the slip rotation speed Nslip and the target rotation speed, and a weight &thgr; from a parameter map. Weights &thgr; are assigned individually to a plurality of models, each of which includes a group of parameters and which are used to form a control model that represents a slip control system. Based on a weight that is assigned to one of the plurality of models, a weight that is assigned to at least one model that is other than the one of the plurality of models is specified. Thus, the amount of calculation required can be reduced by estimating weights for the models including the groups of parameters, which contain parameters that are used to construct the control model, instead of directly estimating the control model-constructing parameters.

Abstract: An automatic gain adjustment device and method capable of accurately adjusting a gain with a simple structure. In an automatic gain adjustment method of a feedback control system that uses a phase difference between an output signal obtained from a controlled object and an input signal while controlling the object based on the input signal, a phase shift amount is set to cause a frequency of the input signal to coincide with the crossover frequency at which the open loop gain forming the feedback control system becomes 0 dB, and a phase of the input signal is shifted based on the phase shift amount.

Abstract: A method for designing high performance products incorporating signal processing and feedback control is disclosed. In one embodiment, a block diagram may be used for a design cycle, for design optimization, or for design estimation. The block diagram contains a set of differential equations or difference equations, and the solution of these sets of equations may be performed by commercially available software tools. In order to utilize the software tools without requiring access to source code or other descriptions of the internal structure of the tools, the system is decomposed using the technique of waveform relaxation. The decomposition using waveform relaxation operates directly to speed up the computations for the block diagram system. The remaining interprocessor communications may be held pending until the end of each iteration's calculations in each block, allowing the software tools to be executed on independent multiple processors.

Abstract: A control system for controlling a position of a mass, such as, for example, a substrate holder in a lithographic apparatus, is presented herein. The control system comprises a first input to receive a desired position of the mass, a second input signal to receive a feedback signal indicative of the actual position of the mass, a control unit that produces a signal indicative of the required control force based on the difference between the desired mass position and the actual mass position, and an estimator unit that calculates an estimated relation between the control force and mass status information indicative of at least one of a position of said mass, a velocity of said mass, and an acceleration of said mass, and a third input to receive a feed-forward signal indicative of the desired mass acceleration. The control system then determines the control force needed to accelerate the mass and move it to a desired position based on the estimated relation and the desired mass acceleration.

Abstract: A method for predicting stability of a closed loop apparatus is disclosed. The closed loop apparatus has an open loop impedance and at least one inherent internal gain. The method comprises the steps of: (a) identifying an impedance scaling factor associated with the closed loop apparatus that may be expressed in terms including the open loop impedance, the at least one inherent internal gain, a gain variable and a phase variable; (b) vectorally establishing a first scaling value for the impedance scaling factor as a function of frequency while maintaining a first variable of the gain variable and the phase variable at a first working value to record the first scaling value for a plurality of frequencies.