METHODS AND APPARATUS FOR DYNAMIC SYSTEMS CONTROL

Disclosed are methods and apparatus for the control of dynamic systems, more particularly complex dynamic systems and especially those systems exhibiting minimum phase behavior. The method utilizes observer theory to estimate the state variables of the system. Based in part upon the estimated values of the state variables, a pseudo or compensated output for the system is generated. This compensated output represents the steady state asymptote of the actual system output without the unstable or transient system responses. The actual outputs are then controlled by controlling the compensated output. According to another embodiment, a bounded output may also be generated from the state variable estimates. This bounded output represents the minimum and/or maximum excursion that the actual output takes in its approach to the steady state value represented by the compensated output. This bounded output is then used to control the system so as to prevent the actual output from crossing any predetermined system limits.