System and method of automated plant control utilizing higher order polynomials for trajectory management of control signals

A method of automated control of a motor driving a rotatable platform via the torque of the motor, the method comprising:

• generating, with a programmable controller, a template curve including a defined number of motor steps to achieve an overall change from an initial motor step value to a final motor step value, each of the defined number of motor steps has a respective change between a respective motor step initial value and a respective motor step final value, the template curve being generated based on at least a third order polynomial velocity function defining a sigmoid extending between the initial motor step value and the overall final motor step value;
• determining, with the programmable controller, a respective motor control signal value for each of the defined number of motor steps, the respective motor control signal value for each of the defined number of motor steps being determined based on a relative magnitude of the respective motor step value change with respect to the motor step overall change;
• wherein the programmable controller is configured to detect a difference between the setpoint of the motor and maximum known value of the setpoint as an initial output motor control signal value,
• calculate the number of motor steps relative to the template curve for each sample of the motor output, compare the slope of the motor control signal value setpoint as the desired angle of the platform and current angle of the platform to set a next motor control signal value,
• at each sample, if the motor step value has met or exceeded a polynomial velocity function value, then repeat until all steps of the polynomial velocity function value are complete and a motor step final value is achieved,
• wherein time is applied as a variable and an error term defined as the time difference between the template curve and an actual motor step value,
• said programmable controller configured to modulate the time represented by steps in the template curve to reach a setpoint at a vertex of the template curve and hold at each motor step value until the error is removed by the motor step value reaching a desired template curve step point and continuing with a new step point and new error value.