Adaptive Periodic Waveform Controller

A method of generating an output power, the method comprising:

• selectively varying a setpoint for an output parameter according to a predetermined pattern that repeats during successive time intervals;
• during a first one of the time intervals, generating N closed-loop values based on N differences between (i) N values of the setpoint at N times during the first one of the time intervals and (ii) N measurements of the output parameter at the N times during the first one of the time intervals, respectively;
• during the first one of the time intervals, generating N adjustment values based on N differences between (i) N values of the setpoint at the N times during a second one of the time intervals and (ii) N measurements of the output parameter at the N times during the second one of the time intervals, respectively, wherein the second one of the time intervals is the time interval immediately preceding the first one of the time intervals;
• applying, using a power amplifier, output power to a load;
• generating N output values based on the N closed-loop values and the N adjustment values, respectively;
• and
• controlling power input to the power amplifier based on the N output values.