System and method for managing automation systems with jerk compensation

A system for managing an automation system involving asynchronous and synchronous zones, the system comprising:

• a first controller for controlling a first synchronous element;
• a second controller for controlling at least a second synchronous element;
• a configuration module for configuring the automation system;
• a memory storing instructions that, when executed by the second controller, cause the second controller to:
• determine when a moving element enters a merge zone between an asynchronous zone and a synchronous zone;
• calculate additive jerk to be applied to the moving element, wherein the additive jerk is based on predetermined compensation profiles;
• determine if the master position change is different than a base logged;
• if so, interpolate additive jerk based on movement characteristics of the moving element;
• in either event, apply the additive jerk to the moving element;
• determine if the merge is completed, if yes, end the merge and continue with synchronous operation but, if no, return to calculating the additive jerk and repeat.