Method and apparatus for dynamical system analysis

A method for controlling the state of a dynamical system subject to one or more disturbances, where the state is characterized by a set of parameters, comprising the steps of

• selecting initial values for the estimated parameters and then repeating the steps of
• sensing the system at one or more locations to obtain sensed signals indicative of the state of the system,
• obtaining one or more first signals related in time or amplitude to the disturbances,
• generating predicted parameters from said previously estimated parameters,
• generating a synthesized signal as a weighted sum of the first signals and the predicted parameters,
• adjusting the predicted parameters according to an error signal which is the difference between the synthesized signal and the sensed signal to obtain new estimated parameters,
• generating a control signal dependent upon the estimated parameters, and
• supplying said control signal to an actuator so as to generate controlled disturbances in said dynamic system and thereby control the state of said system.

A system for analyzing the state of a dynamical system subject to one or more disturbances, in which the state of the system includes the disturbance of the system and the disturbance is characterized by a set of disturbance parameters, comprising:

• sensors at one or more locations producing sensed signals,
• reference signal generating means for generating reference signals related to said disturbances,
• disturbance signal synthesizer means for combining said reference signals with the set of disturbance parameters to produce a synthesized disturbance signal,
• signal subtraction means for producing an error signal corresponding to the difference between said sensed signal and said synthesized signal, and
• disturbance parameter adjustment means for adjusting said parameters in response to said error signal.

A system for controlling the state of a dynamical system subject to one or more disturbances in which the state of the system includes the disturbance of the system, characterized by a set of disturbance parameters and also includes the dynamic response of the system, characterized by a set of response parameters, comprising

• sensor means at one or more locations producing sensed signals indicative of the state of said dynamical system,
• reference signal generating means for generating reference signals related to said disturbances,
• disturbance signal synthesizer means for combining said reference signals with a set of disturbance parameters to produce a synthesized disturbance signal,
• test signal generating means for generating test signals,
• response signal synthesizer means for combining said test signals with a set of response parameters to produce a synthesized response signal,
• signal subtraction means for producing an error signal corresponding to said sensed signal minus said synthesized disturbance signal and minus said synthesized response signal,
• disturbance parameter adjustment means for adjusting said disturbance parameters in response to said error signal,
• response parameter adjustment means for adjusting said response parameters in response to said error signal,
• controller means responsive to said response parameters and said reference signals and generating a control signal, and
• actuator means responsive to said control signal for generating controlled disturbances in said dynamical system, thereby controlling the state of said system.