Feed-forward controller with delayed command input

A system controller for a controllable system having an inherent time delay, the system controller comprising:

• delay means, receiving a command input, for outputting a first output signal delayed in time from the command input;
• feed-forward means, receiving a function of the command input, for outputting a second output signal that produces a desired response in the system;
• first summing means, receiving the first output signal and a feedback signal from the controllable system, for combining the first output signal and the feedback signal to provide a third output signal;
• compensator means, receiving the third output signal, and outputting a fourth output signal;
• and
• second summer means, receiving the second output signal and the fourth output signal, for combining the second output signal and the fourth output signal to provide an input signal for the controllable system.

A motor controller for an electric motor, the motor controller comprising:

• a delay module receiving a command input and providing a first output signal delayed in time from the command input;
• a derivative module receiving a function of the command input and providing a second output signal that is a derivative of the command input;
• a first summer receiving the first output signal and a feedback signal from the electric motor, the first summer combining the first output signal and the feedback signal to provide a third output signal;
• a compensator module receiving the third output signal and providing a fourth output signal;
• and
• a second summer receiving the second output signal and the fourth output signal, the second summer combining the second output signal and the fourth output signal to provide an input signal for the electric motor.