Method for adaptive guiding of webs

A method of adaptive guiding of a web on a roller, comprising:

• measuring a position of the web;
• calculating the difference e1 between an output of a model equation and the measured position;
• computing a value for a first parameter (w) belonging to a set of parameters of the model equation initialized to zero, the first parameter being a function of measured position of the web, a control input value on the roller, and a desired web position;
• computing a value for a second parameter (φ) belonging to the set of parameters of the model equation, the second parameter being a filtered output of the first parameter;
• computing a value for a third parameter ({dot over (θ)}) belonging to the set of parameters of the model equation, the third parameter being a rate of change of et and the second parameter;
• when at least one of e1 is greater than a predetermined constant and the third parameter is greater than a predetermined difference from zero, computing the control parameters by integrating the third parameter;
• when the updated control parameters are outside a set of predetermined bounds, resetting the controller parameters to zero;
• when the updated control parameters are within the set of predetermined bounds, computing a new control input based on the updated controller parameters;
• and
• when the new control input is within limits of a guide actuator, providing the new control input to the guide actuator.