Quarles & Brady, LLP
Detection of saturation status for non-synchronous incremental actuators using a variable position estimate window
 A method for controlling non-synchronous actuators using a first and second estimate of the position of the actuator to create a variable position estimate window between which the actual position of the actuator is always bound. The first and second estimates of position are calculated based on the maximum and minimum speeds at which the actuator could be moving in each of first and second directions, and further wherein motion of the actuator in a saturated direction is disabled for as long as the first and second estimates converge at one of two final positions. 
Johnson Controls Technology Co.
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Jonathan D. Brian T. Jiade
West Estill Chen