ALEXANDRIA, Va., July 28 -- United States Patent no. 12,691,931, issued on July 28, was assigned to NIDEC Corp. (Kyoto, Japan).

"Control device, electric power steering device, and drive device" was invented by Shuji Endo (Kyoto, Japan), Sohei Miyake (Kyoto, Japan) and Daisuke Notsu (Kyoto, Japan).

According to the abstract* released by the U.S. Patent & Trademark Office: "A control device includes a model following controller in which a transfer function of a control target is restricted to a transfer function of a nominal model in a frequency band in which a complementary sensitivity gain, which is a gain in a gain characteristic of a complementary sensitivity function with respect to a modeling error between the control target and the ...