| http://www.w3.org/ns/prov#value | - The method according to claim 9, further comprising:converting each of the first signals to a control variable; said generating at least one signal step comprising generating, as the second signal, a feed-forward signal approximated a function f(t), wherein f(t)=E * exp(-t/T) where E is a maximum control variable and T is a time constant; and said combining step comprising combining the control va
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