US Patent 11803168 Distributed control modules with cumulating command references

A distributed control system may include a main processing unit, a distributed control module, and a controllable component. The distributed control module may be configured to receive a nominal command reference from the main processing unit, determine a series of cumulating command references based at least in part on the nominal command reference; and output a series of cumulating control commands to the controllable component. The series of cumulating control commands may be based at least in part on the series of cumulating command references.