Fuente: WIPO "honey" A method and apparatus for controlling positioning of an agricultural implement is disclosed. The agricultural implement is mounted on a propulsion unit having a positioning system for positioning the agricultural implement. The apparatus includes a controller operably configured to receive a position signal from at least one position sensor, the position signal representing a position of the agricultural implement relative to the ground, the position sensor and the controller each being disposed on the agricultural implement. While a difference between the position of the agricultural implement and a desired position of the agricultural implement is greater than a threshold difference, the controller is further operably configured to produce and transmit an output signal to the positioning system of the propulsion unit, the output signal having a control state that alternates successively between an active time during which the output signal causes the positioning system to move the agricultural implement towards the desired position, and an inactive time during which the output signal causes the positioning system to discontinue movement of the agricultural implement. The active time and inactive time are selected based on a positioning response time of the positioning system and are operable to permit the agricultural implement to settle in a non-transient position during the inactive time while receiving the position signal from the at least one position sensor representing an updated current position of the agricultural implement.