16.5 CASE STUDIES

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- the controller described in the block diagram below uses a model for a DC permanent magnet DC motor to estimate a voltage based upon a predicted velocity and position.

- the desired position and velocity are given in figure xxx based upon the motion position control derived in the earlier section

Figure 16.21 Motion position control equation

- the controller that uses the desired position and velocity is shown in figure xxxx

Figure 16.22 Feedforward trajectory controller