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16.5 CASE STUDIES


- 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
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