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What would be the benefits of implementing this full nested control architecture for the control compared to my current implementation
Textbooks are always a great source of information!
Reference: "Feedback Systems - An Introduction for Scientists and Engineers", Karl Johan Astrom, Richard M. Murray.
Could a simple if condition on a specific ...
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For every component you can search for data sheets over the respective manufacturer site. You can know the rated current of motor otherwise on the shopping site. Then find a motor driver for that rating. Or else you can design it on your own.
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