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What would be the benefits of implementing this full nested control architecture for the control compared to my current implementation ?
There are lots of them, but from the sounds of things the two biggest advantages would be "automatic" current limiting and the inner current loop would present a more linear plant to the outer position or ...
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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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