Control loops

The loops that drive an actuator or a set of axes, and the controllers that close them.

less than a minute

ActuatorControlLoop is the control loop for a single axis.

SimpleActuatorControlLoop is the reduced control loop for a single axis.

AxesControl is the multi-axis orchestrator.

PID closes a control loop: it takes an error and produces a control output from a proportional, an integral and a derivative term.

PID_VariableGainControl closes a control loop with a proportional, integral and derivative term.

FeedforwardController commands the force or torque an axis needs before the feedback loop has to ask for it.

StateController closes a loop on the whole state vector at once, with an independent gain per state, rather than on a single error signal.