Servo controllers commonly use traditional cascaded configurations in which a velocity loop is nested within a position loop. This configuration originated when current and velocity controllers were ...

Disturbance rejection, like command tracking, is usually expressed graphically. The graphs, called disturbance rejection plots, show the effect of PIV gains on disturbance torque applied to the shaft ...

Hobby servos are great, but they’re in many ways not ideal for robotic applications. The good news is that [Adam] brings the latest version of his ServoProject, providing off-the-shelf servos with ...