The CAMotion Controller

Provides real-time control via combination of two advanced control techniques:



• Command Shaping Optimal Arbitrary Time (OAT) filter to repress residual system vibrations
  • modifies desired reference trajectory to remove undesired frequencies
• Multirate Repetitive Learning Control (MRLC) to supplement standard feedback controller (PID)
  • estimates the feedforward input required to achieve perfect tracking of desired reference trajectory

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