Sampling period in discrete time acceleration control

In this paper, the authors investigate relations between the acceleration controller gain and the stability or vibrational response of a speed control system with acceleration control loop in a discrete time. The stability or vibrational response of the system is besides acceleration controller's gain also related to the speed controller's gain, sampling period, and bandwidth of acceleration sensor. The gain limit of acceleration controller becomes lower if the sampling frequency is low, when the bandwidth of acceleration sensor is high, or the gain of a speed controller is high. The results, analysis, and experimental results are shown in this paper.