8 PID Motor Position Control and Path Planning

In chapter 7, we achieved the velocity control design requirement R3, described in section 1.9. In this chapter, we achieve R4, the position control requirement: R4. A technical user's commanded angular position trajectory of the mechanical load is achieved quickly and accurately, and they can obtain the position measurements. We have already developed most of the tools necessary to meet this requirement: 1. User interface drivers (chapters 1 to 3) 2. Motor driving and angular position measurement (chapter 4) 3. Interrupt handling (chapter 5) 4. Digital dynamic system realization (chapter 6) 5. Digital controller realization (chapter 7).